WO2023173922A1

WO2023173922A1 - Method for controlling self-moving cleaning device, and cleaning device and readable storage medium

Info

Publication number: WO2023173922A1
Application number: PCT/CN2023/072196
Authority: WO
Inventors: 阮祥进; 丁民权; 毕金廷
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2022-03-14
Filing date: 2023-01-13
Publication date: 2023-09-21
Also published as: CN116784724A

Abstract

A method for controlling a self-moving cleaning device (100), and a cleaning device (100) and a readable storage medium. During the process of a self-moving cleaning device (100) executing a cleaning task, whether a preset condition is met is detected in real time; and when the preset condition is met, a liquid supply system (13) of the self-moving cleaning device (100) is turned off, and the self-moving cleaning device continues to work while the liquid supply system (13) is in a turned-off state, such that the liquid supply system (13) no longer sprays water to a roller (12). Since the self-moving cleaning device (100) works for a period of time while the liquid supply system (13) is in the turned-off state, water stains on the ground are avoided, thereby improving the cleaning quality. In addition, a complex structural design is avoided, such that the product cost is effectively reduced, and a user has better product experience.

Description

Control method of self-moving cleaning equipment, cleaning equipment and readable storage medium

Technical field

This application relates to the field of artificial intelligence technology, and in particular to a control method for self-moving cleaning equipment, cleaning equipment and readable storage media.

Background technique

With the development of artificial intelligence (AI) technology, various smart devices are increasingly entering people's lives, such as logistics robots, cleaning equipment, lawn mowing robots, welcome robots, etc.

During the autonomous movement of the cleaning equipment, indoor navigation planning technologies such as instant positioning and mapping (SLAM) are combined to build a navigation map, and the navigation map is used to automatically plan the walking path. During walking, the water tank of the cleaning equipment sprays water to soak the mop on the roller, and the motor drives the roller to roll on the ground to scrub the ground. At the same time, the floor, the drum of the cleaning equipment, and the air duct form a closed cavity. The fan provides negative pressure to suck away sewage, garbage, etc. through the air duct, thereby achieving the purpose of cleaning the floor.

During the above-mentioned cleaning process, sometimes water stains are left on the ground due to the lifting and stopping of the cleaning equipment.

Contents of the invention

This application provides a control method, cleaning equipment and readable storage medium for a self-moving cleaning equipment. When the self-moving cleaning equipment meets the preset conditions at the current location, the self-moving cleaning equipment shuts down the liquid supply system so that the liquid supply system cannot Then spray water on the drum and work for a period of time with the liquid supply system turned off to avoid water stains on the ground and improve the cleaning quality.

In a first aspect, embodiments of the present application provide a control method for self-moving cleaning equipment, which is applied to self-moving cleaning equipment. The method includes:

Turn on the liquid supply system and liquid recovery system to perform cleaning tasks;

Detecting whether the self-moving cleaning equipment meets a preset condition during the execution of the task, the preset condition causing the negative pressure in the liquid recovery channel of the self-moving cleaning equipment to weaken at the current moment or in the future;

If the self-mobile cleaning equipment meets the preset condition, close the liquid supply system;

Work with the liquid supply system turned off.

In a second aspect, embodiments of the present application provide a control method for self-moving cleaning equipment, which is characterized in that it is applied to self-moving cleaning equipment, and the method includes:

Before the obstacle crossing event occurs, shut down the liquid supply system;

Travel in the target area with the liquid supply system turned off;

After traveling in the target area, perform an obstacle crossing event;

After completing the obstacle crossing event, the liquid supply system is turned on.

In a third aspect, embodiments of the present application provide a control device, including:

A control module for turning on the liquid supply system and liquid recovery system to perform cleaning tasks;

A processing module configured to detect whether the self-moving cleaning equipment satisfies a preset condition during the execution of the task, and the preset condition causes the negative pressure in the liquid recovery channel of the self-moving cleaning equipment to weaken at the current moment or in the future;

The control module is also configured to shut down the liquid supply system if the self-mobile cleaning equipment meets the preset conditions;

A working module is used to work when the liquid supply system is closed.

In a fourth aspect, embodiments of the present application provide a control device for self-moving cleaning equipment, including:

A control module, used to open the liquid supply system and the liquid recovery system to perform cleaning tasks, and close the liquid supply system before the obstacle crossing event occurs;

A traveling module, used to travel in the target area when the liquid supply system is turned off;

An obstacle surmounting module is used to execute an obstacle surmounting event after traveling in the target area;

The control module is also used to start the liquid supply system after completing the obstacle crossing event.

In a fifth aspect, embodiments of the present application provide a self-moving cleaning equipment, including:

The roller is used to contact the ground and roll to clean the ground;

a liquid supply device for spraying cleaning water onto the drum;

Liquid recovery device for recycling sewage;

The memory is connected to the processor and is used to store a computer program that can be run on the processor; characterized in that the processor is used to execute the computer program to implement the following steps:

During the execution of the task, it is detected whether the self-mobile cleaning equipment meets the preset conditions, and the The preset condition causes the negative pressure in the liquid recovery channel of the self-mobile cleaning device to weaken at the current moment or in the future;

Work with the liquid supply system turned off.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium. Computer instructions are stored in the computer-readable storage medium. When executed by a processor, the computer instructions are used to implement the above first aspect or the first aspect. The method described in various possible implementations of the aspect; or, when executed by the processor, the computer instructions are used to implement the method described in the above second aspect or various possible implementations of the second aspect.

In a sixth aspect, embodiments of the present application provide a computer program product including a computing program, which when executed by a processor implements the method described in the first aspect or various possible implementations of the first aspect; or, When the computer program is executed by the processor, the method described in the second aspect or various possible implementations of the second aspect is implemented.

The control method, cleaning equipment and readable storage medium of the self-moving cleaning equipment provided by the embodiments of the present application can detect in real time whether the self-moving cleaning equipment meets the preset conditions during the cleaning task. When the preset conditions are met, the self-moving cleaning equipment is turned off. Clean the liquid supply system of the equipment and continue to work when the liquid supply system is turned off, so that the liquid supply system no longer sprays water on the drum. The self-moving cleaning equipment works for a period of time with the liquid supply system turned off, thereby avoiding the appearance of water on the ground. Water stains and improve cleaning quality. At the same time, complex structural design is avoided, product costs are effectively reduced, and users have a better product experience.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a self-moving cleaning equipment provided by an embodiment of the present application;

Figure 2 is a flow chart of a control method for self-moving cleaning equipment provided by an embodiment of the present application;

Figure 3A is a schematic diagram of a target area in the control method of self-moving cleaning equipment provided by the embodiment of the present application;

Figure 3B is a schematic diagram of another target area in the control method of self-moving cleaning equipment provided by the embodiment of the present application;

Figure 4 is a schematic diagram of another target area in the control method of self-moving cleaning equipment provided by the embodiment of the present application;

Figure 5 is a schematic diagram of the self-moving cleaning equipment provided by the embodiment of the present application working in a "bow" shape;

Figure 6 is another flow chart of the control method of the self-moving cleaning equipment provided by the embodiment of the present application;

Figure 7 is a schematic diagram of the humidity of the drum in the control method of the self-moving cleaning equipment provided by the embodiment of the present application;

Figure 8 is a schematic diagram of a self-moving cleaning equipment provided by an embodiment of the present application;

Figure 9 is a schematic diagram of a control device provided by an embodiment of the present application;

Figure 10 is a schematic diagram of another control device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

Normally, during the operation of the self-moving cleaning equipment, the water tank sprays water to soak the mop on the roller, and the motor drives the roller to roll on the ground to scrub the ground, and the mop humidity is relatively high. When the self-mobile cleaning equipment is lifted, the drum breaks away from the ground and cannot form a sealed cavity. At this time, the water between the drum and the scraper overflows due to the lifting of the machine, leaving water stains on the ground. Or, when the mobile cleaning equipment is shut down or paused, the negative pressure provided by the fan cannot instantly suck away the sewage in the closed cavity. The high humidity of the mop will cause water seepage, resulting in residual water stains on the ground.

If the problem of residual water damage on the ground is solved through structural improvements, the cost will be very high. Therefore, how to solve the problem of water damage on the ground has become an urgent problem to be solved.

Based on this, embodiments of the present application provide a control method, a cleaning device, and a readable storage medium for a self-moving cleaning device. When the self-moving cleaning device meets preset conditions during the execution of a cleaning task, the self-moving cleaning device turns off the liquid supply. The system makes the liquid supply system no longer spray water on the drum and works for a period of time with the liquid supply system closed, thereby avoiding water stains on the ground and improving the cleaning quality.

Figure 1 is a schematic structural diagram of a self-moving cleaning equipment provided by an embodiment of the present application. Please refer to Figure 1. The self-mobile cleaning equipment 100 provided by the embodiment of the present application includes: a casing 11, a drum 12, a liquid supply system 13, a liquid recovery system, etc. Optionally, the liquid recovery system includes wiper blades 14, Squeegee 15, liquid recovery channel 16, etc. In addition, the liquid recovery system also includes a fan, and the self-mobile cleaning equipment also includes a memory, a processor, various sensors, etc., which are not shown in the figure.

The casing 11 of the self-moving cleaning equipment 100 has an assembly cavity, and the roller 12 can be rolled and disposed in the assembly cavity. During the cleaning process, the roller 12 rolls on the ground to scrub the ground, and the water spray port of the liquid supply system 13 sprays water to the roller 12. to wet the working surface of the drum. There is a scraper 15 in contact with the ground behind the drum 12 to scrape off excess clean water on the ground where the drum passes. There is a scraper 15 in contact with the working surface of the drum 12 above the scraper 15 and below the water spout of the liquid supply system 13. The water plate 14 is used to scrape off the dirty water on the drum 12. A liquid recovery channel 16 is formed between the wiper plate 14 and the scraper strip. The drum 12, the ground and the liquid recovery channel 16 form a closed cavity. The fan passes through the liquid recovery channel. 16 provides negative pressure to suck away sewage.

Normally, when the mobile cleaning equipment is moving, when it encounters an obstacle or is moved off the ground by the user, the drum 12 breaks away from the ground, causing the cavity to no longer be sealed. At this time, the water cannot be sucked away by the fan through the liquid recovery channel 16, but is pushed together by the scraper 15, causing residual water stains on the ground. In addition, when the self-mobile cleaning equipment is shut down or paused, the negative pressure provided by the fan cannot instantly suck away the water in the sealed cavity, causing the problem of residual water stains on the ground.

It should be noted that in Figure 1, the liquid recovery system includes a scraper 15. However, the embodiment of the present application is not limited. Among other feasible implementation methods, some double-disc brush type and flat-panel drag type cleaning equipment also have automatic direction. The mop has the function of spraying water and using a fan to suck away sewage, but it does not have scrapers.

In the embodiment of the present application, by modifying the control logic stored in the memory, the processor executes the modified control logic. When the self-mobile cleaning equipment meets the preset conditions during the execution of the task, the liquid supply system is shut down, so that the liquid supply The system no longer sprays water on the drum, and the self-moving cleaning equipment works for a period of time with the liquid supply system turned off, thereby avoiding water stains on the ground and improving cleaning quality.

In the embodiment of the present application, the self-mobile cleaning equipment can be used in scenes such as homes, office buildings, shopping malls, etc., and its basic service function is to clean the ground in the scene where it is located. It can walk autonomously and be used to perform floor cleaning functions. It can also have functions such as computing, communication, and Internet access. In order to realize these functions, self-mobile cleaning equipment will also be equipped with corresponding communication modules, computing modules and other hardware. Since mobile cleaning equipment walks autonomously in the scene, it needs to perform mapping and navigation. The current mainstream solutions use laser direct structuring technology (Laser Direct Structuring, LDS) or direct time-of-flight (DTOF). The sensor rotates 360 degrees and emits laser light to scan the surrounding environment for mapping and navigation. Those skilled in the art You can choose according to the application scenario and other related situations.

Figure 2 is a flow chart of a control method for a self-moving cleaning equipment provided by an embodiment of the present application. The execution subject of this embodiment is a self-moving cleaning equipment. This embodiment includes:

201. Turn on the liquid supply system and liquid recovery system to perform cleaning tasks.

Users issue work instructions to the mobile cleaning equipment through voice, button touch, and client application (application, APP) operations on mobile phones and other terminal devices. After receiving the opening command, the mobile cleaning equipment starts the liquid supply system and the liquid recovery system to perform the cleaning task. During the execution of the task, the driving wheels drive the self-moving cleaning equipment to move.

202. During the execution of the task, detect whether the self-moving cleaning equipment meets the preset conditions. If the self-moving cleaning equipment meets the preset conditions, perform step 203; if the self-moving cleaning equipment does not meet the preset conditions, perform step 204. . Wherein, the preset condition causes the negative pressure in the liquid recovery channel of the self-moving cleaning equipment to weaken at the current moment or in the future.

In the embodiment of the present application, any condition that causes the negative pressure in the liquid recovery channel of the mobile cleaning equipment to weaken is called a preset condition. For example, under normal circumstances, during the operation of the mobile cleaning equipment, the cavity formed by the liquid recovery channel is a closed cavity. If the cavity is not closed, the fan will not be able to suck away the sewage in the cavity. Therefore, the current or future The conditions that cause the cavity to become unsealed are preset conditions. For another example, even if the cavity is a sealed cavity, if the mobile cleaning equipment is shut down or paused, the negative pressure provided by the liquid recovery system cannot instantly suck away the sewage in the closed cavity. This causes the liquid recovery system to be unable to quickly suck out the sewage. The condition is also a preset condition. Such preset conditions include the current receipt of a stop working instruction from the mobile cleaning equipment, the countdown of scheduled cleaning, etc.

Optionally, the self-mobile cleaning equipment locally stores multiple preset conditions. The preset conditions include at least one of the following conditions: there is an obstacle area around the self-mobile cleaning equipment, self-mobile cleaning equipment recognizes a stop work instruction, self-movement Thresholds exist at the boundaries of the room where the cleaning equipment is moved off the floor and where the mobile cleaning equipment is located. Among them, there are obstacle areas around the self-moving cleaning equipment and thresholds at the boundaries of the rooms where the self-moving cleaning equipment is located, which will cause the cavity formed by the liquid recovery channel and the ground to become unsealed after a period of time. Since the mobile cleaning equipment is moved off the ground, the cavity formed by the liquid recovery channel and the ground at the current moment will not be airtight. When the self-mobile cleaning equipment receives a stop working instruction, the liquid recovery system of the self-mobile cleaning equipment cannot instantly suck away the sewage in the closed cavity. Assuming that the self-mobile cleaning equipment cleans regularly for half an hour, when the countdown is 3 minutes, the self-mobile cleaning equipment determines that the negative pressure in the liquid recovery channel will weaken due to receiving the stop working command after 3 minutes. In this way, when the self-mobile cleaning equipment is at its current location When the preset conditions are met, the self-moving cleaning equipment automatically shuts down the liquid supply system and works with the liquid supply system closed to disperse moisture on the drum, thereby avoiding residual water stains on the ground and improving cleaning quality.

During the working process, the self-mobile cleaning equipment detects the surrounding environment and its own status in real time. When the preset conditions are met, the self-mobile cleaning equipment executes step 202; when the preset conditions are not met, the self-mobile cleaning equipment maintains the liquid supply system and liquid recovery system. Continue to work in the enabled state.

In the embodiment of the present application, the working process of the self-mobile cleaning equipment may be the process of establishing a navigation map using the LDS sensor or DTOF sensor of the self-mobile cleaning equipment, or it may be the process of establishing a navigation map based on the established navigation by the self-mobile cleaning equipment. Map travel and clean. For the sake of clarity below, the working mode of establishing a navigation map will be called the mapless mode or the mapping mode, and the working mode of working based on the navigation map will be called the mapped mode. With this solution, regardless of whether the self-mobile cleaning equipment stores the established navigation map locally, the self-mobile cleaning equipment will detect in real time whether it meets the preset conditions, and then determine whether to turn off the liquid supply system to ensure that the map-free mode and the map-based mode are maintained. To ensure the quality of cleaning.

203. If the self-mobile cleaning equipment meets the preset condition, close the liquid supply system.

When the liquid supply system is switched off, water is no longer sprayed onto the rollers of the mobile cleaning equipment.

204. Work when the liquid supply system is closed.

Exemplarily, after the liquid supply system is turned off, the self-moving cleaning equipment continues to perform cleaning tasks. Since the liquid supply system no longer sprays water onto the drum, the drum continues to rotate. After a period of time, the moisture on the drum is sucked away by the ground, and the humidity of the mop on the drum decreases. In this way, no matter whether the mobile cleaning equipment is lifted due to obstacle crossing or lifting, or is paused or stopped, water will not leak from the mop on the roller, and no water stains will remain on the wet floor.

The mobile cleaning equipment performs subsequent actions after working for a period of time with the liquid supply system turned off, traveling a preset length or cleaning the target area. Subsequent actions include overcoming obstacles, starting the liquid supply system to operate normally, etc., which are not limited by the embodiments of the present application.

205. Keep working in your current state.

For example, when the self-mobile cleaning device is in the mapless mode, the navigation map continues to be established. When the self-mobile cleaning equipment is in map mode, it continues to clean the ground according to the navigation map. Moreover, the self-mobile cleaning equipment keeps the liquid supply system and the liquid recovery system open.

The control method of the self-moving cleaning equipment provided by the embodiment of the present application can perform the self-moving cleaning equipment During the cleaning task, it is detected in real time whether the preset conditions are met. When the preset conditions are met, the liquid supply system of the mobile cleaning equipment is turned off and continues to work with the liquid supply system closed, so that the liquid supply system no longer supplies water to the drum. Water spraying, self-moving cleaning equipment works for a period of time with the liquid supply system turned off, thereby avoiding water stains on the ground and improving cleaning quality. At the same time, complex structural design is avoided, product costs are effectively reduced, and users have a better product experience.

Optionally, in the above embodiment, working in the closed state of the liquid supply system includes one or more of the following: maintaining the opening of the liquid recovery system in the closed state of the liquid supply system, maintaining the opening of the liquid recovery system in the closed state of the liquid supply system, The drum of the self-moving cleaning device is maintained in rotation when the system is off and travels within the target area when the liquid supply system is in the off state.

Wherein, when the liquid supply system is turned off and the liquid recovery system is turned on, the self-mobile cleaning equipment can be located in place or continuously travel within a target area. The target area can be near the location where the self-mobile cleaning equipment turns off the liquid supply system. an area. Assuming that the current location is the location where the mobile cleaning equipment meets the preset conditions, the target area may include the current location or not include the current area.

When the self-moving cleaning device maintains the rotation of the drum of the self-moving cleaning device when the liquid supply system is turned off, the self-moving cleaning device only needs to ensure that the drum rotates. At this time, the liquid recovery system can be turned on or not.

When the self-mobile cleaning equipment travels within the target area with the liquid supply system turned off, the liquid recovery system can quickly reduce the drum humidity if it is turned on. If the liquid recovery system is not on, slowly reduce the drum humidity.

Optionally, in the above embodiment, when the self-mobile cleaning device meets the preset conditions, the self-mobile cleaning device determines the humidity of the drum of the self-mobile cleaning device. When the humidity is greater than the preset humidity, the liquid supply system works in a closed state in the target area.

For example, when the humidity of the drum exceeds the preset humidity, water stains appear on the ground due to water seepage from the drum. When the humidity of the drum is lower than the preset humidity, the drum will be relatively dry and will not seep water. In the embodiment of the present application, when the self-mobile cleaning equipment meets the preset conditions, the self-mobile cleaning equipment uses a humidity sensor or the like to collect the humidity of the drum. When the humidity of the drum exceeds the preset humidity, the self-mobile cleaning equipment adopts the solution provided by the embodiment of the present application, that is, working for a preset time or distance with the liquid supply system closed. When the humidity of the drum is less than the preset humidity, the self-moving cleaning equipment will not cause residual water stains on the ground when it thinks it is lifting, shutting down or pausing. At this time, the self-moving The cleaning equipment does not need to implement the solutions described in the embodiments of this application, but directly overcomes obstacles, shuts down or pauses, etc.

With this solution, the self-moving cleaning equipment will only work for a preset time or distance with the liquid supply system turned off when the drum humidity exceeds the preset humidity, which is highly targeted and achieves the purpose of improving cleaning quality.

Optionally, in the above embodiment, when the liquid supply system is turned off, the self-moving cleaning device first determines a target area without obstacles based on the current position (that is, the position where the self-moving cleaning device is when it meets the preset conditions). . Then, work within the target area with the liquid supply system turned off. For example, the target area may be an area including the current location, or may be an area near the current location.

When the target area is an area containing the current location, the self-mobile cleaning device determines the target area based on the current location. For example, please refer to FIG. 3A and FIG. 3B.

FIG. 3A is a schematic diagram of a target area in the control method of the self-moving cleaning equipment provided by the embodiment of the present application. Please refer to Figure 3A. In Figure 3A, the black dots represent the self-moving cleaning equipment, and the thick black solid line rectangular frame represents the target area. The mobile cleaning equipment takes the current position as the center of the target area and the preset distance as the side length, calculates a square or rectangle, and uses the square or rectangle as the target area.

FIG. 3B is a schematic diagram of another target area in the control method of the self-moving cleaning equipment provided by the embodiment of the present application. Please refer to Figure 3B. In Figure 3B, the black circle represents the self-moving cleaning equipment, the thick black solid line rectangular frame represents the target area, and the cylinder represents obstacles. The mobile cleaning equipment uses the current position as a vertex of the target area, the preset distance is the side length, calculates a square or rectangle, and uses the square or rectangle as the target area.

It should be noted that although FIG. 3A and FIG. 3B illustrate the target area determined by the mobile cleaning equipment in the map mode, the embodiment of the present application is not limited to this. The target area can be determined in the same way when the self-moving cleaning device is operating in imageless mode.

When the target area is an area near the current location, the self-mobile cleaning equipment determines an area to be cleaned near the current location through the pre-established navigation map, and uses the area to be cleaned as the target area.

Figure 4 is a schematic diagram of another target area in the control method of the self-moving cleaning equipment provided by the embodiment of the present application. Please refer to Figure 4. The navigation map contains two areas, one is the living room and the other is the bedroom. Self-mobile cleaning equipment cleans in the living room. When the self-mobile cleaning device meets the preset conditions, the self-mobile cleaning device determines a target area from the living room that does not include the current location, Figure The black dots in 4 represent the self-moving cleaning equipment, the thick black solid rectangular box represents the target area, and the thick black dotted line represents the navigation path. The mobile cleaning equipment travels along the navigation path to the target area, and after working in the target area for a period of time with the liquid supply system turned off, returns to the current location along the navigation path.

It should be noted that although in Figure 4, the current area and the current location are located in the same area of the navigation map, such as the living room. However, the embodiment of the present application is not limited to this. In other feasible implementations, the current position and the target area may also be located in different areas of the navigation map. For example, when a self-mobile cleaning device passes through a door, it or the current environment meets preset conditions. At this time, the current location is in the bedroom, and the target area is in the living room.

Using this solution, when the target area contains the current position, the self-mobile cleaning equipment does not need to move to other areas to disperse the moisture on the drum, improving the efficiency of the self-mobile cleaning equipment; when the target area is an area to be cleaned that does not include the current position When cleaning, clean the area to be cleaned to disperse the moisture on the drum to improve the efficiency of the cleaning equipment.

Optionally, in the above embodiment, the self-moving cleaning equipment works in a "bow" shape in the target area; or, works along the edge in the target area.

Figure 5 is a schematic diagram of the self-moving cleaning equipment provided by the embodiment of the present application working in a "bow" shape. Please refer to Figure 5. After the mobile cleaning equipment advances a certain distance at a certain speed, it turns around and advances a certain distance in the opposite direction at a certain speed. The forward distance is usually 0.5 meters to 1.5 meters, etc., and the number of round trips is, for example, 2 to 6 times, etc., which is not limited by the embodiment of the present application.

When the target area is an area to be cleaned, the self-moving cleaning equipment runs in a "bow" shape in the target area. That is, after the self-moving cleaning equipment advances for a certain distance at a certain speed, it turns around and moves forward in the opposite direction. In addition, self-mobile cleaning equipment can also work along the edges of the area to be cleaned. For example, after working along the edge for a week, return to the current location according to the navigation path.

It should be noted that although the above is a detailed description of the embodiments of the present application, taking the "bow"-shaped operation mode or the edge-side operation mode as an example. However, the embodiments of the present application are not limiting. Among other feasible implementation methods, the self-mobile cleaning equipment can also work in a zigzag shape, work in circles, etc. As the self-moving cleaning device circles, it can gradually increase or decrease the radius.

Using this solution, the self-moving cleaning equipment works in a "bow" shape or along the edge, causing the roller of the self-moving cleaning equipment to pass through different positions, accelerating the dispersion of moisture on the roller.

Optionally, in the above embodiment, when the self-mobile cleaning equipment is working with the liquid supply system closed, the self-mobile cleaning equipment also increases the rotation speed of the fan in the liquid recovery system to Increase the suction power of the liquid recovery system.

For example, under normal working conditions, the suction provided by the fan can suck away the sewage in the closed cavity. When the self-mobile cleaning equipment meets the preset conditions, the liquid supply system of the self-mobile cleaning equipment is shut down. At the same time, the fan speed of the liquid recovery system increases, which in turn increases the suction power provided by the fan. The large suction power can quickly suck away the moisture. . Using this solution, the sewage can be quickly sucked away by increasing the suction power of the fan, thus avoiding leaving water stains on the ground and improving the cleaning quality of the self-mobile cleaning equipment.

Optionally, a heating device can also be provided on the self-moving cleaning equipment. A heating wire, such as a negative temperature coefficient (Negative Temperature Coefficient, NTC) heating wire, is provided in the heating device for generating heat. The suction airflow generated by the fan is heated by the heating device, and the heated airflow is guided to the drum and the sealed cavity to quickly take away the moisture on the drum and the moisture in the sealed cavity.

Optionally, in the above embodiment, when the preset condition is that there is an obstacle area around the self-mobile cleaning device, after the self-mobile cleaning device works in the closed state of the liquid supply system, the self-mobile cleaning device travels Go to the obstacle area and overcome the obstacles. After completing the obstacles, turn on the liquid supply system.

For example, because the obstacle will be lifted up by the mobile cleaning equipment, the cavity formed by the liquid recovery channel of the self-moving cleaning equipment and the ground is no longer airtight. Therefore, before lifting, the self-moving cleaning equipment works for a period of time with the liquid supply system turned off. During this period, the liquid supply system of the self-moving cleaning equipment is turned off, and the liquid recovery system and the roller continue to work. For example, the scraper scrapes off the water stains on the ground where the drum passes, the wiper scrapes off the sewage on the drum, and the drum continues to rotate and wipe the ground, thereby transferring the moisture on the drum to the ground, where it is quickly dried by the fan. The longer the drum rotates, the drier the drum becomes. When the humidity of the drum is reduced to a certain level, water will no longer seep out, thus avoiding water stains on the ground.

The mobile cleaning equipment starts to cross obstacles after working for a preset time or a preset distance with the liquid supply system turned off. During the obstacle crossing process, the liquid supply system and liquid recovery system stop working, the driving wheels work, and the mobile cleaning equipment is lifted to overcome the obstacle. After the obstacle is completed, the liquid supply system is reopened, causing the liquid supply system to spray water on the roller, and the soaked roller continuously rolls on the ground to wipe the ground, thereby cleaning the ground. Meanwhile, the liquid recovery system continues to work. With this solution, when the mobile cleaning equipment detects an obstacle, it does not immediately overcome the obstacle. Instead, it moves back and forth a certain number of times with the liquid supply system stopped in place or in a nearby area, and then removes the remaining water from the drum. Use it cleanly before crossing obstacles to prevent water stains from spilling when lifting over obstacles, which improves the cleaning quality.

Optionally, in the above embodiment, when the preset condition is that the mobile cleaning equipment receives a stop working instruction, in one implementation, since the mobile cleaning equipment receives the stop working instruction, the liquid supply Work with the system turned off.

In the embodiment of the present application, the work stop command includes a pause command and a shutdown command. While the mobile cleaning equipment is working, it may be paused or shut down at any time. For example, a self-mobile cleaning device is cleaning the living room, which contains children's toys. When the self-mobile cleaning equipment is about to encounter a toy, the user sends a pause command to the self-mobile cleaning equipment through voice, client APP, etc. For another example, the mobile cleaning equipment is cleaning and the user presses the power off button.

After the mobile cleaning equipment receives the stop work command, it immediately shuts down the liquid supply system and works under the working conditions of the liquid recovery system and the drum. During the work process, the self-mobile cleaning equipment determines the target area and works within the target area. For descriptions of the target area, please refer to the above embodiments and will not be described again here. After working for a period of time, or after traveling a preset distance, the self-moving cleaning equipment shuts down or pauses in response to a stop work command.

In another implementation, when the mobile cleaning device receives the start instruction after receiving the stop working instruction and stops working, the liquid supply system works in a closed state.

In this method, once the self-mobile cleaning equipment receives the stop working command, it immediately shuts down the liquid supply system, stops providing driving force to the drum, stops providing driving force to the driving wheel, and the liquid recovery system no longer works, thus responding to the stop working command. . When the user issues a start command through voice, APP, etc., the liquid supply system remains closed, the driving wheel starts to rotate, the drum starts to rotate, and the liquid recovery system starts to work, so that the self-mobile cleaning equipment can be used when the liquid supply system is closed. Work.

The mobile cleaning equipment works for a period of time with the liquid supply system turned off, travels a preset length or cleans the target area, and then turns on the liquid supply system to work normally. Alternatively, after the self-mobile cleaning equipment detects the start command, the liquid supply system is turned on, the driving wheel starts to rotate, and the drum starts to rotate, so that the self-mobile cleaning equipment works normally.

Using this solution, the self-moving cleaning equipment can immediately shut down the liquid supply system and start working after recognizing the stop command, or it can work with the liquid supply system closed after recognizing the start command, which is highly flexible.

Optionally, in the above embodiment, when the preset condition is that there is a threshold at the boundary of the room where the self-moving cleaning equipment is located, and the working in the closed state of the liquid supply system is the When the self-mobile cleaning device travels in the target area, the target area is the remaining area to be cleaned in the current room when the self-mobile cleaning device turns off the liquid supply system, and the area of the target area is based on the liquid supply system. The amount of water spray is determined.

For example, the self-mobile cleaning equipment works in the map mode, that is, when working in the mode of establishing a navigation map, it can determine the room to be cleaned based on the navigation map, such as a study, bedroom, living room, balcony, etc. After cleaning one room each time, move on to the next room. When there is a threshold between the current room and the next room, for example, there is a sliding door track between the balcony and the living room, the track is also regarded as the threshold. After the mobile cleaning equipment has cleaned the living room, it enters the balcony through the threshold and cleans the balcony. In order to ensure that no water stains remain when crossing the threshold, the self-mobile cleaning equipment continuously detects the remaining area to be cleaned in the living room based on the navigation map. When the area to be cleaned is less than or equal to the preset area, the liquid supply system is turned off, allowing the self-mobile cleaning equipment to Travel within the remaining area to work with the liquid supply system turned off. This remaining area is also called the target area. The size of the target area is related to the weather, the amount of water sprayed by the liquid supply system, etc. In this way, the self-moving cleaning device switches off the liquid supply system in advance, so that when the threshold is crossed, no water stains remain and the living room is cleaned.

This solution ensures cleaning quality and efficiency by shutting down the liquid supply system in the current room in advance, cleaning the remaining area while the liquid supply system is closed, and then crossing the threshold and cleaning the next room.

Optionally, in the above embodiment, the target area is an area between the current position and the threshold, that is, the target area is located between the current position and the threshold. That is to say, when there is a threshold at the boundary of the current room, the self-mobile cleaning equipment cleans the area near the threshold last, so that the self-mobile cleaning equipment has the shortest path when entering the next room from the current room.

Optionally, in the above embodiment, when the preset condition is that the self-moving cleaning equipment is moved off the ground, and when the self-moving cleaning equipment is placed on the ground, the landing position and the current position may be the same or different. At this time, self-mobile cleaning equipment can adopt different measures according to different situations. For example, please refer to Figure 6 .

Figure 6 is another flow chart of the control method of the self-moving cleaning equipment provided by the embodiment of the present application. This embodiment includes:

601. The mobile cleaning equipment is determined to be moved off the ground at its current location.

Self-moving cleaning equipment uses sensors for drop detection, cliff detection, etc. to detect when it is moved off the ground at its current location.

For example, a downward-looking sensor is installed from the bottom edge of the mobile cleaning equipment, and infrared emission and infrared reception are performed through the downward-looking sensor. If the mobile cleaning equipment is on the ground and has not been moved off the ground, the infrared signal emitted by the downward-looking sensor can be returned and received by the ground. When the self-moving cleaning equipment is moved off the ground, the distance is too far and the downward-looking sensor cannot receive the infrared signal returned from the ground. Based on this, it can be determined whether the mobile cleaning equipment has been moved off the ground. The number of downward-looking sensors may be 4-6 or other, which is not limited by the embodiment of the present application.

For another example, a gyroscope is installed on the self-mobile cleaning equipment. When the self-mobile cleaning equipment is moved off the ground, the gyroscope can detect changes in acceleration in the vertical direction. Therefore, based on the gyroscope, it can be determined whether the mobile cleaning equipment has been moved off the ground.

For another example, when the self-mobile cleaning equipment is moved off the ground, the driving wheel idling, the resistance is small when idling, and the current provided by the motor also becomes smaller. Therefore, it can be determined whether the mobile cleaning equipment is moved off the ground by detecting whether the driving wheels are idling.

602. The self-moving cleaning equipment closes the liquid supply system, stops the driving drum, and the driving wheel stops rotating.

At the same time, the liquid recovery system of the self-moving cleaning equipment stopped working.

603. The mobile cleaning equipment detects whether the humidity of the drum exceeds the preset humidity. If the humidity of the drum exceeds the preset humidity, step 604 is executed; if the humidity of the drum does not exceed the preset humidity, step 611 is executed.

604. The self-moving cleaning equipment determines the landing position after the self-moving cleaning equipment lands again.

605. The self-mobile cleaning equipment determines whether the current position and the landing position coincide. If the current position and the landing position do not coincide, perform step 606; if the current position and the landing position coincide, perform step 609.

606. The mobile cleaning equipment determines whether the length of the navigation path between the current position and the landing position exceeds the preset length. If the length of the navigation path exceeds the preset length, perform step 607; if the length of the navigation path does not exceed the preset length. , then execute step 609.

607. The self-mobile cleaning device determines whether the area where the landing position is located has been cleaned. When the area where the landing position is located is not clean, the self-mobile cleaning device executes step 608; when the area where the landing position is located has been cleaned, step 610 is executed.

608. After the mobile cleaning equipment cleans the area where the landing position is located, it travels to the current location according to the navigation path.

Optionally, in this step, the self-moving cleaning equipment can turn on the liquid supply system.

609. The self-moving cleaning equipment works within the target area including the current position and with the liquid supply system turned off.

When the length of the navigation path does not exceed the preset length, or when the current position and the landing position coincide, the self-mobile cleaning equipment can also use an area to be cleaned near the current position as the target area.

610. After moving to the current location according to the navigation path, perform step 609.

611. Keep the current status and continue working.

The mobile cleaning equipment starts the liquid supply system, drives the drum to rotate, etc. and works normally.

With this solution, after the mobile cleaning equipment is moved off the ground and landed again, it will continue to clean the current location removed from the ground to eliminate water stains and achieve the purpose of improving cleaning quality.

Optionally, in the above embodiment, steps 605, 606, and 607 are not in strict order.

Optionally, in the above embodiment, when the self-mobile cleaning device is moved off the ground in mapping mode, after landing again, the landing position may be within the established navigation map. At this time, the self-mobile cleaning device adopts Figure 6 Plan to clean water stains in your current location. When the landing position is outside the established navigation map, the mobile cleaning equipment continues to build the map. After mapping, move to the current location based on the navigation path between the landing location and the current location.

For example, when the mobile cleaning equipment is constructing a map, it is likely to be moved off the ground by the user. When moving out, self-mobile cleaning equipment can determine the current location. If the user puts the self-mobile cleaning device back to the original place, the self-mobile cleaning device determines the target area based on the current position and works in the target area with the liquid supply system turned off.

If the user moves the self-mobile cleaning equipment to another location, when the other location is within the established navigation map, the self-mobile cleaning equipment will use the solution in Figure 6 for subsequent steps. When other locations are outside the established navigation map, the self-mobile cleaning equipment continues to build maps, and splices the navigation map that continues to be created with the navigation map that was created before moving off the ground to splice a complete navigation map. Based on the complete navigation map, the solution shown in Figure 6 is executed.

Using this solution, after the mobile cleaning equipment is moved off the ground and put down again during the mapping process, it will continue to clean the water stains at the location when it was moved, thereby achieving the purpose of improving the cleaning quality.

Optionally, in the above embodiment, when the self-mobile cleaning equipment is about to cross an obstacle, for example, when it is about to cross an obstacle such as a thin wooden stick, or when it is about to cross the threshold between two adjacent rooms, the working process of the self-mobile cleaning equipment as follows:

First, the liquid supply system and liquid recovery system are turned on from the mobile cleaning equipment to perform cleaning Task.

Secondly, before the obstacle crossing event occurs, the liquid supply system is shut down.

When the mobile cleaning equipment detects that it is about to cross an obstacle, the liquid supply system is shut down in advance. For example, if the obstacle is a thin wooden stick, when the self-moving cleaning equipment is at its current location, it will have to cross the obstacle if it continues to travel for 10 seconds. Therefore, the liquid supply system is shut down 10 seconds before the automatic cleaning equipment crosses the obstacle.

For another example, if the obstacle is a threshold, continue to clean 1 square meter, and then the mobile cleaning equipment is ready to cross the obstacle. Therefore, the automatic cleaning equipment turns off the liquid supply system when the area of the remaining area to be cleaned in the current room is less than or equal to 1 square meter.

Again, travel in the target area with the liquid supply system turned off.

Optionally, you can also increase the fan speed, start the heating device, etc.

Again, after traveling in the target area, an obstacle crossing event is performed.

Finally, after completing the obstacle crossing event, the liquid supply system is turned on.

In the embodiment of the present application, the operating environment of the self-mobile cleaning equipment is diverse, such as marble floors, cement floors, carpets, etc. The amount of water required for wiping is determined by different cleaning surfaces. However, when the liquid supply system is turned off, the humidity of the drum decreases over time. For example, please refer to Figure 7.

Figure 7 is a schematic diagram of the humidity of the drum in the control method of the self-moving cleaning equipment provided by the embodiment of the present application. Referring to Figure 7, after the liquid supply system is turned off, the humidity of the drum becomes lower and lower as time goes by. When the humidity is lower than the preset humidity, the drum will no longer seep water. Among them, the preset humidity is related to the weather, the material of the rag on the drum, etc. The mops on the drum include vibrating mops, ordinary mops, single-roller mops, double-roller mops, etc. Rags are also called cleaning cloths, etc.

Figure 8 is a schematic diagram of a self-moving cleaning equipment provided by an embodiment of the present application. Please refer to Figure 8. The front end of the self-moving cleaning equipment is provided with a collision plate 81, and the rear side of the collision plate 81 is an upper cover 82. A first sensor 83 is provided on the upper cover 82. The first sensor 83 is used to establish navigation maps and positioning. The first sensor 83 may be an LDS sensor, a DTOF sensor, etc. A second sensor 84 is provided on the collision plate 81 of the mobile cleaning equipment for identifying steps, obstacles, etc. The second sensor 84 can be a structured light sensor, a depth camera, an area array radar, an infrared sensor, etc. The mobile cleaning equipment is equipped with gyroscopes, drop sensors, etc. The lower part of the self-moving cleaning equipment is equipped with a base, and a driving wheel is installed on it to be responsible for the movement of the whole machine. A roller, a scraper, etc. are installed on the base. The mobile cleaning equipment is also equipped with a liquid supply system, a suction device, a processor, a memory, etc. The processor executes computer instructions stored in the memory and can control the liquid supply system, suction device, driving wheels, etc. At the same time, data can be obtained from the first sensor 83 and the second sensor 84, and based on the data, the self-mobile cleaning equipment can be analyzed whether its own state or the surrounding environment meets the preset conditions when it is at the current location, and then the self-mobile cleaning equipment can be controlled.

For example, when the mobile cleaning device operates in the mapping mode, the first sensor 83 rotates to scan the surrounding environment, and the processor builds a navigation map based on the scanned data. During the process of establishing the navigation map, if the second sensor 84 identifies an obstacle, the self-mobile cleaning equipment turns off the liquid supply system, works for a period of time with the liquid supply system closed, consumes the moisture on the drum and then overcomes the obstacle. After successfully surmounting the obstacle, continue to build the map.

In the same way, when the self-mobile cleaning equipment cleans according to the established navigation map, if the second sensor 84 identifies an obstacle, the self-mobile cleaning equipment turns off the liquid supply system, works for a period of time with the liquid supply system turned off, and then moves the drum up. After the water is consumed, the obstacle is overcome. After successfully crossing the obstacle, continue to perform cleaning tasks according to the navigation map.

In addition, when the processor detects that the mobile cleaning device is hanging in the air based on the data from the drop sensor, or after the processor recognizes the stop work instruction, the method of the embodiment of the present application is executed. For details, please refer to the above description and will not be repeated here.

It should be noted that although the above is an example in which the first sensor 83 is disposed on the upper cover 82 and the second sensor 84 is disposed on the collision plate 81 to describe the embodiment of the present application. However, the embodiments of this application are not limiting. Among other feasible implementations, as long as the following conditions are met: the first sensor 83 is installed on the upper part of the whole machine, such as the upper part of the upper cover or the upper part of the base, and there is no structural obstruction within the field of view. The fixed position is strong enough to be reliable. The second sensor 84 is arranged at the front of the whole machine. There is no structural obstruction within the lens angle of view, and the fixed position is strong and reliable.

Below, several specific scenarios are used to describe the control method of the above-mentioned self-moving cleaning equipment in detail.

scene one:

The established navigation map is stored locally in the mobile cleaning equipment. The self-mobile cleaning equipment is cleaning the living room according to the navigation of the navigation map. During the cleaning process, the self-mobile cleaning equipment detects an obstacle area containing a thin wooden stick 10 cm in front of the current position through structured light sensors or AI recognition. At this time, the processor of the self-moving cleaning equipment controls the drum to rotate in the area outside the obstacle area, and the wiper blade scrapes off the sewage on the drum. That is to say, the self-mobile cleaning equipment turns off the liquid supply system, and the drum and liquid recovery system continue to work. At the same time, the fan speed is increased to increase the suction power.

The self-moving cleaning equipment determines a target area based on the current location, and the target area includes the current location. After that, the self-mobile cleaning equipment turns around in the target area, advances 0.8 meters at a certain speed, then continues to turn around, and then advances 0.8 meters...and so on, forming a "bow" shaped movement. After the mobile cleaning equipment works for a preset time with the liquid supply system turned off, for example, after reciprocating 2-6 times, reciprocating for 1 minute, or walking more than 2 meters, it travels to the obstacle and begins to overcome the obstacle, that is, crossing thin wooden sticks, etc. Rod. During the obstacle crossing process, the self-mobile robot keeps the liquid supply system closed and controls the liquid recovery system to stop working. Afterwards, the mobile cleaning equipment travels to the obstacle area and overcomes the obstacle. After the obstacle is cleared, the liquid supply system and liquid recovery system are controlled to continue working, thereby continuing to clean the living room floor.

The above scenario 1 is explained by taking the self-mobile cleaning equipment in the picture mode as an example. However, the embodiments of the present application are not limited to this. In this scenario, if the self-mobile cleaning equipment is in mapping mode, it can also work in the same way before crossing obstacles to avoid residual water stains on the ground caused by crossing obstacles.

In addition, in scenario one, a heating device is installed on the liquid recovery system, and a heating wire is installed in the heating device to generate heat to evaporate the moisture in the drum and the sealed cavity as quickly as possible.

Scene two:

The difference between this scenario and the above-mentioned scenario one is that when the mobile cleaning equipment determines the target area, based on the established navigation map and the current location, an area to be cleaned near the current location is used as the target area. For example, a self-moving cleaning device targets an area next to an obstacle.

Scene three:

The established navigation map is stored locally in the mobile cleaning equipment. The self-mobile cleaning equipment is cleaning the living room according to the navigation of the navigation map. During the cleaning process, the user suddenly lifted the mobile cleaning equipment. The self-moving cleaning equipment detects that it is suspended in the air through sensors such as drop detection and cliff detection. At this time, the self-mobile cleaning equipment immediately shuts down the liquid supply system, stops the rotation of the driving drum, stops the rotation of the driving wheel, the liquid recovery system stops working, and the self-mobile cleaning equipment alarms. At the same time, a humidity sensor is used to detect the humidity of the drum. When the humidity is greater than 20, the current position is recorded. When the self-moving cleaning equipment lands again, if the landing position coincides with the current position, the self-moving cleaning equipment will perform water stain cleaning on the current location. If the landing position does not coincide with the current position, the mobile cleaning equipment will return to the current position and perform water stain cleaning on the current position.

Similarly, when the self-mobile cleaning equipment is in mapping mode, the above solution can also be used to remove water stains when moving off the ground.

Scene four:

The established navigation map is stored locally in the mobile cleaning equipment. The self-mobile cleaning equipment is cleaning the living room according to the navigation of the navigation map. During the cleaning process, the user issues a pause command or shutdown command through voice or APP. After the mobile cleaning equipment recognizes the shutdown command or the pause command, it immediately shuts down the liquid supply system, stops the driving drum, the driving wheel stops rotating and the liquid recovery system stops working. At the same time, the self-mobile cleaning equipment detects the humidity of the drum. When the humidity of the drum exceeds the preset humidity, the target area is determined based on the current position and works in the target area with the liquid supply system turned off. After a period of time, the self-moving cleaning equipment pauses or shuts down.

When the drum humidity is less than the preset humidity, the self-moving cleaning equipment directly shuts down or pauses.

Scene five:

The difference between this scenario and the above-mentioned scenario four is that in the above-mentioned scenario four, after the mobile cleaning equipment recognizes the pause or shutdown command, it immediately shuts down the water pump and runs it for a period of time, and then responds to the pause command to pause, or responds to the shutdown command Shut down. In this scenario, after the mobile cleaning equipment recognizes the pause or shutdown command, it immediately responds to the pause command to pause, or responds to the shutdown command to shut down. Later, when the user turns on the machine, the self-moving cleaning equipment will clean the water stains at the location where it was last shut down or paused before continuing to work.

Scene six:

The established navigation map is stored locally in the mobile cleaning equipment. The self-mobile cleaning equipment is cleaning the living room according to the navigation of the navigation map. The mobile cleaning equipment discovered that after cleaning the customer, the next room to be cleaned is the balcony. There is a sliding door track between the balcony and the living room, which forms a threshold. Self-mobile cleaning equipment starts cleaning away from the threshold and continuously monitors the remaining area during the cleaning process. When the area of the remaining area is less than or equal to the preset area, the liquid supply system is turned off and travels within the target area to work in the closed state of the liquid supply system. Among them, the target area is the above-mentioned remaining area. When the self-mobile cleaning equipment travels to the threshold in the target area, it has just finished cleaning the target area, and the humidity of the roller of the self-mobile cleaning equipment is reduced to the preset humidity, and the roller no longer leaks water. After crossing the threshold and entering the balcony, the mobile cleaning equipment turns on the liquid supply system and cleans the balcony under normal working conditions.

The following are device embodiments of the present application, which can be used to execute method embodiments of the present application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

Figure 9 is a schematic diagram of a control device provided by an embodiment of the present application. The control device 900 includes: a control module 91 , a processing module 92 and a working module 93 .

Control module 91, used to turn on the liquid supply system and liquid recovery system to perform cleaning tasks;

The processing module 92 is used to detect whether the self-mobile cleaning equipment satisfies preset conditions during the execution of the task. The preset conditions cause the negative pressure in the liquid recovery channel of the self-mobile cleaning equipment to weaken at the current moment or in the future. ;

The control module 91 is also used to shut down the liquid supply system if the self-mobile cleaning equipment meets the preset conditions;

The working module 93 is used to work when the liquid supply system is closed.

In a feasible implementation, the operation of the working module 93 in the closed state of the liquid supply system includes one or more of the following: maintaining the opening of the liquid recovery system in the closed state of the liquid supply system; The drum of the self-moving cleaning device is maintained to rotate when the liquid supply system is turned off; and travels within the target area when the liquid supply system is turned off.

In a feasible implementation, the processing module 92, before the working module 93 works in the closed state of the liquid supply system, is also used to increase the rotation speed of the fan in the liquid recovery system to increase the Suction power of liquid recovery system.

In a feasible implementation, the control module 91 is also used to turn on the heating device in the liquid recovery system to generate heat before the working module 93 operates in the closed state of the liquid supply system.

In a feasible implementation, the working module 93 is configured to work in the closed state of the liquid supply system when the humidity of the drum of the self-moving cleaning equipment is greater than the preset humidity.

In a feasible implementation, the preset conditions include at least one of the following conditions: there is an obstacle area around the self-moving cleaning equipment, the self-moving cleaning equipment recognizes a stop work instruction, the self-moving cleaning equipment There is a threshold at the boundary of the room where the cleaning equipment is moved off the ground and where the self-moving cleaning equipment is located.

In a feasible implementation, when the preset condition is that there is an obstacle area around the self-moving cleaning equipment, the processing module 92 works after the working module 93 operates in the closed state of the liquid supply system. , and is also used to control the self-mobile cleaning equipment to travel to the obstacle area and overcome the obstacle, and after the obstacle is completed, the liquid supply system is turned on.

In a feasible implementation, when the preset condition is that there is a threshold at the boundary of the room where the self-moving cleaning equipment is located, and the working in the closed state of the liquid supply system means that the self-moving cleaning equipment is in the target When traveling in an area, the target area is the remaining area to be cleaned in the current room when the self-moving cleaning equipment turns off the liquid supply system, and the surface of the target area The volume is determined based on the water spray volume of the liquid supply system.

In a feasible implementation, the target area is located between the position of the self-moving cleaning device when the liquid supply system is turned off and the threshold.

In a feasible implementation, when the preset condition is that the self-moving cleaning equipment recognizes a stop work instruction, the work module 93 is configured to, from the reception of the stop work instruction, on the liquid supply. Work in a closed state of the system; or, work in a closed state of the liquid supply system when receiving a start command after receiving the stop command to stop working.

In a feasible implementation, when the preset condition is that the self-mobile cleaning equipment is moved off the ground, before the working module 93 works in the closed state of the liquid supply system, the processing module 92 It is also used to clean the landing position when the moving position of the self-moving cleaning equipment after being moved off the ground does not coincide with the landing position of the self-moving cleaning equipment after landing again, and the area where the landing position is located is not clean. The area where the position is located; after cleaning the area where the landing position is located, move to the moving position according to the navigation path between the moving position and the landing position.

In a feasible implementation, before the processing module 92 moves to the landing position according to the navigation path between the moving position and the landing position, it is also used when the self-mobile cleaning equipment is in the mapping process. mode, and continue mapping when the landing position is outside the established navigation map; after mapping is completed, move to the moving position according to the navigation path between the landing position and the moving position.

The control device provided by the embodiment of the present application can perform the actions of the self-moving cleaning equipment in the above embodiment. Its implementation principles and technical effects are similar and will not be described again here.

Figure 10 is a schematic diagram of another control device provided by an embodiment of the present application. The control device 1000 includes: a control module 101, a traveling module 102 and an obstacle crossing module 103.

The control module 101 is used to open the liquid supply system and the liquid recovery system to perform cleaning tasks, and close the liquid supply system before the obstacle crossing event occurs;

The traveling module 102 is used to travel in the target area when the liquid supply system is closed;

The obstacle surmounting module 103 is used to execute an obstacle surmounting event after traveling in the target area;

The control module 101 is also used to start the liquid supply system after completing the obstacle crossing event.

In a feasible implementation manner, when the obstacle is a threshold, the target area is the remaining area to be cleaned in the current room when the self-moving cleaning equipment turns off the liquid supply system.

In a feasible implementation, the target area is located between the position where the self-mobile cleaning device is when closing the liquid supply system and the threshold.

The control device provided by the embodiment of the present application can control the action of the mobile cleaning equipment when it crosses obstacles. Its implementation principles and technical effects are similar and will not be described again here.

Embodiments of the present application also provide a computer-readable storage medium, which stores computer instructions. When executed by a processor, the computer instructions are used to implement the control method of a self-moving cleaning device as described above. .

Embodiments of the present application also provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned control method of a self-moving cleaning device is implemented.

Other embodiments of the present application will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the technical field that are not disclosed in this application. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

A control method for self-moving cleaning equipment, characterized in that it is applied to self-moving cleaning equipment, and the method includes:

Turn on the liquid supply system and liquid recovery system to perform cleaning tasks;

Detecting whether the self-moving cleaning equipment meets a preset condition during the execution of the task, the preset condition causing the negative pressure in the liquid recovery channel of the self-moving cleaning equipment to weaken at the current moment or in the future;

If the self-mobile cleaning equipment meets the preset condition, close the liquid supply system;

Work with the liquid supply system turned off.
The method according to claim 1, characterized in that said working in the closed state of the liquid supply system includes one or more of the following:

Maintaining the opening of the liquid recovery system when the liquid supply system is closed;

Maintaining the rotation of the drum of the self-moving cleaning device in a closed state of the liquid supply system;

Travel within the target area with the liquid supply system turned off.
The method according to claim 1, characterized in that before working in the closed state of the liquid supply system, it further includes:

Increase the rotation speed of the fan in the liquid recovery system to increase the suction power of the liquid recovery system.
The method according to claim 1, characterized in that before working in the closed state of the liquid supply system, it further includes:

Turn on the heating device in the liquid recovery system to generate heat.
The method according to any one of claims 1 to 4, characterized in that, working in a closed state of the liquid supply system includes:

When the humidity of the drum of the self-moving cleaning equipment is greater than the preset humidity, the liquid supply system works in a closed state.
The method according to any one of claims 1 to 4, characterized in that the preset conditions include at least one of the following conditions: there is an obstacle area around the self-moving cleaning equipment, the self-moving cleaning equipment It is recognized that a stop work instruction is received, the self-moving cleaning equipment is moved off the ground, and a threshold exists at the boundary of the room where the self-moving cleaning equipment is located.
The method according to claim 6, characterized in that when the preset condition is that there is an obstacle area around the self-moving cleaning equipment, the liquid supply system is in a closed state. After working in this state, it also includes:

Travel to the obstacle area and overcome the obstacle;

After completing the obstacle crossing, the liquid supply system is turned on.
The method according to claim 6, characterized in that when the preset condition is that there is a threshold at the boundary of the room where the self-moving cleaning equipment is located, and the self-moving cleaning equipment operates in a closed state, the self-moving cleaning equipment operates in a closed state. When the mobile cleaning equipment travels in the target area, the target area is the remaining area to be cleaned in the current room when the mobile cleaning equipment turns off the liquid supply system, and the area of the target area is based on the spray of the liquid supply system. The amount of water is determined.
The method according to claim 8, characterized in that:

The target area is located between the position of the self-moving cleaning device when the liquid supply system is turned off and the threshold.
The method according to claim 6, characterized in that when the preset condition is that the self-moving cleaning equipment recognizes a stop work instruction, the working in the closed state of the liquid supply system includes:

Since receiving the stop work instruction, work in the closed state of the liquid supply system;

or,

When receiving the start instruction after receiving the stop operation instruction and stopping the operation, the liquid supply system operates in the closed state.
The method according to claim 6, characterized in that when the preset condition is that the self-moving cleaning equipment is moved off the ground, before working in the closed state of the liquid supply system, it further includes:

When the removal position of the self-moving cleaning equipment from the ground does not coincide with the landing position of the self-moving cleaning equipment after landing again, and the area where the landing position is located is not clean, clean the area where the landing position is located. area;

After cleaning the area where the landing position is located, move to the moving position according to the navigation path between the moving position and the landing position.
The method according to claim 11, characterized in that before moving to the landing position according to the navigation path between the moving position and the landing position, it further includes:

When the self-mobile cleaning equipment is in mapping mode and when the landing position is outside the established navigation map, continue mapping;

After mapping is completed, move to the location according to the navigation path between the landing position and the moving position. The moving location.
A control method for self-moving cleaning equipment, characterized in that it is applied to self-moving cleaning equipment, and the method includes:

Turn on the liquid supply system and liquid recovery system to perform cleaning tasks;

Before the obstacle crossing event occurs, shut down the liquid supply system;

Travel in the target area with the liquid supply system turned off;

After traveling in the target area, perform an obstacle crossing event;

After completing the obstacle crossing event, the liquid supply system is turned on.
The method according to claim 13, characterized in that:

When the obstacle is a threshold, the target area is the remaining area to be cleaned in the current room when the self-mobile cleaning device turns off the liquid supply system.
The method according to claim 14, characterized in that:

The target area is located between the position where the self-mobile cleaning device turns off the liquid supply system and the threshold.
A self-moving cleaning device including:

The roller is used to contact the ground and roll to clean the ground;

a liquid supply device for spraying cleaning water onto the drum;

Liquid recovery device for recycling sewage;

The memory is connected to the processor and is used to store a computer program that can be run on the processor; characterized in that the processor is used to execute the computer program to implement the following steps:

Turn on the liquid supply system and liquid recovery system to perform cleaning tasks;

Detecting whether the self-moving cleaning equipment meets a preset condition during the execution of the task, the preset condition causing the negative pressure in the liquid recovery channel of the self-moving cleaning equipment to weaken at the current moment or in the future;

If the self-mobile cleaning equipment meets the preset condition, close the liquid supply system;

Work with the liquid supply system turned off.
A computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.
A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-15.