WO2024051704A1

WO2024051704A1 - Cleaning robot and control method and apparatus therefor, and system and storage medium

Info

Publication number: WO2024051704A1
Application number: PCT/CN2023/117097
Authority: WO
Inventors: 黄翊峰
Original assignee: 云鲸智能(深圳)有限公司; 云鲸智能创新(深圳)有限公司
Priority date: 2022-09-07
Filing date: 2023-09-05
Publication date: 2024-03-14
Also published as: CN116269061A

Abstract

The embodiments of the present application provide a cleaning robot and a control method and apparatus therefor, and a system and a storage medium. The method comprises: when a cleaning robot cleans a preset cleaning area, determining the position dirty degree of a cleaned position according to the dirty degree of a cleaning member that is measured by a dirt detection apparatus; and when the position dirty degrees of at least two cleaned positions meet a preset condition, controlling the cleaning robot to repeatedly clean a target sub-area, wherein the target sub-area comprises the at least two cleaned positions meeting the preset condition. The dirty degree of a cleaning member is measured by means of a dirt detection apparatus and the position dirty degree of a cleaned position is then determined, and according to the position dirty degrees of cleaned positions, a sub-area where cleaned positions meeting a preset condition are located is identified as a target sub-area needing to be repeatedly cleaned, such that it is not necessary to repeatedly clean all areas of a preset cleaning area, and thus the cleaning efficiency of the cleaning robot can be improved.

Description

Cleaning robot and control method, device, system and storage medium thereof

Technical field

The present application relates to the field of cleaning technology, and in particular to a cleaning robot and its control method, device, system and storage medium.

Background technique

Cleaning robots can be used to automatically clean floors, and their application scenarios can include household indoor cleaning, large-scale place cleaning, etc. In related technologies, cleaning robots can clean the floor through multiple executions, such as multiple mopping and mopping operations to ensure the cleaning effect. However, all floors are mopped and mopped every time, so the cleaning efficiency is low.

Application content

This application provides a cleaning robot and its control method, device, system and storage medium, aiming to improve the efficiency of the cleaning robot in cleaning the ground.

In a first aspect, embodiments of the present application provide a method for controlling a cleaning robot. The cleaning robot includes a cleaning piece and a dirt detection device. The dirt detection device is used to determine the degree of dirtiness of the cleaning piece. Perform detection; the method includes:

When the cleaning robot cleans the preset cleaning area, the degree of dirtiness of the cleaned position is determined based on the degree of dirtiness of the cleaning parts detected by the dirt detection device;

When the degree of contamination of at least two cleaned locations meets the preset conditions, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset conditions. .

In a second aspect, embodiments of the present application provide a control device for a cleaning robot, where the control device includes a memory and a processor;

Wherein, the memory is used to store computer programs;

The processor is used to execute the computer program and when executing the computer program, implement:

The steps of the aforementioned cleaning robot control method.

In a third aspect, embodiments of the present application provide a cleaning robot. The cleaning robot includes a walking unit, a cleaning piece, and a dirt detection device. The walking unit is used to drive the cleaning robot to move. The cleaning piece is used to drive the cleaning robot to move. For cleaning the floor, the dirt detection device is used to detect the degree of dirt of the cleaning parts of the cleaning parts;

The aforementioned control device.

In a fourth aspect, embodiments of the present application provide a cleaning system, including:

Cleaning robot, the cleaning robot includes a walking unit, cleaning parts, and a dirt detection device, the walking unit is used to drive the cleaning robot to move, the cleaning parts are used to clean the ground, The dirt detection device is used to detect the degree of dirt of the cleaning parts of the cleaning parts;

a base station for at least maintaining the cleaning parts of the cleaning robot; and

The aforementioned control device.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it causes the processor to implement the steps of the above method. .

Embodiments of the present application provide a cleaning robot and its control method, device, system and storage medium. The method includes: when the cleaning robot cleans a preset cleaning area, determine the degree of contamination of the cleaning parts detected by the contamination detection device. The degree of dirtiness of the cleaned positions; when the degree of dirtiness of at least two cleaned positions meets the preset conditions, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two places that meet the preset conditions Location cleaned. Detect the degree of dirtiness of the cleaning parts through the dirt detection device and determine the degree of dirtiness of the cleaned position, and identify the sub-area where the preset condition of the cleaned position is located as requiring repeated cleaning based on the degree of dirtiness of the cleaned position. The target sub-area eliminates the need to repeatedly clean all areas of the preset cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the disclosure of the embodiments of the present application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, 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 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 flowchart of a control method for a cleaning robot provided by an embodiment of the present application;

Figure 2 is a schematic diagram of a cleaning robot in an embodiment;

Figure 3 is a schematic diagram of a cleaning system in an embodiment;

Figure 4 is a schematic diagram of a roller mop for cleaning in one embodiment;

Figure 5 is a schematic diagram of a dirt detection device detecting cleaning parts in one embodiment;

Figure 6 is a schematic diagram of a dirt detection device detecting cleaning parts in another embodiment;

Figure 7 is a schematic diagram of a dirt detection device detecting cleaning parts in yet another embodiment;

Figure 8 is a schematic diagram of a dirt detection device detecting cleaning parts in yet another embodiment;

Figures 9 to 14 are schematic diagrams of determining target sub-regions in some embodiments;

Figure 15 is a schematic diagram of repeated cleaning of a target sub-area in an embodiment;

Figure 16 is a schematic diagram of the total soiling degree of the cleaning robot in one embodiment;

Figure 17 is a schematic block diagram of a control device of a cleaning robot provided by an embodiment of the present application.

Detailed ways

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

The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all contents and operations/steps, nor are they necessarily performed in the order described. For example, some operations/steps can also be decomposed, combined or partially merged, so the actual order of execution may change according to actual conditions.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments may be combined with each other without conflict.

Please refer to FIG. 1 , which is a schematic flowchart of a control method for a cleaning robot provided by an embodiment of the present application. The control method of the cleaning robot can be used in a cleaning robot or a cleaning system to control the cleaning robot so that the cleaning robot performs cleaning tasks and cleans the area corresponding to the cleaning task map.

As shown in Figure 2, an embodiment of the present application provides a cleaning robot 100. Specifically, the cleaning robot 100 includes a walking unit 110, a cleaning part 120, a dirt detection device 130, a self-cleaning device 140, and a control device 300; the walking unit 110 is used to drive the cleaning robot 100 to move, and the cleaning part 120 is used to clean the ground. Perform cleaning; the control device 300 is used to implement the steps of the cleaning robot control method according to the embodiment of the present application.

Cleaning parts include but are not limited to at least one of the following: mopping parts and brushing parts. For example, the cleaning part includes a mopping part, which is used to mop the ground after being wetted; the cleaning part may also include a brushing part, which is used to brush the ground; of course, it is not limited to this. For example, some types of cleaning parts can be used to mop or brush the floor.

The mopping part is used for mopping the ground, and the number of the mopping part can be one or more. The mopping element includes, for example, at least one of the following: a rotating mop, a flat mop, a roller mop, a crawler mop, etc., and of course is not limited thereto. The dragging member is arranged at the bottom of the robot body, specifically at the rear position of the bottom of the robot body. A driving motor is provided inside the robot body, and two rotating shafts protrude from the bottom of the robot body, and the wiping parts are sleeved on the rotating shafts. The driving motor can drive the rotating shaft to rotate, so that the rotating shaft drives the dragging member to rotate.

Brushing parts include side brushing parts and/or mid-sweeping parts. For example, when a cleaning robot uses brushes to sweep the floor, the side brushes sweep dust and other dirt on the outside to the middle area, and the middle sweeper continues to sweep the dirt in the middle area to the dust collector.

Optionally, the cleaning robot 100 is a cleaning robot that integrates sweeping and mopping. The brushing and sweeping parts and the mopping part can work together. For example, the brushing and sweeping parts and the mopping part work at the same time, and the brushing and sweeping parts and the mopping parts work continuously and alternately. Of course, , the brush-sweeping part and the mopping part can also work separately, that is, the brush-scanning part performs cleaning work alone, or the mopping part performs mopping work independently.

The dirt detection device 130 is used to detect the degree of dirt of the cleaning piece 120 . For example, the dirt detection device 130 of the cleaning robot 100 is used to detect the degree of dirt of the mopping element.

The self-cleaning device 140 is used to clean the cleaning parts when the cleaning robot cleans the preset cleaning area; for example, when the cleaning robot cleans the floor, the self-cleaning device 140 continuously cleans the cleaning parts, or cleans the cleaning parts intermittently. clean. Optional, when the cleaning parts are heavily soiled, you can To control the cleaning robot to briefly stop moving to briefly stop cleaning the floor, and to continue cleaning the cleaning parts during the short stop to clean the cleaning parts; for example, control the cleaning robot to continue when the degree of dirt on the cleaning parts is reduced to a small value. Moving and cleaning floors.

For example, the self-cleaning device 140 includes a water washing device for cleaning the mopping member. Optionally, the clean water tank of the water washing device can be replenished manually by the user, or by a cleaning robot and/or a base station.

It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example and does not constitute a specific limitation to the cleaning robot 100 of the embodiment of the present application. The cleaning robot 100 of the embodiment of the present application can also be implemented in other specific ways. For example, in other implementations, a cleaning robot may have more or fewer components.

As shown in Figure 3, the cleaning system provided by the embodiment of the present application includes a cleaning robot 101, a base station 200 and a control device 300. The cleaning robot 101 can be used to automatically clean the floor. The application scenarios of the cleaning robot 101 can be household indoor cleaning, large-scale place cleaning, etc.

The embodiment of the present application provides a cleaning robot 101. Specifically, the cleaning robot 101 includes a walking unit 110, cleaning parts 120, and a dirt detection device 130; the walking unit 110 is used to drive the cleaning robot 101 to move, and the cleaning parts 120 are used to clean the floor; the control device 300 is used to implement The steps of the control method of the cleaning robot according to the embodiment of the present application.

The base station 200 is used in conjunction with the cleaning robot 101. The base station 200 can at least be used to maintain the cleaning parts of the cleaning robot 101, such as cleaning or replacing the cleaning parts of the cleaning robot 101. For example, the base station 200 can also charge the cleaning robot 101, and/or the base station 200 can also provide a parking position for the cleaning robot 101, etc., of course, it is not limited to this.

The cleaning system also includes a control device 300. The control device 300 can be used to implement the steps of the cleaning robot control method according to the embodiment of the present application. Optionally, the robot controller of the cleaning robot 101 and/or the base station controller of the base station 200 can be used alone or in combination as the control device 300 to implement the steps of the cleaning robot control method according to the embodiment of the present application; in other embodiments , the cleaning system includes a separate control device 300 for implementing the steps of the cleaning robot control method in the embodiment of the present application. The control device 300 can be set on the cleaning robot 101 or can be set on the base station 200; of course, it is not Limited to this, for example, the control device 300 may be a device other than the cleaning robot 101 and the base station 200, such as a home smart terminal, a master control device, etc.

In some embodiments, the cleaning robot 101 further includes a self-cleaning device, which is used to clean the cleaning parts when the cleaning robot cleans the preset cleaning area; for example, when the cleaning robot cleans the floor , the self-cleaning device continuously cleans the cleaning parts, or cleans the cleaning parts intermittently.

For example, the self-cleaning device includes a water washing device, and the water washing device is used to clean the mopping member. Optionally, the clean water tank of the water washing device can be replenished manually by the user, or by a cleaning robot and/or a base station.

As shown in FIG. 1 , the control method of a cleaning robot according to an embodiment of the present application includes steps S110 to S120. For example, the control method may be used to control the cleaning robot 100 in FIG. 2 and/or the cleaning robot 101 in FIG. 3 , and is certainly not limited thereto.

S110. When the cleaning robot cleans the preset cleaning area, determine the degree of contamination of the cleaned position according to the degree of contamination of the cleaning parts detected by the contamination detection device.

The preset cleaning area is the area to be cleaned corresponding to the cleaning task of the cleaning robot, for example, the entire area of one or more rooms, or a partial area in a room, or a partial area in a room and another room. part or all of the area, and of course is not limited to this. For example, the preset cleaning area is part or all of the cleaning task map. For example, a cleaning task map includes one or more preset cleaning areas.

For ease of explanation, the embodiment of the present application mainly takes the cleaning part including the mopping part as an example. Correspondingly, the degree of contamination of the cleaning part includes the degree of contamination of the mopping part. For example, the mopping element may include at least one of the following: a rotating mop, a flat mop, a roller mop, a crawler mop, etc., and is of course not limited thereto. If the cleaning parts include brushing parts, please refer to the description of the dragging parts. For example, the brushing parts may also include rotating brushing parts, flat brushing parts, roller-type brushing parts (such as roller brushes), crawler-type brushing parts, etc. , of course it is not limited to this.

The mop part absorbs the dirt on the ground when cleaning the floor to achieve the cleaning of the floor; at the same time, the degree of dirt changes after the mop part absorbs the dirt, and the degree of dirt of the mop part can reflect the dirt of the cleaned floor. degree; therefore, the degree of dirtiness of the cleaned position can be determined based on the degree of dirtiness of the mopping parts.

As shown in Figure 4, the mopping component includes a roller mop 11. The water washing device of the cleaning robot includes a clean water supply component (such as a water spray device) 21, a scraper 22 and a sewage recovery component 23; the clean water supply component 21 includes, for example, a clean water tank. It is used to provide clean water to the roller mop to moisten the roller mop 11; when the roller mop 11 rotates, the moistened roller mop 11 absorbs the dirt S0 on the ground, and the roller mop 11 that has absorbed the dirt S0 is scraped. The dirty sewage S1 is squeezed out under the scraping action of the strip 22, and the sewage recovery assembly 23 can recycle the squeezed sewage S1; the dirty sewage S1 is squeezed out by the scraper 22 to realize the cleaning of the roller mop 11. clean. Optionally, the dirt detection device includes a sewage detection sensor 31. The sewage detection sensor 31 of the dirt detection device is used to detect the sewage obtained after the water washing device washes the mopping member, such as the roller mop 11. The degree of dirtiness of the cleaning parts.

Determining the degree of dirtiness of the cleaned position based on the dirtiness of the cleaning piece detected by the dirt detection device includes: when the water washing device washes the mopping piece, obtaining the dirt detection device detect the degree of contamination of the cleaning parts; and determine the degree of contamination of the cleaned position according to the degree of contamination of the cleaning parts.

For example, the dirt detection device detects substances generated after cleaning the mopping parts, such as sewage; the dirt detection device includes a sewage detection sensor, and the sewage detection sensor is arranged on the sewage pipe of the sewage recovery component. Optionally, the sewage detection sensor can output the sewage contamination degree value during the cleaning process of the cleaning parts. Optionally, the degree of contamination of sewage can be determined based on the degree of difference from sewage and distilled water (pure water), and is of course not limited to this. The degree of sewage pollution can include at least one of density, surface tension, transmission spectrum, transmittance, color, turbidity, conductivity (soluble substances), refractive index, oxygen content, etc.; for example, the sewage detection sensor includes the following At least one: visible light detection sensor, infrared detection sensor, total dissolved solids detection sensor; for example, infrared detection sensor collects turbidity information of sewage, visible light detection sensor collects chromaticity information of sewage, total dissolved solids detection The sensor collects water conductivity information of sewage; it can be based on one of the turbidity information, color information, and water conductivity information. One or more types determine the degree of dirtiness of the mop parts; for example, the greater the turbidity of the sewage and the greater the water conductivity, the greater the degree of dirtiness of the mop parts.

In some embodiments, the dirt detection device can directly detect the cleaning parts to obtain the degree of dirt of the cleaning parts. As shown in Figure 5, the mopping component includes a roller mop 11, and the dirt detection device includes a visual sensor 32. The visual sensor 32 is disposed above the roller mop 11 and is used to detect the upper side of the roller mop 11. In order to reduce the influence of ground material and color, the detection accuracy is higher. Optionally, the dirt detection device may include a plurality of visual sensors 32 . The arrangement direction of the plurality of visual sensors 32 is parallel to the direction of the rotation axis of the roller mop 11 . That is, the plurality of visual sensors 32 are arranged above the roller mop 11 along the roller. The axial setting of type mop 11. The dirt detection device determines the degree of dirt of the cleaning parts based on at least one of the average value, maximum value, minimum value, etc. of the detection results of the plurality of visual sensors 32, which can improve the accuracy of detecting the degree of dirt of the cleaning parts. Of course, it is not limited to this. For example, the mopping member includes a rotating mop. After the rotating mop is lifted, the visual sensor 32 can detect the degree of dirt of the rotating mop.

Wherein, the visual sensor is used to obtain the image or color information of the mopping part, and determine the degree of dirt of the mopping part according to the image or color information of the mopping part. For example, the darker the grayscale of the surface of the mopping part, the lower the degree of dirtiness of the mopping part. The degree of dirtiness is also greater. In some embodiments, the image or color information of the scanned object can also be obtained through a visual sensor, and the degree of contamination of the scanned object is determined based on the image or color information of the scanned object. For example, the darker the grayscale of the surface of the scanned object, the darker the surface of the scanned object. The degree of dirt on the scanned parts is also greater.

As shown in FIG. 6 , the mopping member includes a roller mop 11 or a rotating mop; the dirt detection device includes a conductivity detection sensor 33 , and the conductivity detection sensor 33 includes a plurality of electrodes 331 and a conductivity detection circuit 332 . Taking the roller mop 11 as an example, the plurality of electrodes 331 of the conductivity detection sensor 33 are in contact with different positions of the roller mop 11 . For example, the plurality of electrodes 331 are arranged above the roller mop 11 along the axial direction of the roller mop 11 . , to detect the conductivity between different positions of the roller mop 11 . Specifically, the conductivity detection circuit 332 detects the conductivity between different positions of the roller mop 11 based on the signals between the plurality of electrodes 331 . Since the roller mop 11 can rub the electrode 331, the electrode 331 does not have the problem of rust and calcification.

The conductivity detection sensor can detect the content of soluble substances (such as salt) in sewage. For example, the greater the conductivity between different positions of the roller mop, the greater the degree of dirt of the roller mop. Of course, it is not limited to this. For example, for a flat mop, multiple electrodes of the conductivity detection sensor can be embedded on both sides of the mop.

In some embodiments, as shown in FIGS. 7 and 8 , the mopping member includes two rotating mops 12 , and the two rotating mops 12 are arranged left and right. The water washing device includes a clean water supply component, a cleaning tray 24 and a sewage recovery component; the clean water supply component is used to provide clean water to the rotating mop 12; when the rotating mop 12 rotates, the water and adsorbed dirt (ie sewage) are thrown out to achieve cleaning. Cleaning of the rotating mop 12; the cleaning tray 24 is used to collect the sewage thrown out by the rotating mop 12, and the sewage recovery component can recover the squeezed sewage.

As shown in Figure 7, the dirt detection device includes a visual sensor 32. The visual sensor 32 is disposed below the mopping member, such as the rotating mop 12, and is used to detect the underside of the mopping member to reduce the material, color, and texture of the ground. influence, the detection accuracy is higher; for example, as shown in Figure 7, the rotating mop 12 and the visual sensor 32 are arranged on different sides of the cleaning tray 24. The cleaning tray 24 is transparent or has a light-transmitting area, so that The visual sensor 32 visually detects the rotating mop 12 through the cleaning tray 24 .

As shown in Figure 8, the dirt detection device includes a conductivity detection sensor 33. A plurality of electrodes 331 of the conductivity detection sensor 33 are in contact with different positions of the rotating mop 12 to detect the conductivity between different positions of the rotating mop 12. . For example, the greater the conductivity between different positions of the rotating mop 12, the greater the degree of dirt on the rotating mop 12.

For example, when the cleaning robot does not have a self-cleaning device, when it is detected that the cleaning parts are dirty to a certain extent, the cleaning robot can be controlled to move to the base station, and the base station will perform maintenance, such as replacement or cleaning, on the cleaning parts. For example, when the degree of contamination of the cleaning parts is determined by a visual sensor or a conductivity detection sensor, when the cleaning robot detects that the degree of contamination of the cleaning parts reaches a certain level when it is at a certain position, the cleaning robot can be controlled. Move to the base station, and the base station performs maintenance on the cleaning parts, such as replacement or cleaning; then controls the cleaning robot to return to the position and continue cleaning along the path to determine the degree of dirtiness of the subsequent positions; or when the cleaning robot includes a self-cleaning device , the self-cleaning device can also be controlled to clean the cleaning parts.

In some embodiments, the method further includes: controlling the self-cleaning device to adjust the intensity of cleaning the cleaning part according to the degree of dirtiness of the cleaning part and/or the degree of dirtiness of the cleaned position. , and/or control the moving speed of the cleaning robot when it repeatedly mops.

For example, when the degree of dirtiness of the cleaning parts is greater, the intensity of cleaning the cleaning parts is increased to ensure the cleaning effect of the cleaning parts and reduce the residual dirt on the cleaning parts; after cleaning, the cleaning parts are used to clean the floor. Afterwards, the degree of contamination of the cleaning parts detected again can more accurately reflect the degree of contamination of the cleaned position. For example, when controlling the intensity with which the self-cleaning device cleans the cleaning parts, the amount of clean water supplied by the water washing device is positively related to the degree of contamination of the cleaning parts or the degree of contamination of the location, and/ Or the operating speed of the water washing device (such as the flow rate of the water sprayed by the water spray device) is positively related to the degree of dirt of the cleaning part or the degree of dirt of the location, and/or the operation of the mopping part during water washing The speed is positively related to the degree of dirtiness of the cleaning piece or the degree of dirtiness of the location. Of course, it is not limited to this. The method of adjusting the intensity of cleaning the cleaning member can be determined according to the structure of the cleaning member and/or the structural cleaning principle of the self-cleaning device. By adjusting the cleaning strength of the cleaning piece according to the degree of dirtiness of the cleaning piece or the degree of dirtiness of the location, it is possible to increase the strength of cleaning the cleaning piece when the degree of dirtiness of the cleaning piece is large. , to ensure the cleaning effect of the cleaning parts; when the degree of soiling of the cleaning parts is small, the consumption of electricity and water of the cleaning robot is saved to ensure battery life.

For example, when the cleaning parts are more dirty, the cleaning robot can be controlled to reduce its moving speed during repeated mopping to improve the cleaning effect. This can reduce the number of repeated moppings, for example, to avoid repeated mopping back and forth.

In some embodiments, the dirt detection device is also used to detect the dirt type of the cleaning piece, and the method further includes: when the water washing device washes the mopping piece, obtain the The dirt type of cleaning parts detected by the dirt detection device. Types of contamination of cleaning parts include, but are not limited to, oil contamination.

For example, when the type of dirt on the cleaning parts includes oil dirt, controlling the moving speed of the cleaning robot can prevent the cleaning robot from slipping on the ground with oil dirt.

S120. When the degree of contamination of at least two cleaned locations meets the preset conditions, control the cleaning robot to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset conditions. Clean location.

In some embodiments, when the cleaning robot cleans the preset cleaning area, the degree of contamination of the cleaning parts is determined periodically based on the detection signal of the contamination detection device; the degree of contamination of the cleaning parts is determined on two consecutive occasions. During the cleaning process, the cleaning robot moves and cleans part of the preset cleaning area. This part of the cleaned area can be called a cleaned position.

For example, the degree of contamination of the cleaning parts determined for the nth time reflects the degree of contamination of the area cleaned by the cleaning robot during the period from the n-1th determination of the degree of contamination of the cleaning parts to the nth determination of the degree of contamination of the cleaning parts. , this part of the area can be called the degree of contamination of the n-th cleaned position; the degree of contamination of the cleaning parts determined at the n+1th time reflects the degree of contamination of the cleaning parts determined from the nth time to the n+1th time During the determination of the degree of contamination of the cleaning parts, the degree of contamination of the area cleaned by the cleaning robot. This part of the area can be called the degree of contamination of the n+1th cleaned position.

In some embodiments, the degree of contamination of the at least two cleaned locations can be accumulated, and based on the accumulation result, it is determined whether the degree of contamination of the at least two cleaned locations meets the preset condition. The dirtiness of a sub-region can be obtained by accumulating the dirtiness of multiple cleaned locations. The sub-region includes the multiple cleaned locations; for example, when the dirtiness of the n+1th cleaned location is , accumulate the dirtiness degree of the nth and n+1th cleaned positions, and obtain the dirtiness degree of the sub-area where the nth and n+1th cleaned positions are located. By judging whether the sub-area needs to be repeatedly cleaned according to the degree of dirt of the sub-area; when it is determined that the sub-area needs to be repeatedly cleaned, the sub-area is used as the target sub-area, and the cleaning robot is controlled to perform cleaning on the target sub-area. Repeat cleaning.

Exemplarily, when the degree of contamination of at least two cleaned locations meets a preset condition, controlling the cleaning robot to repeatedly clean the target sub-area includes: cleaning the at least two cleaned locations. The dirtiness degree is accumulated to obtain the subregion dirtiness degree of the subregion, and the subregion includes the at least two cleaned locations; when the subregion dirtiness degree of the subregion is greater than or equal to the preset accumulation threshold, The sub-area is determined to be a target sub-area. It can be understood that the target sub-area includes at least two cleaned locations that meet the preset conditions; the cleaning robot is controlled to repeatedly clean the target sub-area. When the degree of dirtiness of the subregion is greater than or equal to the preset accumulation threshold, it can be determined that the total amount of dirtiness of the subregion is high, and the cleaning effect of the subregion can be improved by repeatedly cleaning the subregion.

The area where at least two cleaned locations are located is called a sub-region. The dirtiness of the at least two cleaned locations is accumulated (such as points) to obtain the sub-region dirtiness of the sub-region; as more are accumulated The dirtiness of the cleaned position and the accumulated dirtiness of the sub-region gradually increase; when the dirtiness of the sub-region is greater than or equal to the preset accumulation threshold, the sub-region can be determined to be the target sub-region. As shown in Figure 9, each dotted line represents the determination of the degree of contamination of a cleaning piece, that is, the determination of the degree of contamination of a cleaned position. In Figure 9, when the degree of contamination of 10 cleaned positions is accumulated, , the accumulated dirty degree of the sub-region is greater than or equal to the preset accumulation threshold.

Optionally, please refer to Figure 10. When the degree of contamination of the cleaned position is greater than or equal to the preset contamination threshold, the degree of contamination of at least two cleaned positions that meet this condition is accumulated (such as integration ) to obtain the sub-region dirtiness degree of the sub-region. When the degree of dirtiness of the cleaned position is greater than or equal to the preset dirtiness threshold, it can be determined that the amount of dirt at the cleaned position is large and the position needs to be inspected. Repeat cleaning to improve the cleaning effect of the preset cleaning area. As a result, the degree of dirtiness of the cleaned locations that meet the preset dirtiness threshold is accumulated. When the preset accumulation threshold is met, the target sub-area is determined, and the repeated cleaning behavior is controlled, so that the cleaning effect can be ensured. Under the premise, it avoids frequently starting and repeating mopping after finding dirt in the cleaned position, which improves cleaning efficiency.

Optionally, when the degree of dirt in the sub-region is less than the preset accumulation threshold, it can be determined that the total amount of dirt in the sub-region is less, and the sub-region may not be repeatedly cleaned to improve the cleaning of the preset cleaning area. efficiency.

In some embodiments, the changing trends of the dirty levels of different locations can be determined based on the dirty levels of the at least two cleaned locations, and the changing trends of the dirty levels of the at least two cleaned locations can be determined based on the changing trends of the dirty levels of the different locations. Whether the degree of dirtiness of the cleaned position meets the preset conditions. The distribution of dirt at different locations can be determined based on the changing trends of the dirt levels at different locations, and the areas that need to be cleaned repeatedly can be determined based on the dirt distribution at different locations.

For example, the cleaning robot first cleans the first position and then cleans the second position, and the first position is dirtier than the second position. When the cleaning robot does not clean the cleaning parts, the cleaning parts will be dirty after the cleaning robot cleans the first position. When cleaning the second position, part of the dirt adsorbed by the cleaning parts will be taken away by the ground at the second position, causing the cleaning parts to become dirty. The degree of contamination decreases; when the degree of contamination of the cleaning piece decreases, it can be determined that the degree of contamination from the first position to the second position shows a downward trend, and the degree of contamination of the first position is higher. When the cleaning robot cleans the cleaning parts, the cleaning robot absorbs more dirt after cleaning the first position. If the self-cleaning device cannot clean the dirt adsorbed by the cleaning parts in a short period of time, it will be in the first position. It shows a higher degree of dirtiness; when the cleaning robot cleans the second position that is cleaner, the self-cleaning device continues to clean the cleaning parts, so that the degree of dirtiness of the cleaning parts decreases; then it can be determined when the degree of dirtiness of the cleaning parts decreases. The degree of dirtiness of the first position to the second position shows a decreasing trend, and the degree of dirtiness of the first position is higher.

Exemplarily, when the degree of contamination of at least two cleaned locations meets a preset condition, controlling the cleaning robot to repeatedly clean the target sub-area includes: based on the locations of the at least two cleaned locations The degree of contamination determines the changing trend of the degree of contamination of the location; when the degree of contamination of at least two cleaned locations is greater than or equal to the preset contamination threshold and the last one is The contamination degree of the cleaned position is less than or equal to the preset contamination threshold, or at least one of the at least two cleaned positions is within the preset range and the last cleaned position is dirty. The degree of pollution shows a downward trend, and the amplitude of the decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, that is, the degree of pollution at the location shows a rapid downward trend and/or the degree of location pollution suddenly drops or drops below a certain level. When the threshold value is reached, the cleaning robot is controlled to repeatedly clean the target sub-area.

For example, the degree of contamination of the at least two cleaned locations is the degree of contamination of at least three cleaned locations, and at least one of the degree of contamination of the at least two cleaned locations is in the predetermined range. It is assumed that the degree of dirtiness of the last cleaned position within the range is on a downward trend, and the degree of decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, including: at least two of them are within the preset range And the degree of dirtiness of at least the last cleaned position shows a downward trend, and the amplitude of the decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold. As shown in Figure 11 As shown, the degree of dirtiness of at least two cleaned positions P remains within the preset range, and the degree of dirtiness of the subsequent cleaned positions Q shows a downward trend, and the amplitude of the decrease is greater than or equal to the decrease amplitude threshold and/or If the slope is less than or equal to the slope threshold, it can be determined that the sub-region where at least two cleaned positions P and Q are located is the target sub-region.

For example, the degree of contamination of the at least two cleaned locations is the degree of contamination of at least three cleaned locations, and the degree of contamination of at least one of the cleaned locations is greater than or equal to the preset contamination level. threshold and the degree of dirtiness of the last cleaned position is less than or equal to the preset dirtiness threshold, including: at least two of the cleaned positions have a degree of dirtiness greater than or equal to the preset dirtiness threshold and at least the last cleaned position The degree of dirtiness of the location is less than or equal to the preset dirtiness threshold.

Optionally, please refer to Figure 12. During the execution of the cleaning task, continuously record the degree of contamination of the cleaned location, and monitor the changing trend of the degree of contamination of the location. For example, the degree of contamination of the cleaned location changes from less than the predetermined level. Assume that the dirtiness threshold changes to be greater than or equal to the preset dirtiness threshold. When the dirtiness of the cleaned position is greater than or equal to the preset dirtiness threshold and then changes to less than the preset dirtiness threshold, it can be At least a cleaning position that satisfies a preset soiling threshold greater than or equal to is determined as a target sub-area. As a result, at least the cleaning positions that meet the preset pollution threshold during two changes in position dirtiness are determined as target sub-areas, and repeated cleaning behaviors are controlled, so that the location of dirt can be more clearly defined, and the location of dirt can be completely Repeated mopping behavior is started only after cleaning a dirty area, which improves cleaning efficiency.

For example, when it is detected that the degree of contamination of the at least two cleaned locations shows a rapid downward trend or drops below a certain threshold, it can be determined that there are dirty areas in the cleaned locations, and it can be determined that the The sub-area where at least two cleaned locations are located is the target sub-area. When the degree of contamination of the at least two cleaned locations shows a rapid downward trend or drops below a certain threshold, it can be determined that the degree of contamination of at least one of the cleaned locations that was cleaned earlier is dirtier. Repeated cleaning of at least one cleaned position can improve the cleaning effect; since returning to at least one cleaned position for repeated cleaning requires passing through the cleaned position after the degree of dirtiness of the position has decreased, the cleaned position after the degree of dirtiness of the position has decreased can be changed The area where the cleaning position and the dirty cleaned position is located is determined as the target sub-area, and the cleaning robot is controlled to repeatedly clean the target sub-area.

In some embodiments, please refer to FIG. 13 , the sub-region dirtiness level 1 of sub-region 1 gradually increases as the location dirtiness level of more cleaned locations is accumulated, and the accumulated sub-region dirtiness level 1 gradually increases; When the dirt degree 1 of the sub-area of area 1 is greater than or equal to the preset accumulation threshold, the sub-area 1 can be determined to be the target sub-area; and the target sub-area can be repeatedly cleaned. In the case where the sub-area dirtiness level (e.g., sub-area dirtiness level 2) of the sub-area (e.g., sub-area 2) is less than the preset accumulation threshold, when at least two cleaned positions of the sub-area are dirty, When the pollution level shows a downward trend, and the amplitude of the decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, that is, when there is a rapid downward trend, the sub-region (such as sub-region 2) is determined to be the target sub-region; and /or when the degree of dirtiness of the at least two cleaned locations suddenly drops below a certain threshold, determine the sub-area (such as sub-area 2) as the target sub-area; and control the cleaning robot to clean the Repeat cleaning of the target sub-areas. By repeatedly cleaning the target sub-areas corresponding to the at least two cleaned locations when the dirtiness of the at least two cleaned locations shows a rapid downward trend, the cleaning robot can be made to clean the target sub-areas corresponding to the dirty sub-areas. When area 2 moves to a cleaner ground, it can return to clean the dirty sub-area 2 repeatedly, and the cleaning efficiency is high; it can prevent the cleaning robot from cleaning the longer and cleaner ground behind sub-area 2 before cleaning according to the preset. Set the accumulation threshold to return to repeated cleaning of sub-area 2 and the longer-distance ground, or prevent the cleaning robot from cleaning the longer-distance and relatively clean ground in sub-area 2 before the accumulated location dirtiness reaches the predetermined level. Set the accumulation threshold so that the dirty sub-area 2 is not repeatedly cleaned.

In some embodiments, please refer to Figure 14, when the degree of dirtiness of at least two cleaned locations corresponding to sub-area 3 shows a downward trend, and the amplitude of the decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, determine the sub-area 3 as the target sub-area; and control the cleaning robot to repeatedly clean the target sub-area. After that, the position contamination degree of the next cleaned position of the sub-region 4 is accumulated to obtain the sub-region contamination degree of the new sub-region 4. The sub-region 4 includes the next cleaned position; when the When the sub-region dirtiness degree 4 of the new sub-region 4 is greater than or equal to the preset accumulation threshold, the new sub-region 4 is determined to be the target sub-region, and the cleaning robot is controlled to repeatedly clean the target sub-region.

For example, when the cleaning robot cleans the preset cleaning area, it moves along the first direction of the motion path. As shown in Figure 15, the movement path for cleaning the preset cleaning area includes path AB, and the first direction is the same as the AB direction.

In some embodiments, controlling the cleaning robot to repeatedly clean the target sub-area includes: controlling the cleaning robot to move along the second direction of the movement path, so that the cleaning robot moves along the first direction. The target sub-area is repeatedly cleaned when moving in two directions, and the second direction is opposite to the first direction. Please refer to Figure 15. The cleaning robot moves from A to B in the first direction. When the cleaning robot moves to P1 along path 1 in the first direction, it is determined that the degree of contamination of at least two cleaned positions meets the predetermined level. Assume conditions, for example, determine the P0-P1 area where the at least two cleaned locations are located as the target sub-area; when controlling the cleaning robot to repeatedly clean the target sub-area, the cleaning robot can be controlled to move along the first The path 2 in the two directions moves to P0 to repeatedly clean the P0-P1 area; then the cleaning robot can move to P1 along the path 3 in the first direction. When the cleaning robot moves along the path 3, it can lift the cleaning piece to quickly Move to P1; you can also continue to move to B along the path 4 in the first direction when the cleaning element is put down to clean the area that has not been cleaned. For example, when the cleaning robot repeatedly cleans the P0-P1 area to the P0 position, the degree of contamination at the P0 position is obtained. At this time, the degree of contamination at the P0 position will be smaller than before repeated cleaning; it can also be based on repeated cleaning. Whether the sub-area pollution degree obtained by accumulating position dirtiness in the P0-P1 area is greater than or equal to the preset accumulation threshold. When it is greater than or equal to the preset accumulation threshold, it is determined that the P0-P1 area is not clean and needs to be cleaned again, then The cleaning robot can be controlled to move to P1 along the path 3 in the first direction, and the cleaning robot can be controlled again to move to P0 along the path 2 in the second direction to repeatedly clean the P0-P1 area. When the degree of dirtiness of the sub-areas of the P0-P1 area is less than the preset accumulation threshold, the cleaning robot is controlled to move to P1 along the path 3 in the first direction, and continues to move to B along the path 4 in the first direction when the cleaning piece is put down. move.

In some embodiments, controlling the cleaning robot to repeatedly clean the target sub-area includes: after controlling the cleaning robot to move along the second direction of the movement path, controlling the The cleaning robot moves along the first direction of the movement path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the first direction. Please refer to Figure 15. The cleaning robot moves from A to B in the first direction. When the cleaning robot moves to P1 along path 1 in the first direction, it is determined that the degree of contamination of at least two cleaned positions meets the predetermined level. Assuming conditions, for example, the P0-P1 area where the at least two cleaned positions are located is determined as the target sub-area; the cleaning robot can be controlled to move to P0 along the path 2 in the second direction, and then the cleaning robot can be controlled to move along the path 2 in the second direction. Path 3 in the first direction moves to P1 to repeatedly clean the P0-P1 area. Optionally, when the cleaning robot moves to P0 along path 2 in the second direction, it can lift the cleaning piece to quickly move to P0. ; After that, the cleaning robot can continue to move toward B along the path 4 in the first direction to clean the areas that have not been cleaned yet. For example, it can also be determined based on whether the sub-region soiling degree obtained by accumulating position soiling degree when repeatedly cleaning the P0-P1 area is greater than or equal to the preset accumulation threshold. When it is greater than or equal to the preset accumulation threshold, it is determined that the P0-P1 area is not dirty. After the cleaning is complete and the cleaning needs to be repeated again, the cleaning robot can be controlled to move to P0 along path 2 in the second direction, and the cleaning robot can be controlled again to move to P1 along path 3 in the first direction to clean the P0-P1 area. Perform repeated cleaning. When the degree of dirtiness of the sub-areas of the P0-P1 area is less than the preset accumulation threshold, the cleaning robot is controlled to move toward B along the path 4 that continues along the first direction.

Optionally, after the cleaning robot repeatedly cleans the target sub-area while moving along the second direction, and after the cleaning robot moves along the second direction of the movement path, the cleaning robot may also The target sub-area is repeatedly cleaned while moving in the first direction. Referring to Figure 15, when the cleaning robot is controlled to repeatedly clean the target sub-area, the cleaning robot can be controlled to move toward P0 along the path 2 in the second direction to repeatedly clean the P0-P1 area; The cleaning robot is then controlled to move to P1 along path 3 in the first direction to repeatedly clean the P0-P1 area; then the cleaning robot can continue to move toward B along path 4 in the first direction to clean areas that have not yet been cleaned. Clean the affected area. For example, when controlling the cleaning robot to repeatedly clean the target sub-area, the cleaning robot is controlled to move toward P0 along the path 2 in the second direction to repeatedly clean the P0-P1 area; to P0 -When the P1 area is repeatedly cleaned, the degree of dirtiness of each cleaned position in the P0-P1 area is accumulated to obtain the degree of dirtiness of the sub-areas of the P0-P1 area during this repeated cleaning; when the sub-areas of the P0-P1 area are dirty When the degree of contamination is greater than or equal to the preset accumulation threshold, the cleaning robot can be controlled to move to P1 along the path 3 in the first direction when the cleaning piece is put down, so as to repeatedly clean the P0-P1 area again, and when the local cleaning is repeated The degree of dirtiness of the sub-regions of the P0-P1 area is still greater than or equal to the preset accumulation threshold, and then the cleaning robot is again controlled to move toward P0 along the path 2 in the second direction to repeatedly clean the P0-P1 area; until a certain When it is determined that the P0-P1 area does not need to be cleaned again when the degree of dirtiness of the sub-areas of the P0-P1 area is less than the preset accumulation threshold during repeated cleaning, the cleaning robot can be controlled to return to P1 and along path 4 in the first direction toward B Move around to clean areas that have not been cleaned yet.

In some embodiments, the method further includes: when the degree of contamination of the at least two cleaned locations satisfies the preset condition, determining the location of the last cleaned location among the at least two cleaned locations. The difference between the determination time of the degree and the time when cleaning started at the earliest cleaned position among the at least two cleaned positions determines the cleaning duration corresponding to the target sub-area. For example, in Start cleaning the n+1th position at time t0, determine the degree of contamination at the n+1th position at time t1, and determine the degree of contamination at the n+sth position at time ts; when the n+th position is determined The degree of dirtiness of the cleaned positions from the 1st to the n+sth position meets the preset condition. For example, when the cumulative dirtiness level of the cleaned positions from the n+1st to the n+sth position is greater than or equal to the preset condition When accumulating the threshold value, the target sub-subject is determined based on the difference ts-t0 between the time ts for determining the degree of dirtiness of the n+sth cleaned position and the time t0 when cleaning starts at the n+1st cleaned position. The cleaning time corresponding to the area.

Optionally, when the cleaning robot is controlled to move along the second direction of the motion path, the duration of the cleaning robot moving along the second direction of the motion path is greater than or equal to the cleaning duration. Please refer to Figure 15. At time t0, the cleaning robot starts cleaning from P0 to B. When cleaning to P1, it is determined that the degree of dirtiness of the cleaned position between P0 and P1 meets the preset conditions. It can be determined The corresponding cleaning duration from P0 to P1 is, for example, t1-t0; then when repeatedly cleaning the P0-P1 area, the cleaning robot is controlled to move at least ts-t0 in the second direction to at least return to P0, which can be at least Repeat the cleaning of the target sub-area from P0 to P1 to ensure coverage of the target sub-area.

In some embodiments, the method further includes: when the degree of contamination of at least two cleaned locations meets a preset condition, determining a cleaning distance corresponding to the target sub-area based on the at least two cleaned locations. . Please refer to Figure 15. When it is determined that the degree of dirtiness of the cleaned position from n+1 to n+s meets the preset conditions, based on the end position of the n+s cleaned position, and the n+1 At the starting position of the cleaned position, determine the cleaning distance corresponding to the target sub-area, for example, the distance between P0 and P1.

Optionally, when the cleaning robot is controlled to move in the second direction of the movement path, the distance that the cleaning robot moves in the second direction of the movement path is greater than or equal to the cleaning distance. Please refer to Figure 15. When repeatedly cleaning the P0-P1 area, the cleaning robot is controlled to move at least the cleaning distance in the second direction to at least return to P0, and can at least clean the target sub-area from P0 to P1. Repeat cleaning to ensure coverage of target sub-areas.

In some embodiments, when the cleaning robot cleans the preset cleaning area, determining the degree of dirtiness of the cleaned position based on the degree of dirtiness of the cleaning parts detected by the dirt detection device includes: When the cleaning robot cleans the preset cleaning area, the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice within a preset time period, and the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice. Degree Determines how dirty the location is in at least two cleaned locations.

For example, please refer to Figure 15. Starting from time t0, the cleaning robot starts cleaning from P0 to point B. Within the preset time period from time t0 to time ts, the cleaning robot detects the dirt detected by the dirt detection device and acquires it multiple times. The degree of contamination of cleaning parts and the degree of location contamination of multiple cleaned locations in the P0-P1 area.

It can be determined whether the degree of contamination of the cleaned position within the preset time period satisfies the preset condition. Exemplarily, the position contamination degree of the at least two cleaned positions satisfies the preset condition, including: the positions of the at least two cleaned positions corresponding to the contamination degree of the cleaning parts obtained at least twice within the preset time period. The degree of dirtiness meets the preset conditions.

For example, the location contamination levels of all cleaned locations determined within the preset time period are accumulated, and it is determined whether the sub-area contamination level of the P0-P1 area is greater than or equal to the preset accumulation threshold. When When the degree of dirtiness of the sub-areas of the P0-P1 area is greater than or equal to the preset accumulation threshold, determine the P0-P1 area as the target sub-area; or determine whether the degree of dirtiness of multiple cleaned locations in the P0-P1 area is rapid. Downward trend, when there is a rapid downward trend, determine the P0-P1 area as the target sub-area.

Optionally, when the cleaning robot is controlled to repeatedly clean the target sub-area, when the cleaning robot is controlled to move in the second direction of the movement path, the cleaning robot moves along the movement path. The duration of the movement in the second direction is greater than or equal to the preset duration, for example, it can be returned to at least P0, and the target sub-area from P0 to P1 can be repeatedly cleaned to ensure coverage of the target sub-area.

Optionally, when the degree of dirtiness of the cleaned position within the preset time period does not meet the preset condition, it may be determined that the sub-area corresponding to the cleaned position within the preset time period is relatively clean, and it may not be Perform repeated cleaning. Optionally, when it is determined that the sub-area corresponding to the preset time period does not require repeated cleaning, the determined degree of dirtiness of the location can be deleted after the preset time period ends, and a new preset time period can be started; and Determine the degree of contamination of the most recently cleaned location within a new preset time period, and determine whether the degree of contamination of the most recently cleaned location satisfies the preset condition. In other words, when the degree of contamination of the cleaned location within the preset time period does not meet the preset condition, the identification cycle of the current target sub-area can be ended, and can be started in the next preset time period. New recognition cycle.

In some embodiments, when the cleaning robot cleans the preset cleaning area, determining the degree of dirtiness of the cleaned position based on the degree of dirtiness of the cleaning parts detected by the dirt detection device includes: When the cleaning robot cleans the preset cleaning area, the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice within the preset moving distance, and the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice. Determine the degree of soiling of at least two cleaned locations.

For example, please refer to Figure 15. Within the preset moving distance from P0 to P1, the degree of contamination of the cleaning parts detected by the dirt detection device is obtained multiple times and it is determined that multiple places in the P0-P1 area have been cleaned. The degree of dirtiness of the location.

It can be determined whether the degree of contamination of the cleaned position within the preset movement distance meets the preset condition. Exemplarily, the degree of contamination of the at least two cleaned positions satisfies the preset conditions, including: the degree of contamination of the cleaning parts obtained at least twice within the preset movement distance corresponds to the degree of contamination of the at least two cleaned positions. The degree of dirtiness of the location meets the preset conditions.

For example, accumulate the position dirtiness of all cleaned positions within the preset movement distance of P0-P1, and determine whether the dirtiness of the sub-areas of the P0-P1 area is greater than or equal to the preset accumulation threshold. When P0-P1 When the degree of dirtiness of the sub-areas of the area is greater than or equal to the preset accumulation threshold, determine the P0-P1 area as the target sub-area; or determine whether the degree of dirtiness of multiple cleaned positions within the preset movement distance of P0-P1 is the same. Rapid downward trend. When there is a rapid downward trend, the P0-P1 area is determined as the target sub-area.

Optionally, when the cleaning robot is controlled to move in the second direction of the movement path, the distance that the cleaning robot moves in the second direction of the movement path is greater than or equal to the preset movement distance, for example, it can be at least After returning to P0, at least the target sub-area from P0 to P1 can be repeatedly cleaned to ensure coverage of the target sub-area.

Optionally, when the degree of dirtiness of the cleaned position within the preset movement distance does not meet the preset condition, it may be determined that the sub-area corresponding to the cleaned position within the preset movement distance is relatively clean, Repeated cleaning is not required. Optionally, when it is determined that the sub-area corresponding to the preset movement distance does not need to be repeatedly cleaned, the determined degree of dirtiness of the location can be deleted after the preset movement distance ends, and a new preset movement distance can be started. ; and determine the degree of contamination of the most recently cleaned position within the new preset movement distance, and determine whether the degree of contamination of the most recently cleaned position satisfies the preset condition. In other words, when the degree of dirtiness of the cleaned position within the preset movement distance does not meet the preset condition, the identification cycle of the current target sub-area can be ended, and the next preset movement can be carried out. distance starts a new recognition cycle.

In some embodiments, each identification period can be determined based on the type of area cleaned by the cleaning robot, time and other factors. For example, when the degree of contamination of at least two cleaned locations meets preset conditions, the at least two cleaned locations need to be inspected. When the target sub-area where the cleaning position is located is repeatedly cleaned, a new identification cycle starts. Optionally, the previously determined degree of location contamination and the accumulated results can be deleted at the beginning of each identification cycle.

For example, when the degree of contamination of at least two cleaned locations meets the preset condition, the determined degree of contamination of the location is deleted; for example, when the degree of contamination of at least two cleaned locations meets the preset condition When conditions are met, the identification cycle of the current target sub-area can be ended; when repeated cleaning of the target sub-area is started, a new identification cycle can be started. In the new identification cycle, the cleaning parts are dirty according to the dirt detection device. The degree determines the degree of location contamination of the most recently cleaned location, and determines whether the degree of location contamination of the most recently cleaned location satisfies the preset condition.

For example, at the beginning of each recognition cycle, the position contamination degree of the first cleaned position in the sub-area corresponding to the current recognition cycle is determined, and then the position contamination degree of each subsequent cleaned position is determined, and the position contamination degree within this recognition cycle is determined. Whether the determined degree of location contamination meets the preset condition; for example, when the accumulated degree of location contamination is greater than or equal to the preset accumulation threshold, multiple cleaned locations corresponding to the accumulated degree of location contamination are determined as new targets sub-region.

For example, when the degree of dirtiness of at least two cleaned locations meets preset conditions and it is necessary to repeatedly clean the target sub-area where the at least two cleaned locations are located, the determined dirty locations may also be deleted. and when the cleaning robot repeatedly cleans the target sub-area, determine the degree of dirtiness of the cleaned position based on the degree of dirtiness of the cleaning parts detected by the dirt detection device, and determine at least two cleaned positions. Whether the degree of contamination of the position meets the preset condition; when the degree of contamination of the multiple cleaned locations corresponding to the target sub-area satisfies the preset condition, the sub-regions corresponding to the multiple cleaned locations are The area is determined as a new target sub-area; or when the degree of contamination of multiple cleaned locations corresponding to the target sub-area and some cleaned locations outside the target sub-area meets the preset conditions, the Multiple cleaned locations corresponding to the target sub-area and sub-areas corresponding to some cleaned locations outside the target sub-area are determined as new target sub-areas; the determined dirty locations can also be deleted when determining the new target sub-area. The degree of contamination is determined so that when a new target sub-area is repeatedly cleaned, the degree of contamination of the cleaned position for repeated cleaning is determined and whether the degree of contamination of the cleaned position for repeated cleaning meets the preset conditions is determined.

Exemplarily, the self-cleaning device is used to clean the cleaning parts before each identification cycle of the target sub-area starts, so that the degree of contamination of the cleaning parts detected next can more accurately reflect the position of the cleaned position. The degree of dirtiness improves the recognition accuracy of the target sub-area. For example, the self-clearing The cleaning device is used to clean the cleaning parts before the cleaning robot repeatedly cleans the target sub-area, so that the degree of contamination of the cleaning parts detected next can more accurately reflect the cleaned position in the target sub-area. The degree of soiling of the location.

In some embodiments, please refer to Figure 16, the method further includes: when the cleaning robot cleans the preset cleaning area, determine the degree of contamination of the cleaned position in the preset cleaning area. Accumulate (such as points) to obtain the total dirtiness of the cleaning robot. When the total dirt degree of the cleaning robot is greater than or equal to the total dirt threshold, the cleaning robot is controlled to move toward the base station so that the base station can perform maintenance on the cleaning parts of the cleaning robot, such as replacing cleaning parts or cleaning parts. parts for cleaning.

There is a limit to the total amount of dirt that the cleaning robot's cleaning parts can clean. For example, the capacity of the clean water tank of the cleaning robot's self-cleaning device is limited or the self-cleaning device's cleaning effect on the cleaning parts is limited. With the total dirt of the cleaning robot, As the level increases, the cleaning effect of the cleaning robot on the floor will become worse; sometimes it will also affect the detection accuracy of the degree of dirt on the cleaning parts. For example, the accumulation of high-dyed dirt and high-grease dirt on the mopping parts will affect the mopping. Accuracy of detecting the degree of contamination of parts. When the total dirtiness of the cleaning robot is greater than or equal to the total dirtiness threshold, the base station maintains the cleaning parts to improve the cleaning effect on the floor and prevent the detection accuracy of the dirtiness of the cleaning parts from decreasing.

Optionally, after the base station performs maintenance on the cleaning parts of the cleaning robot, the cleaning robot is controlled to continue cleaning the preset cleaning area, and can restart accumulating the degree of dirtiness of the cleaned location, and determine Whether the base station is required to maintain the cleaning parts of the cleaning robot.

The control method of a cleaning robot provided by embodiments of the present application includes: when the cleaning robot cleans a preset cleaning area, determining the degree of contamination of the cleaned position based on the degree of contamination of the cleaning parts detected by the contamination detection device; when at least When the degree of contamination of the two cleaned locations meets the preset conditions, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset conditions. Detect the degree of dirtiness of the cleaning parts through the dirt detection device and determine the degree of dirtiness of the cleaned position, and identify the sub-area where the preset condition of the cleaned position is located as requiring repeated cleaning based on the degree of dirtiness of the cleaned position. The target sub-area eliminates the need to repeatedly clean all areas of the preset cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

Please refer to FIG. 17 in conjunction with the above embodiment. FIG. 17 is a schematic block diagram of the control device 300 of the cleaning robot provided by the embodiment of the present application. The control device 300 includes a processor 301 and a memory 302.

For example, the processor 301 and the memory 302 are connected through a bus 303, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc.

The processor 301 is configured to run a computer program stored in the memory 302, and implement the steps of the method of any of the foregoing embodiments when executing the computer program.

Illustratively, the processor 301 is used to run a computer program stored in the memory 302, And when executing the computer program, the following steps are implemented:

It can be understood that the embodiment of the present application also provides a cleaning robot 100. The cleaning robot 100 includes the aforementioned control device 300. The control device 300 is, for example, a robot controller. The control device 300 is used to implement the steps of the method in the embodiment of the present application. .

It can be understood that the embodiment of the present application also provides a cleaning robot 101. The cleaning robot 101 includes the aforementioned control device 300. The control device 300 is, for example, a robot controller. The control device 300 is used to implement the steps of the method in the embodiment of the present application. .

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor can implement the steps of the method of any of the above embodiments. .

The computer-readable storage medium may be an internal storage unit of the control device described in any of the preceding embodiments, such as a hard disk or memory of the control device. The computer-readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital (SD) equipped on the control device. ) card, Flash Card, etc.

The specific principles and implementation methods of the cleaning robot and cleaning system provided by the embodiments of the present application are similar to the methods of the previous embodiments, and will not be described again here.

It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

It will also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of various equivalent methods within the technical scope disclosed in the present application. Modification or replacement, these modifications or replacements shall be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A control method for a cleaning robot, characterized in that the cleaning robot includes cleaning parts and a dirt detection device, and the dirt detection device is used to detect the degree of dirt of the cleaning parts; the method include:

When the cleaning robot cleans the preset cleaning area, the degree of dirtiness of the cleaned position is determined based on the degree of dirtiness of the cleaning parts detected by the dirt detection device;

When the degree of contamination of at least two cleaned locations meets the preset conditions, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset conditions. .
The control method according to claim 1, characterized in that when the degree of contamination of at least two cleaned locations meets preset conditions, controlling the cleaning robot to repeatedly clean the target sub-area includes:

Accumulate the location contamination levels of the at least two cleaned locations to obtain the sub-region contamination level of the sub-region, where the sub-region includes the at least two cleaned locations;

When the sub-region dirtiness degree of the sub-region is greater than or equal to the preset accumulation threshold, determine the sub-region as the target sub-region;

The cleaning robot is controlled to repeatedly clean the target sub-area.
The control method according to claim 2, characterized in that when the degree of contamination of at least two cleaned locations meets preset conditions, controlling the cleaning robot to repeatedly clean the target sub-area, further comprising:

When the degree of dirtiness of the sub-region is less than the preset accumulation threshold, when the degree of dirtiness of the at least two cleaned locations shows a downward trend, and the degree of decrease is greater than or equal to the decrease degree threshold and/or when the slope is less than or equal to the slope threshold, the sub-region is determined to be the target sub-region.
The control method according to claim 1, characterized in that when the degree of contamination of at least two cleaned locations meets preset conditions, controlling the cleaning robot to repeatedly clean the target sub-area includes:

Determine the changing trend of the degree of dirtiness of the location based on the degree of dirtiness of the at least two cleaned locations;

When the degree of dirtiness of at least two cleaned positions is greater than or equal to the preset dirtiness threshold, and the degree of dirtiness of the last cleaned position is less than or equal to the preset dirtiness threshold, contamination threshold, or when at least one of the contamination levels of the at least two cleaned locations is within the preset range and the contamination level of the last cleaned location shows a downward trend, and the magnitude of the decrease is greater than or equal to When the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, the cleaning robot is controlled to repeatedly clean the target sub-area.
The control method according to claim 4, wherein the degree of contamination of the at least two cleaned locations is the degree of contamination of at least three cleaned locations, and the degree of contamination of the at least one cleaned location is The degree of dirtiness of the location is greater than or equal to the preset dirtiness threshold and the degree of dirtiness of the last cleaned location is less than or equal to the preset dirtiness threshold, including: at least two of the cleaned locations are dirty The degree of dirtiness is greater than or equal to the preset dirtiness threshold and the degree of dirtiness of at least the last cleaned position is less than or equal to the preset dirtiness threshold;

The degree of contamination of the at least two cleaned locations is the degree of contamination of at least three locations that have been cleaned, and at least one of the degree of contamination of the at least two cleaned locations is within a preset range and The degree of dirtiness of the last cleaned position shows a downward trend, and the degree of decrease is greater than or equal to the decrease amplitude threshold and/or the slope is less than or equal to the slope threshold, including: at least two of them are within the preset range and at least the last The degree of dirtiness of the cleaned position shows a decreasing trend, and the decreasing amplitude is greater than or equal to the decreasing amplitude threshold and/or the slope is less than or equal to the slope threshold.
The control method according to any one of claims 1 to 5, characterized in that when the cleaning robot cleans the preset cleaning area, it moves along the first direction of the motion path;

Controlling the cleaning robot to repeatedly clean the target sub-area includes:

The cleaning robot is controlled to move along the second direction of the movement path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the second direction, and the second direction is consistent with the first direction. One direction is opposite; and/or

After controlling the cleaning robot to move along the second direction of the movement path, controlling the cleaning robot to move along the first direction of the movement path, so that the cleaning robot moves in the first direction while moving along the first direction. The target sub-area is repeatedly cleaned.
The control method according to claim 6, characterized in that the method further includes:

When the degree of contamination of at least two cleaned locations satisfies the preset conditions, the determination time of the degree of contamination of the last cleaned location among the at least two cleaned locations is determined by The difference in time when cleaning starts at the earliest cleaned position among the cleaning positions determines the cleaning duration corresponding to the target sub-area;

When controlling the cleaning robot to move along the second direction of the motion path, the duration of the cleaning robot moving along the second direction of the motion path is greater than or equal to the cleaning duration.
The control method according to claim 6, characterized in that the method further includes:

When the degree of contamination of at least two cleaned locations meets the preset conditions, determine the cleaning distance corresponding to the target sub-area based on the at least two cleaned locations;

When the cleaning robot is controlled to move along the second direction of the movement path, the distance that the cleaning robot moves along the second direction of the movement path is greater than or equal to the cleaning distance.
The control method according to claim 6, wherein when the cleaning robot cleans the preset cleaning area, the cleaned position is determined based on the degree of contamination of the cleaning parts detected by the contamination detection device. The degree of soiling of the location, including:

When the cleaning robot cleans the preset cleaning area, the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice within a preset time period, and the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice. Determine the degree of location soiling in at least two cleaned locations;

The degree of contamination of the at least two cleaned positions satisfies the preset conditions, including: the degree of contamination of the at least two cleaned positions corresponding to the degree of contamination of the cleaning parts obtained at least twice within the preset time period satisfies The preset conditions;

Wherein, when controlling the cleaning robot to move along the second direction of the motion path, the cleaning robot The duration of the cleaning robot moving along the second direction of the motion path is greater than or equal to the preset duration.
The control method according to claim 6, characterized in that when the cleaning robot cleans the preset cleaning area, the cleaned position is determined according to the degree of contamination of the cleaning parts detected by the contamination detection device. The degree of soiling of the location, including:

When the cleaning robot cleans the preset cleaning area, the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice within the preset moving distance, and the degree of contamination of the cleaning parts detected by the dirt detection device is obtained at least twice. Determine the degree of dirtiness of at least two cleaned locations;

The degree of contamination of the at least two cleaned positions satisfies the preset conditions, including: the degree of contamination of the at least two cleaned positions corresponding to the degree of contamination of the cleaning parts obtained at least twice within the preset movement distance. Meet the preset conditions;

Wherein, when the cleaning robot is controlled to move along the second direction of the movement path, the distance that the cleaning robot moves along the second direction of the movement path is greater than or equal to the preset movement distance.
The control method according to any one of claims 1 to 5, characterized in that the method further includes: when the degree of location contamination of at least two cleaned locations meets preset conditions, deleting the determined location contamination. degree of contamination, and

When the cleaning robot repeatedly cleans the target sub-area, it determines the degree of dirtiness of the cleaned position based on the degree of dirtiness of the cleaning parts detected by the dirt detection device, and determines the degree of dirtiness of at least two cleaned positions. Whether the degree meets the preset conditions.
The control method according to any one of claims 1 to 5, characterized in that the cleaning robot further includes a self-cleaning device, the self-cleaning device is used when the cleaning robot cleans the preset cleaning area. , to clean the cleaning parts.
The control method according to claim 12, wherein the self-cleaning device is used to clean the cleaning piece before the cleaning robot repeatedly cleans the target sub-area.
The control method according to claim 12, characterized in that the cleaning part includes a mopping part, the self-cleaning device includes a water washing device, and the dirt detection device is used to detect the effect of the water washing device on the mopping part. The sewage after the parts are washed with water is used to obtain the degree of dirtiness of the clean parts;

Determining the degree of dirtiness of the cleaned position based on the degree of dirtiness of the cleaning parts detected by the dirt detection device includes:

When the water washing device washes the mopping part, the degree of contamination of the cleaning part detected by the dirt detection device is obtained; and

The degree of contamination of the cleaned position is determined according to the degree of contamination of the cleaning piece.
The control method according to claim 14, characterized in that the method further includes:

The self-cleaning device is controlled to adjust the intensity of cleaning the cleaning parts according to the degree of dirtiness of the cleaning parts and/or the degree of dirtiness of the cleaned position, and/or the cleaning robot is controlled to repeatedly mop. moving speed.
The control method according to claim 15, characterized in that when controlling the strength of the self-cleaning device to clean the cleaning parts, the amount of clean water supplied by the water washing device is related to the degree of dirt of the cleaning parts or the degree of dirt of the cleaning parts. The degree of dirtiness of the above-mentioned position is positively correlated, and/or the running speed of the water washing device is positively related to the degree of dirtiness of the cleaning part or the degree of dirtiness of the position, and/or the operation speed of the mopping part during water washing. The travel speed is positively related to the degree of dirtiness of the cleaning piece or the degree of dirtiness of the location.
The control method according to claim 14, wherein the dirt detection device is also used to detect the dirt type of the cleaning piece of the cleaning piece; the method further includes:

When the water washing device washes the mopping part, the dirt type of the cleaning part detected by the dirt detection device is obtained;

When the type of dirt on the cleaning piece includes oil dirt, the cleaning robot is controlled to reduce its moving speed.
The control method according to any one of claims 1-5, characterized in that the method further includes:

When the cleaning robot cleans the preset cleaning area, the positional dirtiness of the cleaned positions in the preset cleaning area is accumulated to obtain the total dirtiness of the cleaning robot;

When the total dirt degree of the cleaning robot is greater than or equal to the total dirt threshold, the cleaning robot is controlled to move toward the base station so that the base station maintains the cleaning parts of the cleaning robot.
A control device for a cleaning robot, characterized in that the control device includes a memory and a processor;

Wherein, the memory is used to store computer instructions;

The processor is configured to execute the computer instructions and when executing the computer instructions, implement:

The steps of the control method of a cleaning robot according to any one of claims 1-18.
A cleaning robot, characterized in that the cleaning robot includes a walking unit, cleaning parts, and a dirt detection device, the walking unit is used to drive the cleaning robot to move, and the cleaning parts are used to clean the floor, The dirt detection device is used to detect the degree of dirt of the cleaning parts of the cleaning parts;

The cleaning robot further includes a control device as claimed in claim 19.
A cleaning system, characterized by including:

Cleaning robot, the cleaning robot includes a walking unit, cleaning parts, and a dirt detection device. The walking unit is used to drive the cleaning robot to move, the cleaning parts are used to clean the floor, and the dirt detection device Used to detect the degree of contamination of the cleaning parts;

a base station for at least maintaining the cleaning parts of the cleaning robot; and

A control device as claimed in claim 19.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and when executed by a processor, the computer instructions cause the processor to implement:

The steps of the control method of a cleaning robot according to any one of claims 1-18.