WO2024051705A1 - 清洁机器人及其控制方法、装置、系统及存储介质 - Google Patents

清洁机器人及其控制方法、装置、系统及存储介质 Download PDF

Info

Publication number
WO2024051705A1
WO2024051705A1 PCT/CN2023/117098 CN2023117098W WO2024051705A1 WO 2024051705 A1 WO2024051705 A1 WO 2024051705A1 CN 2023117098 W CN2023117098 W CN 2023117098W WO 2024051705 A1 WO2024051705 A1 WO 2024051705A1
Authority
WO
WIPO (PCT)
Prior art keywords
preset
cleaning robot
area
medium
cleaning
Prior art date
Application number
PCT/CN2023/117098
Other languages
English (en)
French (fr)
Inventor
王锦涛
龚鼎
林晓龙
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 云鲸智能(深圳)有限公司, 云鲸智能创新(深圳)有限公司 filed Critical 云鲸智能(深圳)有限公司
Publication of WO2024051705A1 publication Critical patent/WO2024051705A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine

Definitions

  • 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.
  • cleaning robots with brushing parts (such as side brushes) and mopping parts (such as mops).
  • a preset floor medium such as a carpet
  • the cleaning robot goes up to the preset floor medium and cleans the preset floor medium, it will happen that the cleaning robot is mopping the preset floor medium.
  • the dirt on the mopping part is directly transferred to the preset ground medium, which causes the dirt on the mopping part to stain the preset floor medium.
  • This application provides a cleaning robot and its control method, device, system and storage medium, which can mop the dirt on the parts and stain the preset floor medium.
  • embodiments of the present application provide a cleaning robot and a control method thereof, including:
  • the cleaning robot is controlled to clean the preset floor medium in the uncleaned area.
  • control device for a cleaning robot, where the control device includes a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and when executing the computer program, implement:
  • inventions of the present application provide a cleaning robot.
  • the cleaning robot includes a walking unit and cleaning parts.
  • the walking unit is used to drive the cleaning robot to move, and the cleaning parts are used to clean the ground;
  • embodiments of the present application provide a cleaning system, including:
  • the cleaning robot includes a walking unit and cleaning parts, the walking unit is used to drive the cleaning robot to move, and the cleaning parts are used to clean the ground;
  • embodiments of the present application provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the computer program When 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: controlling the cleaning robot to clean a preset area through brushing and mopping parts, wherein the cleaning robot monitors When reaching the preset ground medium, control the cleaning robot to avoid the preset ground medium in a detour manner; determine the uncleaned area in the preset area; control the cleaning robot to at least drag the cleaning robot. Wipe parts for maintenance; control the cleaning robot to clean the preset floor medium in the uncleaned area.
  • the cleaning robot can be prevented from carrying The dirtier mopping parts are put on the preset floor medium, causing the dirt on the mopping parts to stain the preset floor medium.
  • 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 block 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 avoiding carpets in a detour manner in one embodiment
  • Figure 5 is a schematic diagram of a preset area including a second target area in an embodiment
  • Figure 6 is a schematic diagram of a point set corresponding to an uncleaned area in an embodiment
  • Figure 7 is a schematic diagram when there are multiple uncleaned areas in an embodiment
  • FIG. 8 is a schematic block diagram of a control device of a cleaning robot provided by an embodiment of the present application.
  • FIG. 1 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.
  • an embodiment of the present application provides a cleaning robot 100.
  • the cleaning robot 100 includes a walking unit 110, cleaning parts 120, and a control device 300; the walking unit 110 is used to drive the cleaning robot 100 to move, and the cleaning parts 120 are used to clean the ground; the control device 300 is used to implement the present application Steps of the control method of the cleaning robot of the embodiment.
  • Cleaning parts include but are not limited to at least one of the following: mopping parts and brushing parts.
  • the cleaning part includes a mopping part, which is used for mopping the ground after being wetted; the cleaning part may also include a brushing part, which is used for brushing the ground.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a cleaning robot Can have more or fewer parts.
  • the cleaning system provided by the embodiment of the present application includes a cleaning robot 100, a base station 200 and a control device 300.
  • the cleaning robot 100 can be used to automatically clean the floor.
  • the application scenarios of the cleaning robot 100 can be household indoor cleaning, large-scale place cleaning, etc.
  • the base station 200 is used in conjunction with the cleaning robot 100.
  • the base station 200 can at least be used to maintain the cleaning parts of the cleaning robot 100, such as cleaning or replacing the cleaning parts of the cleaning robot 100.
  • the base station 200 can also charge the cleaning robot 100, and/or the base station 200 can also provide a parking position for the cleaning robot 100, 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.
  • the robot controller of the cleaning robot 100 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 provided on the cleaning robot 100, or can be provided 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 100 and the base station 200, such as a home smart terminal, a master control device, etc.
  • control method of a cleaning robot includes steps S110 to S130.
  • the preset area may be any area to be cleaned such as a family space, a room unit of a family space, a partial area of a room unit, a large place or a partial area of a large place, and is of course not limited thereto.
  • the preset floor medium includes but is not limited to at least one of the following: carpets, foot mats, children's climbing mats, and mats laid on the ground, and of course is not limited to these; for example, the preset floor medium also It can be a medium laid on the ground that needs special treatment when encountered by other cleaning robots, and there is no limit here; for the convenience of explanation, the explanation is mainly based on the preset ground medium being carpet as an example.
  • the cleaning robot cleans the preset area S through the brushing member and the mopping member.
  • the cleaning robot monitors the preset ground medium through a ground material detection sensor.
  • the ground material detection sensor can be any existing or future developed sensor that can detect the ground material, including but not limited to ultrasonic sensors, optical sensors, etc. Sensor, this application does not limit this.
  • the cleaning robot is controlled to avoid the preset location in a detour manner.
  • surface medium including: controlling the cleaning robot to perform outer edge exploration of the preset ground medium; when the outer edge exploration ends, determining the boundary of the first target area according to the path of the outer edge exploration; according to the The boundary of the first target area controls the cleaning robot to avoid the preset floor medium and continue cleaning the preset area.
  • the cleaning robot when exploring the outer edge of the carpet, performs edge exploration of the carpet on the outside of the carpet to obtain the outline of the carpet/the boundary of the area where the carpet is located.
  • the first target area refers to the area where the preset floor medium detected by the cleaning robot is located, that is, the area where the corresponding carpet is located along the outer edge.
  • the orthographic projection of the geometric center of the cleaning robot does not fall into the orthographic projection of the carpet, so as to control the activity range of the cleaning robot during the outside edge exploration process to reduce the possibility of wetting or soiling the mopping parts.
  • Extent of dirty carpet area At the end of the outer edge exploration, the boundaries of the carpet are determined based on the path explored by the outer edge.
  • the cleaning robot can also explore the inner edge of the preset floor medium to determine the boundary of the first target area. At this time, the extent to which the mopping member wets or stains the carpet area can also be reduced.
  • the cleaning robot performs edge exploration of the carpet on the inside of the carpet.
  • the edge exploration of the cleaning robot on the inside at least part of the trajectory formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet.
  • the cleaning robot uses the inner edge exploration mode to explore the carpet and determines the integrity of the carpet boundary. For example, when obstacles are placed around the carpet, the cleaning robot uses the inner edge exploration mode to prevent the obstacles from hindering the cleaning robot's exploration. behavior to obtain a complete carpet border.
  • the preset ground medium when the preset ground medium is detected, an outer edge exploration is performed on the preset ground medium to determine the boundary of the first target area; when the preset area is continued to be cleaned later, the preset area can be cleaned directly according to the The boundary of the first target area detours around the first target area to avoid the preset ground medium of the first target area; the preset ground medium of the first target area may not be monitored, or the preset ground medium of the first target area may not be monitored. The ground medium then detours the preset ground medium according to the boundary of the first target area.
  • the first target area determined through outer edge exploration can be marked in the preset area; so that when the preset area is cleaned again later, the first target area will not be mopped and cleaned.
  • the first target area marked in the preset area may also be called a second target area.
  • the preset area includes a second target area T.
  • step S110 controls the cleaning robot to clean the preset area through the brushing and dragging members, including: controlling the cleaning robot to use the brushing and dragging members to clean the preset area S except for the second Clean the area outside the target area T.
  • the cleaning robot is controlled in a detour mode. Avoid the preset ground media.
  • the second target area of the preset area refers to the area corresponding to the marked preset ground medium in the preset area, which may include the target area determined by controlling the cleaning robot to explore the preset ground medium along the edge (such as the above-mentioned
  • the first target area is determined by the cleaning robot in a previous cleaning task and is marked in the preset area), and/or includes a target area determined according to the user's area setting operation ( For example, the user can mark the second target area in the preset area according to the position of the carpet on the human-computer interaction interface), but is of course not limited to this.
  • the second target area is provided with a carpet in the actual scene, and may be provided with a carpet, or may not be provided with a preset ground medium such as a carpet.
  • the preset area is cleaned by the brushing member and the mopping member, the second target area is not cleaned.
  • the mopping member can prevent the mopping member from wetting the preset floor media such as carpets in the second target area, as well as wet carpets, etc. Preset floor media is contaminated with dirt and harbors bacteria.
  • the preset area is cleaned, for example by a brushing member and a mopping member, or after the area outside the preset floor medium and the second target area is cleaned, The uncleaned area in the preset area is determined.
  • the uncleaned area is determined based on the movement trajectory of the cleaning robot when it avoids the preset floor medium in a detour manner. For example, determining the unclean area in the preset area includes: determining the unclean area in the preset area according to the boundary of the first target area. For example, the uncleaned area at least includes a first target area determined by exploring the outer edge of the preset ground medium.
  • the cleaning robot cleans the preset area through the brushing member and the mopping member, it does not clean the monitored preset floor medium, nor does it clean the second target area.
  • the preset area includes the second target area
  • the uncleaned area also includes the second target area.
  • the cleaning robot cleans the preset area through the brushing member and the mopping member, it can monitor the carpet in the second target area, and when the carpet is detected in the second target area, the cleaning robot is controlled to bypass the area.
  • the preset floor medium in the second target area can be avoided in a rowing manner; when the carpet is not detected, the second target area can be cleaned by the brushing member and the mopping member.
  • step S130 may be executed after step S120, may be executed after step S110 and before step S120, or may be executed simultaneously with step S120. Specifically, after it is determined that there is an uncleaned area in the preset area and the mopping member is maintained, step S140 is executed.
  • maintenance of the mopping parts includes but is not limited to at least one of the following: cleaning, replacement, and drying.
  • the cleaning robot can maintain the mopping parts by itself.
  • the cleaning robot includes a water washing device.
  • the water washing device is used to clean the mopping parts. It can also control the mopping parts to rotate quickly to get rid of water.
  • the water washing device The water thrown away can be collected.
  • the cleaning robot It can move to the base station, and at least the base station performs maintenance on the mopping parts, such as replacement or cleaning.
  • the base station cooperates with a cleaning robot to clean the mopping parts.
  • the control device of the cleaning robot can output prompt information in the human-computer interaction component to prompt the user to perform maintenance on the mopping element.
  • the cleaning robot is controlled to clean the preset floor medium in the uncleaned area. Since the mopping part is relatively clean after maintenance, it can prevent the preset ground medium from being wetted and/or prevent contamination of the preset floor medium. Set the ground medium.
  • the cleaning robot is controlled to clean the preset floor medium in the uncleaned area through the brushing element.
  • the mopping element can be controlled to clean the preset floor medium in the uncleaned area.
  • the wiping piece is lifted to prevent the preset floor medium from being wetted and/or polluted. It can also reduce the friction with the preset floor medium, improve cleaning efficiency, and reduce damage to the wiping piece and the preset floor medium. .
  • controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: controlling the cleaning robot when the target setting item is set to require cleaning of the preset floor medium. Clean the preset floor medium in the uncleaned area.
  • the target setting item is "whether to clean carpets". For example, after the non-carpet area in the cleaning task map is mopped, or after the non-carpet area of the preset cleaning area is cleaned, it is determined that the carpet cleaning conditions are met, and the cleaning robot is controlled to clean the carpet through the brush. Area carpets to be cleaned. For example, when the user sets the target setting item to "on" through the buttons on the base station/cleaning robot, or the virtual switch on the user terminal, the cleaning robot can be controlled after mopping the non-carpet area. The carpet in the carpet area is cleaned by means of a brush. At this time, the mopping part of the cleaning robot does not work, that is, it is not in a state of cleaning the floor.
  • Whether the preset floor medium needs to be cleaned can be determined based on the user's setting of the target setting item, or whether the preset floor medium needs to be cleaned can also be determined based on preset control logic.
  • the cleaning robot can autonomously determine the carpet cleaning decision and its execution strategy. For example, if it is set to clean the carpet according to a preset cycle, then when the current time is the carpet cleaning time corresponding to the preset cycle, Determine the carpet needs cleaning.
  • controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: controlling the cleaning robot to detect the preset floor medium in the uncleaned area, and detecting the preset floor medium in the uncleaned area. preset floor media for cleaning. For example, when the target setting item is set to require cleaning of the preset floor medium, the cleaning robot is controlled to detect the preset floor medium in the uncleaned area and clean the detected preset floor medium. Optionally, the cleaning robot is controlled to clean the detected preset floor medium through the brushing element.
  • the preset ground medium can be explored along the outer edges, and the first target area can be determined based on the path explored along the outer edges. border.
  • the outline of the preset ground medium determined when the outer edge exploration example determines the boundary of the first target area is not accurate enough, for example, it can be called a rough inspection; and the predetermined shape of the second target area in the uncleaned area is not accurate enough.
  • the floor medium may also move (for example, the user removes the marked carpet or moves it a certain distance to the side), so the position of the preset floor medium in the uncleaned area is not accurate enough; by controlling the cleaning robot in the By detecting the preset floor medium in the uncleaned area and cleaning the detected preset floor medium, the actual preset floor medium in the uncleaned area can be accurately cleaned.
  • controlling the cleaning robot to detect a preset floor medium in the uncleaned area and clean the detected preset floor medium includes the following steps S141 to S143.
  • the outline of the uncleaned area may be the boundary of the first target area.
  • one of the uncleaned areas is a target area determined by exploring the outer edge of the preset ground medium.
  • the point set corresponding to the uncleaned area is called point set a, where each black point represents point set a.
  • the contour position is, for example, the position where the preset ground medium is detected every time when the preset ground medium is explored along the outer edge.
  • point set a in Figure 6 When the cleaning robot When the outer edge of the preset floor medium, such as a carpet, is explored, a point set a corresponding to the uncleaned area where the preset ground medium is located is determined according to the trajectory of the outer edge exploration.
  • the point set a includes the uncleaned area. Multiple contour positions on the contour of the area.
  • the other uncleaned area is the preset second target area T.
  • the point set corresponding to the uncleaned area is called point set b, where each black point represents the contour position in point set b.
  • point set b For example, please refer to point set b in Figure 6.
  • the cleaning robot detects the carpet in the second target area T, it avoids the preset floor medium of the second target area T in a detour manner, and determines that the carpet is detected in the second target area T. Preset the point set b corresponding to the uncleaned area where the ground medium is located.
  • the location of the second target area can be determined based on the boundary of the second target area T.
  • the point set b corresponding to the uncleaned area for example, the boundary of the second target area T is discretized into multiple points with the same intervals to obtain the point set b. Of course, it is not limited to this.
  • the sub-area When a certain sub-area in the preset area gathers more contour positions, the sub-area has a higher probability of being a preset ground medium, such as a carpet.
  • the aggregation degree of multiple contour positions corresponding to the target point in the preset area is greater than the aggregation degree of non-target points in the preset area; that is, the location of the target point has a higher concentration.
  • Probability is the default ground medium.
  • the aggregation process of multiple contour positions in the preset area according to the point concentration degree determining several target points, including: determining multiple target points according to the degree of aggregation of multiple contour positions in the point set in the preset area, and an arrangement order of the multiple target points. For example, target points with a higher degree of aggregation are ranked higher, and the position of the target points ranked higher has a higher probability of being the default ground medium.
  • determining multiple target points and the arrangement order of the multiple target points according to the degree of aggregation of multiple contour positions in the point concentration in the preset area includes: determining the point concentration The number of neighboring contour positions of each contour position, which are contour positions whose distance from the contour position in the preset area is less than or equal to the preset distance threshold; according to the proximity of each contour position in the point set The number of contour positions, determining a plurality of target points among the contour positions in the point set, and determining the arrangement order of the plurality of target points in order from the largest to the smallest number. According to the number of adjacent contour positions of each contour position, the aggregation degree corresponding to each contour position is determined, so that the aggregation degree can indicate the probability that each contour position is the preset ground medium.
  • the preset distance threshold is determined according to the diameter of the cleaning robot.
  • the preset distance threshold is 0.5 to 1.5 times the diameter of the cleaning robot, such as 1 time, and is of course not limited thereto.
  • determining a number of target points according to the degree of aggregation of multiple contour positions in the point set in the preset area includes: according to the degree of aggregation of multiple outline positions in the point set in the preset area.
  • the degree of aggregation is used to determine multiple target points; and the arrangement order of the multiple target points is determined based on the shortest total path traversing the multiple target points. For example, starting from the base station or the door of the room, conduct a shortest path search on the determined multiple target points to obtain the shortest total path, and determine the multiple targets according to the order of the multiple target points on the shortest total path.
  • the order of points The preset ground medium can be detected during the movement to the several target points, and the efficiency of movement and cleaning can be improved when cleaning the detected preset ground medium.
  • the location of the target point has a high probability of being the preset ground medium.
  • controlling the cleaning robot to move to the several target points, detecting a preset floor medium while moving to the several target points, and cleaning the detected preset floor medium includes: : Determine the current target point according to the arrangement order of the multiple target points; control the cleaning robot to move to the current target point, and detect the preset ground medium during the movement to the current target point; when the The cleaning robot detects the preset floor medium before moving to the current target point or when moving to the current target point, and cleans the detected preset floor medium.
  • the arrangement sequence of the target points controls the moving trajectory of the cleaning robot, so that the cleaning robot preferentially moves to the area with a higher probability of being the preset ground medium to the right, so that the cleaning robot can quickly reach the area where the preset ground medium is located.
  • the next target point of the current target point is determined to be the current target point according to the arrangement order of the multiple target points. Target point; and control the cleaning robot to move to the current target point, and detect the preset ground medium while moving to the current target point. If the cleaning robot does not find preset floor media such as carpets when moving to the current target point, it will continue to navigate to the next target point to prevent missing preset floor media such as carpets.
  • the preset ground medium can be moved and detected based on the target points of other point sets. .
  • controlling the cleaning robot to clean the detected preset floor medium includes: controlling the cleaning robot to perform inner edge exploration of the detected preset floor medium to obtain the preset The contour of the floor medium; according to the contour of the preset floor medium, the cleaning robot is controlled to clean the preset floor medium through the brushing member in an arcuate path.
  • the inner edge exploration method can more accurately determine the outline of the preset floor medium, which can be called precision inspection, and can accurately clean the actual preset floor medium in the uncleaned area.
  • inner edge exploration refers to the cleaning robot's edge exploration of the carpet on the inside of the carpet.
  • edge exploration of the carpet by the cleaning robot at least part of the trajectory formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet. .
  • the completeness of the contour of the carpet determined by the cleaning robot using inner edge exploration is higher. For example, if there are obstacles placed around the carpet, and the cleaning robot uses the outer edge exploration mode to explore the carpet, the obstacles may hinder the cleaning robot's exploration behavior, making it impossible to obtain the complete outline of the carpet.
  • controlling the cleaning robot to clean the preset floor medium in an arcuate path through the brushing member according to the profile of the preset floor medium includes: according to the profile of the preset floor medium Contour, the cleaning robot is controlled to clean the preset floor medium through the brushing member in a first arcuate path; according to the contour of the preset floor medium, the cleaning robot is controlled to pass through the brushing member to clean the preset floor medium.
  • the second arcuate path cleans the preset floor medium, wherein the second arcuate path is orthogonal to the first arcuate path. It can fully clean multiple positions of the preset floor media and improve the cleaning effect.
  • the method further includes: determining and marking a second target area in the preset area according to the contour of the preset ground medium.
  • the second target area may not be cleaned to prevent the mopping member from wetting the carpet or other preset floor media in the second target area.
  • the method further includes: when the cleaning robot uses brushing parts and mopping parts to pre-clean the When the area is cleaned, the non-preset ground medium position in the preset area is determined; when the proportion of the area occupied by the non-preset ground medium position in the second target area of the preset area is greater than or equal to the preset area When the threshold is reached, the second target area in the preset area is deleted.
  • preset floor media such as carpets may be removed or moved in actual scenarios; by determining the non-preset area when cleaning the preset area with brushing and mopping tools, Assuming the position of the ground medium, and when the actual non-preset ground medium position in the marked second target area occupies a large area, it can be determined that the preset ground medium such as carpets in the second target area may be removed or spread over a large area. By moving, the second target area can be deleted to prevent omission of cleaning the second target area by the brushing member and the mopping member.
  • controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: when there are multiple uncleaned areas, based on the relationship between the uncleaned area and the door of the room. distance and/or the distance from the base station, determine the cleaning sequence of multiple uncleaned areas; control the cleaning robot to perform cleaning on the preset ground medium in the uncleaned area according to the cleaning sequence of multiple uncleaned areas. clean.
  • controlling the cleaning robot to detect a preset floor medium in the uncleaned area and clean the detected preset floor medium includes: when there are multiple uncleaned areas, cleaning the preset floor medium according to the uncleaned area.
  • the distance between the unclean area and the door of the room and/or the distance from the base station determines the detection and cleaning sequence of multiple unclean areas; controlling the cleaning robot according to the detection and cleaning sequence of multiple unclean areas, Detect preset floor media in each of the uncleaned areas, and clean the detected preset floor media.
  • determining the cleaning order of multiple unclean areas according to the distance between the unclean area and the room door and/or the distance from the base station includes: according to the distance between the unclean area and the room door Determine the cleaning order of multiple uncleaned areas in ascending order; or determine the cleaning order of multiple uncleaned areas in ascending order of the distance between the uncleaned areas and the base station. Improve efficiency on multiple of said uncleaned areas.
  • the uncleaned areas corresponding to Carpet 1, Carpet 2 and Carpet 3 are arranged in ascending order of distance from the room door/base station 200. They are the uncleaned areas corresponding to Carpet 2, Carpet 3 and Carpet 1.
  • the control method of the cleaning robot includes: controlling the cleaning robot to pass The brushing part and the mopping part clean the preset area, wherein when the cleaning robot detects the preset ground medium, the cleaning robot is controlled to avoid the preset ground medium in a detour manner; determine the preset ground medium. Set up an uncleaned area in the area; control the cleaning robot to maintain at least the mopping parts of the cleaning robot; control the cleaning robot to clean the preset floor medium in the uncleaned area.
  • the cleaning robot can be prevented from carrying The dirtier mopping parts are put on the preset floor medium, causing the dirt on the mopping parts to stain the preset floor medium.
  • FIG. 8 is a schematic block diagram of the control device 300 provided by the embodiment of the present application.
  • the control device 300 includes a processor 301 and a memory 302.
  • processor 301 and the memory 302 are connected through a bus 303, such as an I2C (Inter-integrated Circuit) bus.
  • bus 303 such as an I2C (Inter-integrated Circuit) bus.
  • 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.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • 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.
  • ROM Read-Only Memory
  • 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.
  • the processor 301 is used to run a computer program stored in the memory 302, and implement the following steps when executing the computer program:
  • the cleaning robot is controlled to clean the preset floor medium in the uncleaned area.
  • 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. .
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • 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.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

本申请实施例提供了一种清洁机器人及其控制方法、装置、系统及存储介质，方法包括：控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在清洁机器人监测到预设地面介质时，控制清洁机器人以绕行方式避开预设地面介质；确定预设区域中的未清洁区域；控制清洁机器人至少对清洁机器人的拖擦件进行维护；控制清洁机器人在未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁。通过在监测到预设地面介质时以绕行方式避开预设地面介质，以及在拖擦件进行维护之后，控制清洁机器人对预设地面介质进行清洁，可以防止清洁机器人带着较脏的拖擦件上到预设地面介质，而导致拖擦件上的脏污弄脏预设地面介质。

Description

清洁机器人及其控制方法、装置、系统及存储介质 技术领域
本申请涉及清洁技术领域，尤其涉及一种清洁机器人及其控制方法、装置、系统及存储介质。
背景技术
目前有清洁机器人上具有刷扫件(如边刷)和拖擦件(如拖布)。在清洁机器人执行清洁任务的过程中，当房间中存在预设地面介质，如地毯时，如果清洁机器人上到预设地面介质上以及对预设地面介质进行清洁，会发生清洁机器人在通过拖擦件对地面拖擦之后直接带着较脏的拖擦件上预设地面介质，导致拖擦件上的脏污弄脏预设地面介质的问题。
申请内容
本申请提供了一种清洁机器人及其控制方法、装置、系统及存储介质，能够拖擦件上的脏污弄脏预设地面介质。
第一方面，本申请实施例提供了一种清洁机器人及其控制方法，包括：
控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质；
确定所述预设区域中的未清洁区域；
控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护；
控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
第二方面，本申请实施例提供了一种清洁机器人的控制装置，所述控制装置包括存储器和处理器；
其中，所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现：
前述的清洁机器人及其控制方法的步骤。
第三方面，本申请实施例提供了一种清洁机器人，所述清洁机器人包括行走单元、清洁件，所述行走单元用于驱动所述清洁机器人运动，所述清洁件用于对地面进行清洁；
前述的控制装置。
第四方面，本申请实施例提供了一种清洁系统，包括：
清洁机器人，所述清洁机器人包括行走单元、清洁件，所述行走单元用于驱动所述清洁机器人运动，所述清洁件用于对地面进行清洁；
基站，所述基站用于对所述清洁机器人进行维护；以及
前述的控制装置。
第五方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述的方法的步骤。
本申请实施例提供了一种清洁机器人及其控制方法、装置、系统及存储介质，方法包括：控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质；确定所述预设区域中的未清洁区域；控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护；控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。通过在监测到预设地面介质时以绕行方式避开所述预设地面介质，以及在拖擦件进行维护之后，控制所述清洁机器人对预设地面介质进行清洁，可以防止清洁机器人带着较脏的拖擦件上到预设地面介质，而导致拖擦件上的脏污弄脏预设地面介质。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请实施例的公开内容。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种清洁机器人的控制方法的流程示意图；
图2是一实施方式中清洁机器人的示意性框图；
图3是一实施方式中清洁系统的示意图；
图4是一实施方式中以绕行方式避开地毯的示意图；
图5是一实施方式中预设区域包括第二目标区域的示意图；
图6是一实施方式中未清洁区域对应的点集的示意图；
图7是一实施方式中未清洁区域为多个时的示意图；
图8是本申请实施例提供的一种清洁机器人的控制装置的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清 楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，图1是本申请实施例提供的一种清洁机器人的控制方法的流程示意图。所述清洁机器人的控制方法可以应用在清洁机器人或清洁系统中，用于对清洁机器人进行控制，以使清洁机器人执行清洁任务，对清洁任务地图对应的区域进行清洁等过程。
如图2所示，本申请实施例提供了一种清洁机器人100。具体的，清洁机器人100包括行走单元110、清洁件120以及控制装置300；所述行走单元110用于驱动清洁机器人100运动，清洁件120用于对地面进行清洁；控制装置300用于实现本申请实施例的清洁机器人的控制方法的步骤。
清洁件包括但不限于以下至少一种：拖擦件、刷扫件。例如，清洁件包括拖擦件，拖擦件用于在润湿后对地面进行拖擦；清洁件还可以包括刷扫件，刷扫件用于对地面进行刷扫。
拖擦件用于对地面进行拖擦，拖擦件的数量可以为一个或多个。拖擦件例如包括以下至少一种：旋转拖布、平板拖布、滚筒式拖布、履带式拖布等，当然也不限于此。拖擦件设置在机器人主体的底部，具体为机器人主体的底部靠后的位置。在机器人主体内部设有驱动电机，在机器人主体的底部伸出两个转轴，拖擦件套接在转轴上。驱动电机可带动转轴旋转，从而转轴带动拖擦件旋转。
刷扫件包括边刷件和/或中扫件。举例而言，清洁机器人在使用刷扫件针对地面进行扫地时，边刷件在外侧将灰尘等脏污扫到中间区域，中扫件又继续将中间区域的脏污清扫至吸尘装置。
可选的，清洁机器人100为扫拖一体的清洁机器人，刷扫件和拖擦件可以一起工作，例如刷扫件和拖擦件同时工作，刷扫件和拖擦件持续交替工作等；当然，该刷扫件和拖擦件也可以分开工作，即刷扫件单独进行清扫工作，或者，拖擦件单独进拖擦工作。
应该理解，本申请实施例描述的清洁机器人100只是一个具体示例，并不对本申请实施例的清洁机器人100构成具体限定，本申请实施例的清洁机器人100还可以为其它的具体实现方式。例如，在其它的实现方式中，清洁机器人 可以具有更多或更少的部件。
如图3所示，本申请实施例提供的清洁系统包括清洁机器人100、基站200以及控制装置300。清洁机器人100可用于对地面进行自动清洁，清洁机器人100的应用场景可以为家庭室内清洁、大型场所清洁等。
基站200用于和清洁机器人100配合使用，基站200至少可以用于对清洁机器人100的清洁件的进行维护，如对清洁机器人100的清洁件进行清洁或更换。例如，基站200还可以向清洁机器人100进行充电，和/或基站200还可以向清洁机器人100提供停靠位置等，当然也不限于此。
清洁系统还包括控制装置300，控制装置300可以用于实现本申请实施例的清洁机器人的控制方法的步骤。可选地，清洁机器人100的机器人控制器和/或基站200的基站控制器可以单独或者配合作为控制装置300，用于实现本申请实施例的清洁机器人的控制方法的步骤；在另一些实施方式中，清洁系统包括单独的控制装置300，用于实现本申请实施例的清洁机器人的控制方法的步骤，该控制装置300可以设置在清洁机器人100上，或者可以设置在基站200上；当然也不限于此，例如控制装置300可以为除清洁机器人100和基站200之外的装置，如家庭智能终端、总控设备等。
如图1所示，本申请一实施例的清洁机器人的控制方法包括步骤S110至步骤S130。
S110、控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质。
举例而言，所述预设区域可以为家庭空间、家庭空间的一个房间单元、一个房间单元的部分区域、大型场所或者大型场所的部分区域等任一个待清洁的区域，当然也不限于此。
举例而言，所述预设地面介质包括但不限于一下至少一种：地毯、脚垫、儿童爬爬垫、铺设在地面上的凉席，当然也不限于此；例如所述预设地面介质还可以为其他清洁机器人遇到时需要进行特殊处理的铺设在地面上的介质，在此不做限制；为便于说明，主要以预设地面介质为地毯为例进行说明。
示例性的，请参阅图4，清洁机器人通过刷扫件和拖擦件对预设区域S进行清洁，在监测到地毯时，以绕行方式避开地毯，即不对地毯进行拖擦，以防止拖擦件润湿地毯，以及湿润的地毯沾染脏污和滋生细菌。示例性地，清洁机器人通过地面材质检测传感器对预设地面介质进行监测，地面材质检测传感器可以是现有的或将来研发的任意一种可以检测地面材质的传感器，包括但不限于超声波传感器、光学传感器，本申请对此不作限制。
在一些实施方式中，所述控制所述清洁机器人以绕行方式避开所述预设地 面介质，包括：控制所述清洁机器人对所述预设地面介质进行外沿边探索；当所述外沿边探索结束时，根据所述外沿边探索的路径确定第一目标区域的边界；根据所述第一目标区域的边界，控制所述清洁机器人避开所述预设地面介质以及继续对所述预设区域进行清洁。
如图4所示，对地毯进行外沿边探索时，清洁机器人在地毯外侧对地毯进行沿边探索，以获取地毯的轮廓/地毯所在区域的边界。第一目标区域是指清洁机器人监测到的预设地面介质所在的区域，即外沿边探索对应的地毯所在的区域。清洁机器人在外侧进行沿边探索的过程中，清洁机器人的几何中心的正投影不落入地毯的正投影，以此来控制外沿边探索过程中清洁机器人的活动范围以降低拖擦件打湿或弄脏地毯区域的程度。在外沿边探索结束时，根据外沿边探索的路径确定地毯的边界。
可选的，清洁机器人也可以通过对所述预设地面介质进行内沿边探索，以确定第一目标区域的边界，此时也可以降低拖擦件打湿或弄脏地毯区域的程度。内沿边探索时，清洁机器人在地毯内侧对地毯进行沿边探索，清洁机器人在内侧进行沿边探索的过程中，清洁机器人的几何中心的正投影形成的轨迹至少有一部分与地毯的正投影重合。清洁机器人采用内沿边探索模式对地毯进行探索后所确定的地毯的边界的完整性更高，例如，地毯周围放置有障碍物时，清洁机器人采用内沿边探索模式可以防止障碍物阻碍清洁机器人的探索行为，可以获得完整的地毯的边界。
示例性的，在监测到预设地面介质时，对预设地面介质进行一次外沿边探索，以确定第一目标区域的边界；之后继续对所述预设区域进行清洁时，可以直接根据所述第一目标区域的边界绕行该第一目标区域以避开所述第一目标区域的预设地面介质；可以不对第一目标区域的预设地面介质进行监测，或者在监测到所述预设地面介质后根据所述第一目标区域的边界对所述预设地面介质绕行。
可选的，可以将通过外沿边探索确定的第一目标区域标记在所述预设区域；以便之后再次对所述预设区域进行清洁时，不对该第一目标区域进行拖擦清洁。在一些实施方式中，在所述预设区域中标记了的第一目标区域，也可以称为第二目标区域。
在一些实施方式中，请参阅图5，所述预设区域包括第二目标区域T。示例性的，步骤S110控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，包括：控制清洁机器人通过刷扫件和拖擦件对所述预设区域S中除所述第二目标区域T之外的区域进行清洁。在通过刷扫件和拖擦件对所述预设区域S中除所述第二目标区域T之外的区域进行清洁时，监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质。
其中，所述预设区域的第二目标区域是指预设区域中已标记的预设地面介质对应的区域，可以包括通过控制清洁机器人对预设地面介质进行沿边探索确定的目标区域(例如上述第一目标区域，该第一目标区域是清洁机器人在之前执行的清洁任务中确定的，并被标记在所述预设区域中)，和/或包括根据用户的区域设置操作确定的目标区域(例如用户可以在人机交互界面，根据地毯的位置在所述预设区域标记所述第二目标区域)，当然也不限于此。举例而言，第二目标区域在实际场景中设置有地毯，可能设置有地毯，或者也可以不设置地毯等预设地面介质。在通过刷扫件和拖擦件对预设区域进行清洁时，不对第二目标区域进行清洁，例如可以防止拖擦件润湿第二目标区域的地毯等预设地面介质，以及湿润的地毯等预设地面介质沾染脏污和滋生细菌。
S120、确定所述预设区域中的未清洁区域。
示例性的，在对预设区域进行清洁完成后，例如通过刷扫件和拖擦件清洁完成后，或者例如对所述预设地面介质和所述第二目标区域之外的区域清洁之后，确定所述预设区域中的未清洁区域。
示例性的，根据所述清洁机器人以绕行方式避开所述预设地面介质时的运动轨迹确定所述未清洁区域。举例而言，所述确定所述预设区域中的未清洁区域，包括：根据所述第一目标区域的边界确定所述预设区域中的未清洁区域。例如，所述未清洁区域至少包括通过对预设地面介质进行外沿边探索确定的第一目标区域。
示例性的，清洁机器人通过刷扫件和拖擦件对预设区域进行清洁时，不对监测到的预设地面介质进行清洁，也不对所述第二目标区域进行清洁。举例而言，当所述预设区域包括第二目标区域时，在确定所述预设区域中的未清洁区域时，所述未清洁区域还包括所述第二目标区域。当然也不限于此，例如清洁机器人通过刷扫件和拖擦件对预设区域进行清洁时，可以在第二目标区域监测地毯，在第二目标区域监测到地毯时控制所述清洁机器人以绕行方式避开所述第二目标区域的预设地面介质；未监测到地毯时则可以通过刷扫件和拖擦件对第二目标区域进行清洁。
S130、控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护。
需要说明的是，步骤S130可以在步骤S120之后执行，也可以在步骤S110之后步骤S120之前执行，或者也可以与步骤S120同时执行。具体的，在确定所述预设区域中有未清洁区域，以及拖擦件进行维护之后，执行步骤S140。
其中，对拖擦件进行维护包括但不限于以下至少一种：清洗、更换、甩干。
在一些实施方式中，清洁机器人可以自行对拖擦件进行维护，例如清洗机器人包括水洗装置，水洗装置用于对拖擦件进行清洗，还可以控制拖擦件快速旋转以甩掉水，水洗装置可以收集甩掉的水。在一些实施方式中，清洗机器人 可以运动至基站，至少由基站对拖擦件进行维护，如更换或清洗，例如基站与清洗机器人配合对拖擦件进行清洗。在一些实施方式中，清洁机器人的控制装置可以在人机交互组件输出提示信息，提示用户对拖擦件进行维护。
S140、控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
在拖擦件维护完成后，控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，由于拖擦件维护后比较干净，可以防止润湿预设地面介质和/或防止污染预设地面介质。
可选的，控制所述清洁机器人通过刷扫件对所述未清洁区域的预设地面介质进行清洁，在通过刷扫件对所述未清洁区域的预设地面介质进行清洁时，可以控制拖擦件抬起，防止润湿预设地面介质和/或防止污染预设地面介质，还可以降低与预设地面介质之间的摩擦，提高清洁效率，降低拖擦件和预设地面介质的损伤。
在一些实施方式中，所述控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：在目标设置项设置为需要对预设地面介质进行清洁时，控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
示例性的，目标设置项为“是否清洁地毯”。举例而言，在清洁任务地图中的非地毯区域拖擦完毕，或者所述预设清洁区域的非地毯区域清洁完毕后，判定满足所述地毯清洁条件，以及控制清洁机器人通过刷扫件对地毯区域的地毯进行清洁。举例而言，在用户通过基站/清洁机器人上的按键，或者用户终端上的虚拟开关等将目标设置项设置为“开”的状态时，可以在非地毯区域拖擦完毕后控制所述清洁机器人通过刷扫件对所述地毯区域的地毯进行清洁。此时，清洁机器人的拖擦件不工作，即不处于清洁地面的状态。可以根据用户对目标设置项的设置确定是否需要对预设地面介质进行清洁，或者也可以基于预设的控制逻辑确定是否需要对预设地面介质进行清洁。举例而言，清洁机器人可以自主确定地毯清洁的决策及其执行策略，例如在设置为根据预设周期对地毯清洁的情况下，则在当前时间为所述预设周期对应的地毯清洁时间时，确定需要对地毯进行清洁。
在一些实施方式中，所述控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁。例如在目标设置项设置为需要对预设地面介质进行清洁的情况下，控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁。可选的，控制所述清洁机器人通过刷扫件对检测到的预设地面介质进行清洁。
在所述清洁机器人以绕行方式避开所述预设地面介质时，可以对所述预设地面介质进行外沿边探索，以及根据所述外沿边探索的路径确定第一目标区域 的边界。在一些实施方式中，外沿边探索例确定第一目标区域的边界时确定的预设地面介质的轮廓不够精确，例如可以称为粗检；而且未清洁区域中的所述第二目标区域的预设地面介质还可能发生移动(例如用户将已标记的地毯撤走或向旁边移动一段距离)，所以所述未清洁区域的预设地面介质的位置不够精确；通过控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁，可以准确的对所述未清洁区域中实际的预设地面介质进行清洁。
在一些实施方式中，所述控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁，包括以下步骤S141至步骤S143。
S141、获取所述预设地面介质所在的未清洁区域对应的点集，所述点集包括所述未清洁区域的轮廓上的多个轮廓位置。
示例性的，所述未清洁区域的轮廓可以为所述第一目标区域的边界。如图6所示，其中一个未清洁区域为通过对预设地面介质进行外沿边探索确定的目标区域，该未清洁区域对应的点集称为点集a，其中每个黑点表示点集a中的轮廓位置，所述轮廓位置例如为对预设地面介质进行外沿边探索时每次监测到预设地面介质的位置；示例性的，请参阅图6的点集a，在所述清洁机器人对所述预设地面介质，如地毯进行外沿边探索时，根据外沿边探索的轨迹确定所述预设地面介质所在的未清洁区域对应的点集a，所述点集a包括所述未清洁区域的轮廓上的多个轮廓位置。
另一个未清洁区域为预设的第二目标区域T，该未清洁区域对应的点集称为点集b，其中每个黑点表示点集b中的轮廓位置。示例性的，请参阅图6的点集b，当清洁机器人在在第二目标区域T监测到地毯时以绕行方式避开所述第二目标区域T的预设地面介质，以及确定所述预设地面介质所在的未清洁区域对应的点集b。可选的，当清洁机器人不对所述第二目标区域T进行清洁，如不在第二目标区域T监测是否有地毯时，可以根据所述第二目标区域T的边界确定所述第二目标区域所在的未清洁区域对应的点集b；举例而言，将第二目标区域T的边界离散为间隔相同的多个点，得到点集b，当然也不限于此。
S142、根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定若干目标点。
在所述预设区域中的某一子区域聚集较多的轮廓位置时，该子区域有较高的概率是预设地面介质，如地毯。举例而言，所述目标点对应的多个轮廓位置在所述预设区域中的聚集程度，大于非目标点在所述预设区域中的聚集程度；即目标点所在的位置有较高的概率是预设地面介质。
示例性的，所述根据所述点集中多个轮廓位置在所述预设区域中的聚集程 度，确定若干目标点，包括：根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定多个目标点，以及所述多个目标点的排列顺序。举例而言，聚集程度较高的目标点的排列顺序靠前，排列顺序靠前的目标点的位置有更高的概率是预设地面介质。
可选的，所述根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定多个目标点，以及所述多个目标点的排列顺序，包括：确定所述点集中各轮廓位置的邻近轮廓位置的数量，所述邻近轮廓位置为所述预设区域中与所述轮廓位置的距离小于或等于预设距离阈值的轮廓位置；根据所述点集中各轮廓位置的邻近轮廓位置的数量，在所述点集中的轮廓位置中确定多个目标点，以及按照所述数量由多到少的顺序确定所述多个目标点的排列顺序。根据各轮廓位置的邻近轮廓位置的数量，确定各轮廓位置对应的聚集程度，以使得聚集程度可以指示各轮廓位置是预设地面介质的概率。
举例而言，所述预设距离阈值，根据所述清洁机器人的直径确定，例如所述预设距离阈值为清洁机器人的直径的0.5倍至1.5倍，如为1倍，当然也不限于此。
示例性的，所述根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定若干目标点，包括：根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定多个目标点；以及根据遍历所述多个目标点的最短总路径，确定所述多个目标点的排列顺序。举例而言，从基站或房间门口出发，对确定的多个目标点进行最短路径搜索，得到最短总路径，根据所述多个目标点在所述最短总路径上的顺序确定所述多个目标点的排列顺序。可以在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁时，提高移动和清洁的效率。
S143、控制所述清洁机器人向所述若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁。
目标点所在的位置有较高的概率是预设地面介质，通过控制所述清洁机器人向所述目标点移动，可以便于清洁机器人快速到达预设地面介质所在的区域，提高清洁效率。
示例性的，所述控制所述清洁机器人向所述若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁，包括：根据所述多个目标点的排列顺序，确定当前目标点；控制所述清洁机器人向所述当前目标点移动，以及在向所述当前目标点移动的过程中检测预设地面介质；当所述清洁机器人在移动至所述当前目标点之前或者移动至所述当前目标点时检测到预设地面介质，以及对检测到的预设地面介质进行清洁。通过根据轮廓位置的聚集程度，确定目标点的排列顺序，以及按照多个 目标点的排列顺序控制清洁机器人的移动轨迹，使得清洁机器人优先向右更高概率是预设地面介质的区域移动，以便于清洁机器人快速到达预设地面介质所在的区域。
举例而言，当所述清洁机器人移动至所述当前目标点时还未检测到预设地面介质，根据所述多个目标点的排列顺序，确定所述当前目标点的下一个目标点为当前目标点；以及控制所述清洁机器人向所述当前目标点移动，以及在向所述当前目标点移动的过程中检测预设地面介质。清洁机器人移动至当前目标点的过程中都没有找到地毯等预设地面介质，则继续导航至下一个目标点，防止遗漏地毯等预设地面介质。可选的，当移动至所述点集的多个目标点中的任一目标点时均未检测到所述预设地面介质，则可以根据其他点集的目标点移动和检测预设地面介质。
在一些实施方式中，在控制所述清洁机器人对检测到的预设地面介质进行清洁时，包括：控制所述清洁机器人对检测到的预设地面介质进行内沿边探索，以获取所述预设地面介质的轮廓；根据所述预设地面介质的轮廓，控制所述清洁机器人通过所述刷扫件以弓形路径对所述预设地面介质进行清洁。在一些实施方式中，内沿边探索方式可以更为准确的确定预设地面介质的轮廓，可以称为精检，可以准确的对所述未清洁区域中实际的预设地面介质进行清洁。
举例而言，内沿边探索指清洁机器人在地毯内侧对地毯进行沿边探索，清洁机器人在内侧进行沿边探索的过程中，清洁机器人的几何中心的正投影形成的轨迹至少有一部分与地毯的正投影重合。清洁机器人采用内沿边探索对地毯进行探索后所确定的地毯的轮廓的完整性更高。例如，地毯周围放置有障碍物，清洁机器人采用外沿边探索模式对地毯进行探索时，障碍物可能会阻碍清洁机器人的探索行为，从而无法获得完整的地毯的轮廓。
举例而言，所述根据所述预设地面介质的轮廓，控制所述清洁机器人通过所述刷扫件以弓形路径对所述预设地面介质进行清洁，包括：根据所述预设地面介质的轮廓，控制所述清洁机器人通过所述刷扫件以第一弓形路径对所述预设地面介质进行清洁；根据所述预设地面介质的轮廓，控制所述清洁机器人通过所述刷扫件以第二弓形路径对所述预设地面介质进行清洁，其中，所述第二弓形路径与所述第一弓形路径正交。以充分对预设地面介质的多个位置进行清洁，提高清洁效果。
可选的，所述方法还包括：根据所述预设地面介质的轮廓，确定和标记所述预设区域中的第二目标区域。控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁时，可以不对所述第二目标区域进行清洁，防止拖擦件润湿第二目标区域的地毯等预设地面介质。
示例性的，所述方法还包括：在所述清洁机器人通过刷扫件和拖擦件对预 设区域进行清洁时，确定所述预设区域中的非预设地面介质位置；当所述预设区域的第二目标区域中非预设地面介质位置所占面积的比例大于或等于预设面积阈值时，删除所述预设区域中的所述第二目标区域。
所述预设区域中标记的第二目标区域，在实际场景中地毯等预设地面介质可能被移除或者移动；通过在通过刷扫件和拖擦件对预设区域进行清洁时确定非预设地面介质位置，以及当标记的第二目标区域中实际的非预设地面介质位置所占面积较大时，可以确定该第二目标区域的地毯等预设地面介质可能被移除或者大范围移动，则可以通过删除所述第二目标区域，防止遗漏通过刷扫件和拖擦件对所述第二目标区域进行清洁。
在一些实施方式中，所述控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：当所述未清洁区域为多个时，根据所述未清洁区域与房间门口的距离和/或与基站的距离，确定多个所述未清洁区域的清洁顺序；控制所述清洁机器人按照多个所述未清洁区域的清洁顺序，对所述未清洁区域的预设地面介质进行清洁。
示例性的，所述控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁，包括：当所述未清洁区域为多个时，根据所述未清洁区域与房间门口的距离和/或与基站的距离，确定多个所述未清洁区域的检测和清洁顺序；控制所述清洁机器人按照多个所述未清洁区域的检测和清洁顺序，在各所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁。
请参阅图7，所述未清洁区域为多个，包括地毯1、地毯2和地毯3对应的目标区域。通过根据各未清洁区域与房间门口的距离和/或与基站200的距离，确定多个所述未清洁区域的检测和清洁顺序，可以提高对多个所述未清洁区域的效率。
示例性的，所述根据所述未清洁区域与房间门口的距离和/或与基站的距离，确定多个所述未清洁区域的清洁顺序，包括：按照所述未清洁区域与房间门口的距离由小到大的顺序，确定多个所述未清洁区域的清洁顺序；或者按照所述未清洁区域与基站的距离由小到大的顺序，确定多个所述未清洁区域的清洁顺序，可以提高对多个所述未清洁区域的效率。请参阅图7，地毯1、地毯2和地毯3对应的未清洁区域，按照与房间门口/基站200的距离由小到大的顺序排列，为地毯2、地毯3、地毯1对应的未清洁区域；则可以先控制所述清洁机器人向地毯2对应的点集中的若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁；之后依次对地毯3、地毯1对应的点集中的若干目标点移动和检测预设地面介质。
本申请实施例提供的清洁机器人的控制方法，包括：控制清洁机器人通过 刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质；确定所述预设区域中的未清洁区域；控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护；控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。通过在监测到预设地面介质时以绕行方式避开所述预设地面介质，以及在拖擦件进行维护之后，控制所述清洁机器人对预设地面介质进行清洁，可以防止清洁机器人带着较脏的拖擦件上到预设地面介质，而导致拖擦件上的脏污弄脏预设地面介质。
请结合上述实施例参阅图8，图8是本申请实施例提供的控制装置300的示意性框图。该控制装置300包括处理器301和存储器302。
示例性的，处理器301和存储器302通过总线303连接，该总线303比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器301可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器302可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器301用于运行存储在存储器302中的计算机程序，并在执行所述计算机程序时实现前述任一实施例的方法的步骤。
示例性的，所述处理器301用于运行存储在存储器302中的计算机程序，并在执行所述计算机程序时实现如下步骤：
控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质；
确定所述预设区域中的未清洁区域；
控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护；
控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
本申请实施例提供的控制装置的具体原理和实现方式均与前述实施例的方法类似，此处不再赘述。
可以理解的，本申请实施例还提供一种清洁机器人100，该清洁机器人100包括前述的控制装置300，控制装置300例如为机器人控制器，控制装置300用于实现本申请实施例的方法的步骤。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述任一实施例的方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的控制装置的内部存储单元，例如所述控制装置的硬盘或内存。所述计算机可读存储介质也可以是所述控制装置的外部存储设备，例如所述控制装置上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本申请中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (20)

  1. 一种清洁机器人的控制方法，其特征在于，包括：
    控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，其中在所述清洁机器人监测到预设地面介质时，控制所述清洁机器人以绕行方式避开所述预设地面介质；
    确定所述预设区域中的未清洁区域；
    控制所述清洁机器人至少对所述清洁机器人的拖擦件进行维护；
    控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
  2. 根据权利要求1所述的控制方法，其特征在于，所述控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：
    在目标设置项设置为需要对预设地面介质进行清洁时，控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁。
  3. 根据权利要求1所述的控制方法，其特征在于，所述控制所述清洁机器人以绕行方式避开所述预设地面介质，包括：
    控制所述清洁机器人对所述预设地面介质进行外沿边探索；
    当所述外沿边探索结束时，根据所述外沿边探索的路径确定第一目标区域的边界；
    根据所述第一目标区域的边界，控制所述清洁机器人避开所述预设地面介质以及继续对所述预设区域进行清洁。
  4. 根据权利要求3所述的控制方法，其特征在于，所述确定所述预设区域中的未清洁区域，包括：
    根据所述第一目标区域的边界确定所述预设区域中的未清洁区域。
  5. 根据权利要求1所述的控制方法，其特征在于，所述预设区域包括第二目标区域，所述控制清洁机器人通过刷扫件和拖擦件对预设区域进行清洁，包括：控制清洁机器人通过刷扫件和拖擦件对所述预设区域中除所述第二目标区域之外的区域进行清洁；
    在所述确定所述预设区域中的未清洁区域时，所述未清洁区域包括所述第二目标区域。
  6. 根据权利要求1-5中任一项所述的控制方法，其特征在于，所述控制所 述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：
    控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁。
  7. 根据权利要求6所述的控制方法，其特征在于，所述控制所述清洁机器人在所述未清洁区域检测预设地面介质，以及对检测到的预设地面介质进行清洁，包括：
    获取所述预设地面介质所在的未清洁区域对应的点集，所述点集包括所述未清洁区域的轮廓上的多个轮廓位置；
    根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定若干目标点；
    控制所述清洁机器人向所述若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁。
  8. 根据权利要求7所述的控制方法，其特征在于，所述根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定若干目标点，包括：
    根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定多个目标点，以及所述多个目标点的排列顺序；
    所述控制所述清洁机器人向所述若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，以及对检测到的预设地面介质进行清洁，包括：
    根据所述多个目标点的排列顺序，确定当前目标点；
    控制所述清洁机器人向所述当前目标点移动，以及在向所述当前目标点移动的过程中检测预设地面介质；
    当所述清洁机器人在移动至所述当前目标点之前或者移动至所述当前目标点时检测到预设地面介质，以及对检测到的预设地面介质进行清洁。
  9. 根据权利要求8所述的控制方法，其特征在于，所述控制所述清洁机器人向所述若干目标点移动，以及在向所述若干目标点移动的过程中检测预设地面介质，还包括：
    当所述清洁机器人移动至所述当前目标点时还未检测到预设地面介质，根据所述多个目标点的排列顺序，确定所述当前目标点的下一个目标点为当前目标点；以及控制所述清洁机器人向所述当前目标点移动，以及在向所述当前目标点移动的过程中检测预设地面介质。
  10. 根据权利要求8所述的控制方法，其特征在于，所述根据所述点集中多个轮廓位置在所述预设区域中的聚集程度，确定多个目标点，以及所述多个目标点的排列顺序，包括：
    确定所述点集中各轮廓位置的邻近轮廓位置的数量，所述邻近轮廓位置为所述预设区域中与所述轮廓位置的距离小于或等于预设距离阈值的轮廓位置；
    根据所述点集中各轮廓位置的邻近轮廓位置的数量，在所述点集中的轮廓位置中确定多个目标点，以及按照所述数量由多到少的顺序确定所述多个目标点的排列顺序。
  11. 根据权利要求10所述的控制方法，其特征在于，所述预设距离阈值，根据所述清洁机器人的直径确定。
  12. 根据权利要求6所述的控制方法，其特征在于，在控制所述清洁机器人对检测到的预设地面介质进行清洁时，包括：
    控制所述清洁机器人对检测到的预设地面介质进行内沿边探索，以获取所述预设地面介质的轮廓；
    根据所述预设地面介质的轮廓，控制所述清洁机器人通过所述刷扫件以弓形路径对所述预设地面介质进行清洁。
  13. 根据权利要求12所述的控制方法，其特征在于，所述方法还包括：
    根据所述预设地面介质的轮廓，确定和标记所述预设区域中的第二目标区域。
  14. 根据权利要求13所述的控制方法，其特征在于，所述方法还包括：
    在所述清洁机器人通过刷扫件和拖擦件对预设区域进行清洁时，确定所述预设区域中的非预设地面介质位置；
    当所述预设区域的第二目标区域中非预设地面介质位置所占面积的比例大于或等于预设面积阈值时，删除所述预设区域中的所述第二目标区域。
  15. 根据权利要求1-5中任一项所述的控制方法，其特征在于，所述控制所述清洁机器人对所述未清洁区域的预设地面介质进行清洁，包括：
    当所述未清洁区域为多个时，根据所述未清洁区域与房间门口的距离和/或与基站的距离，确定多个所述未清洁区域的清洁顺序；
    控制所述清洁机器人按照多个所述未清洁区域的清洁顺序，对所述未清洁区域的预设地面介质进行清洁。
  16. 根据权利要求15所述的控制方法，其特征在于，所述根据所述未清洁区域与房间门口的距离和/或与基站的距离，确定多个所述未清洁区域的清洁顺序，包括：
    按照所述未清洁区域与房间门口的距离由小到大的顺序，确定多个所述未清洁区域的清洁顺序；或者
    按照所述未清洁区域与基站的距离由小到大的顺序，确定多个所述未清洁区域的清洁顺序。
  17. 一种清洁机器人的控制装置，其特征在于，所述控制装置包括存储器和处理器；
    其中，所述存储器用于存储计算机指令；
    所述处理器，用于执行所述计算机指令并在执行所述计算机指令时，实现：
    如权利要求1-16中任一项所述的清洁机器人及其控制方法的步骤。
  18. 一种清洁机器人，其特征在于，所述清洁机器人包括行走单元、清洁件，所述行走单元用于驱动所述清洁机器人运动，所述清洁件用于对地面进行清洁；
    所述清洁机器人还包括如权利要求17所述的控制装置。
  19. 一种清洁机器人系统，其特征在于，包括：
    清洁机器人，所述清洁机器人包括行走单元、清洁件，所述行走单元用于驱动所述清洁机器人运动，所述清洁件用于对地面进行清洁；
    基站，所述基站至少用于对清洁机器人的清洁件进行维护；以及
    如权利要求17所述的控制装置。
  20. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机指令，所述计算机指令被处理器执行时使所述处理器实现：
    如权利要求1-16中任一项所述的清洁机器人的控制方法的步骤。
PCT/CN2023/117098 2022-09-08 2023-09-05 清洁机器人及其控制方法、装置、系统及存储介质 WO2024051705A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211096794.7A CN116115121A (zh) 2022-09-08 2022-09-08 清洁机器人及其控制方法、装置、系统及存储介质
CN202211096794.7 2022-09-08

Publications (1)

Publication Number Publication Date
WO2024051705A1 true WO2024051705A1 (zh) 2024-03-14

Family

ID=86301532

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/117098 WO2024051705A1 (zh) 2022-09-08 2023-09-05 清洁机器人及其控制方法、装置、系统及存储介质

Country Status (2)

Country Link
CN (1) CN116115121A (zh)
WO (1) WO2024051705A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116115121A (zh) * 2022-09-08 2023-05-16 云鲸智能(深圳)有限公司 清洁机器人及其控制方法、装置、系统及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090104418A (ko) * 2008-03-31 2009-10-06 엘지전자 주식회사 자동청소기의 주행제어방법
WO2020131687A2 (en) * 2018-12-17 2020-06-25 Diversey, Inc. Methods and systems for defining virtual boundaries for a robotic device
CN112790669A (zh) * 2020-12-30 2021-05-14 北京奇虎科技有限公司 扫地机清扫方法、设备以及存储介质
CN113854903A (zh) * 2021-09-28 2021-12-31 追觅创新科技(苏州)有限公司 清洁设备的控制方法及装置
CN116115121A (zh) * 2022-09-08 2023-05-16 云鲸智能(深圳)有限公司 清洁机器人及其控制方法、装置、系统及存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090104418A (ko) * 2008-03-31 2009-10-06 엘지전자 주식회사 자동청소기의 주행제어방법
WO2020131687A2 (en) * 2018-12-17 2020-06-25 Diversey, Inc. Methods and systems for defining virtual boundaries for a robotic device
CN112790669A (zh) * 2020-12-30 2021-05-14 北京奇虎科技有限公司 扫地机清扫方法、设备以及存储介质
CN113854903A (zh) * 2021-09-28 2021-12-31 追觅创新科技(苏州)有限公司 清洁设备的控制方法及装置
CN116115121A (zh) * 2022-09-08 2023-05-16 云鲸智能(深圳)有限公司 清洁机器人及其控制方法、装置、系统及存储介质

Also Published As

Publication number Publication date
CN116115121A (zh) 2023-05-16

Similar Documents

Publication Publication Date Title
CN107544517B (zh) 智能清洁机器人的控制方法
WO2020143291A1 (zh) 拖地机器人的控制方法、装置、设备及存储介质
WO2018041191A1 (zh) 清洁机器人及其控制方法
WO2024051705A1 (zh) 清洁机器人及其控制方法、装置、系统及存储介质
US9854956B2 (en) Robot cleaner and control method thereof
WO2016031263A1 (ja) 自律移動体及び自律移動体システム
JP2018515191A (ja) 家庭用ロボットおよび家庭用ロボットの運転方法
WO2019206133A1 (zh) 清洁机器人及其贴边行走方法、可读介质
WO2021197072A1 (zh) 一种智能自动扫地拖地机器人
KR102188797B1 (ko) 로봇 청소기 및 그 제어 방법
KR20130042422A (ko) 로봇 청소기 및 그 제어방법
CN107049158A (zh) 滚布及其智能清洁机器人
WO2023020490A1 (zh) 清洁机器人及其控制方法、装置、电子设备、存储介质
WO2024051704A1 (zh) 清洁机器人及其控制方法、装置、系统及存储介质
WO2024022360A1 (en) Method, device, and system for controlling cleaning robot, and storage medium
CN113243832B (zh) 清洁机器人及清洁机器人的控制方法
JP2007185228A (ja) 自走式掃除機
CN112336250A (zh) 一种智能清扫方法、装置以及存储装置
CN111374600B (zh) 扫地机器人自寻迹的控制方法及智能扫地机器人
CN114431783B (zh) 清洁机器人及其控制方法
CN207640329U (zh) 滚布及其智能清洁机器人
CN116138663A (zh) 清洁机器人及其控制方法、装置、系统及存储介质
CN111759227A (zh) 扫地机器人控制方法和扫地机器人
CN219270804U (zh) 桩体以及自动清洁系统
CN113017504B (zh) 一种地面拖洗机器人的控制方法及地面拖洗机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23862399

Country of ref document: EP

Kind code of ref document: A1