Regional cleaning method, apparatus and storage medium based on sewage detection

Abstract

The invention provides an area cleaning method and device based on sewage detection and a storage medium, and belongs to the field of robotics.The method comprises the steps that in the process that a mobile robot cleans an area to be cleaned, the mobile robot is controlled to move to a base station under the condition that preset conditions are met, the base station cleans a cleaning assembly of the mobile robot; the transparency of sewage generated after the cleaning assembly is cleaned is obtained through a sensor arranged on the base station; determining the smudginess degree of the sewage according to the transparency of the sewage; when the smudginess degree is greater than or equal to a first preset threshold value, determining the cleaned area before meeting the preset condition as a key area; and controlling the mobile robot to clean the key area. By means of the method, automatic key cleaning can be conducted on the basis of sewage detection, targeted repeated cleaning can be conducted on key dirty areas automatically, and cleaning thoroughness and efficiency are improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511833003.8 (22) Application Date 2023.05.18 (62) Divisional Application Data 202310565598.8 2023.05.18 (71) Applicant: ZhuiMi Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Wan Shan, Huo Jianghao, Gao Si, Xie Ke (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Feng Ying (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 40 (2006.01) (54) Invention Title: Area Cleaning Method, Apparatus, and Storage Medium Based on Wastewater Detection (57) Abstract: This application provides an area cleaning method, apparatus, and storage medium based on wastewater detection, belonging to the field of robotics. The method includes: during the cleaning of an area to be cleaned by a mobile robot, under the condition of meeting preset conditions, controlling the mobile robot to move to a base station, and having the base station clean the cleaning components of the mobile robot; obtaining the transparency of the wastewater generated after cleaning the cleaning components through a sensor set on the base station; determining the degree of dirtiness of the wastewater based on the transparency of the wastewater; when the degree of dirtiness is greater than or equal to a first preset threshold, determining the area cleaned before meeting the preset conditions as a key area; and controlling the mobile robot to clean the key area. Through the method of this application, automatic key cleaning based on wastewater detection can be performed, and targeted repeated cleaning of key dirty areas can be performed, improving the thoroughness and efficiency of cleaning. Claims (2 pages), Description (10 pages), Drawings (2 pages), CN 121400727 A, 2026.01.27, CN 1 21 40 07 27 A. 1. A method for cleaning a region based on wastewater detection, characterized in that the method comprises: a mobile robot dividing the area to be cleaned into multiple areas and cleaning them sequentially; after cleaning the current area, controlling the mobile robot to move to a base station, where the base station cleans the cleaning components of the mobile robot; acquiring the transparency of the wastewater generated after cleaning the cleaning components using sensors installed on the base station; determining the degree of dirtiness of the wastewater based on its transparency; when the degree of dirtiness is greater than or equal to a first preset threshold, identifying the current area as a key area; and controlling the mobile robot to clean the key area again.2. The area cleaning method based on wastewater detection according to claim 1, wherein the sensor is a first sensor installed in the base station cleaning tank, and obtaining the transparency of the wastewater includes: after the cleaning components are cleaned, using the first sensor to identify the first transparency of the wastewater in the cleaning tank. 3. The area cleaning method based on wastewater detection according to claim 2, wherein the base station is provided with a cleaning tank and a wastewater tank, and the sensor is a second sensor installed in a pipe between the cleaning tank and the wastewater tank, and obtaining the transparency of the wastewater includes: during the process of the wastewater in the cleaning tank being recycled to the wastewater tank, using the second sensor to identify the second transparency of the wastewater in the pipe. 4. The area cleaning method based on wastewater detection according to claim 3, wherein determining the degree of dirtiness of the wastewater based on the transparency of the wastewater includes: determining a target transparency based on the average of the first transparency and the second transparency; and determining the degree of dirtiness of the wastewater based on the target transparency. 5. The area cleaning method based on wastewater detection according to any one of claims 1-4, wherein the method further includes: after the area to be cleaned is cleaned, determining cleaning routes for multiple key areas; and cleaning the multiple key areas based on the cleaning routes. 6. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, after determining the current area as a key area, the method further includes: sending the area information of the key area to a target client; and displaying the area to be cleaned and the key area on the target client. 7. The area cleaning method based on wastewater detection according to claim 6, characterized in that controlling the mobile robot to clean the key area includes: displaying multiple paths for the mobile robot to move from the base station to the key area on the target client; determining a second target path based on a selection operation performed by the target account on one of the multiple paths in the target client; controlling the mobile robot to move according to the second target path, and cleaning the currently moved position during the movement. 8. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that controlling the mobile robot to clean the key area according to claim 1 / 2 page 2 CN 121400727 A includes: determining a first target path for the mobile robot to move from the base station to the key area, wherein the first target path is the shortest path or the path with the fewest obstacles when the mobile robot cleans the key area; controlling the mobile robot to move according to the first target path, and cleaning the currently moved position during the movement. 9.The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that the method further comprises: controlling the mobile robot to clean the current movement path during the process of the mobile robot moving from the base station to the key area; and / or controlling the mobile robot to clean the current movement path during the process of the mobile robot moving from the key area to the base station. 10. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that the method further comprises: controlling the mobile robot to send a first alarm message when the degree of dirtiness of the wastewater generated after cleaning the cleaning component is greater than or equal to a second preset threshold; wherein the second preset threshold is greater than the first preset threshold, and the first alarm message is used to indicate that the degree of dirtiness of the key area is too high. 11. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that the method further comprises: controlling the mobile robot to send a second alarm message when the number of key areas determined in the area to be cleaned is greater than or equal to a preset number threshold; wherein the second alarm message is used to indicate that the area with a high degree of pollution in the area to be cleaned is large. 12. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that the re-cleaning of the key area includes: repeating the cleaning and wastewater detection process until the degree of dirtiness of the wastewater generated after cleaning the key area is less than the first preset threshold. 13. An electronic device, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to execute the area cleaning method based on wastewater detection according to any one of claims 1 to 12 through the computer program. 14. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program executes the area cleaning method based on wastewater detection according to any one of claims 1 to 12 when it is run. Claims 2 / 2 Page 3 CN 121400727 A Area cleaning method, device and storage medium based on wastewater detection

[0001] This application is a divisional application of the invention patent with application number 202310565598.8, application date 2023-05-18, and invention title "Area cleaning method and device, storage medium and electronic device". Technical Field

[0002] This application relates to the field of robotics, specifically to a method for cleaning areas based on wastewater detection, an electronic device, and a computer-readable storage medium. Background Art

[0003] With the continuous development of science and technology, the upgrading and iteration of intelligent cleaning equipment is also accelerating. For example, current sweeping...The robot not only has sweeping and mopping functions, but also can automatically return to the base station to clean its cleaning components.

[0004] In the prior art, sweeping and mopping robots usually travel along a fixed path and rely on preset cleaning time or area as conditions for returning to the base station to clean the roller brush or mop. It is impossible to determine the degree of dirt in an area and locate areas that need to be cleaned in particular. Summary of the Invention

[0005] In view of the technical problem that the prior art cannot determine the degree of dirt in an area and locate areas that need to be cleaned in particular, the present invention provides a wastewater detection-based area cleaning method, an electronic device, and a computer-readable storage medium. The wastewater detection-based area cleaning method can automatically focus on cleaning based on wastewater detection and automatically perform targeted repeated cleaning on heavily soiled areas, thereby improving the thoroughness and efficiency of cleaning.

[0006] To achieve the above objective, the first aspect of the present invention provides a method for cleaning a region based on wastewater detection. The method includes: a mobile robot dividing the area to be cleaned into multiple areas and cleaning them sequentially; after cleaning the current area, controlling the mobile robot to move to a base station, where the base station cleans the cleaning components of the mobile robot; obtaining the transparency of the wastewater generated after cleaning the cleaning components using a sensor installed on the base station; determining the degree of dirtiness of the wastewater based on its transparency; when the degree of dirtiness is greater than or equal to a first preset threshold, identifying the current area as a key area; and controlling the mobile robot to clean the key area again.

[0007] Further, the sensor is a first sensor installed in the cleaning tank of the base station, and obtaining the transparency of the wastewater includes: after cleaning the cleaning components, using the first sensor to identify the first transparency of the wastewater in the cleaning tank.

[0008] Further, the base station is equipped with a cleaning tank and a sewage tank. The sensor is a second sensor installed in the pipe between the cleaning tank and the sewage tank. Obtaining the transparency of the sewage includes: during the process of the sewage in the cleaning tank being recycled to the sewage tank, using the second sensor to identify the second transparency of the sewage in the pipe.

[0009] Further, determining the degree of dirtiness of the sewage based on the transparency of the sewage includes: determining a target transparency based on the average of the first transparency and the second transparency; determining the degree of dirtiness of the sewage based on the target transparency.

[0010] Further, the method also includes: after the area to be cleaned is cleaned, determining a cleaning route for multiple key areas; cleaning multiple key areas based on the cleaning route.

[0011] Further, after determining the current area as a key area, the method also includes: the key areaThe area information is sent to the target client; the area to be cleaned and the key area are displayed on the target client.

[0012] Further, controlling the mobile robot to clean the key area includes: displaying multiple paths for the mobile robot to move from the base station to the key area on the target client; determining a second target path based on the selection operation performed by the target account on one of the multiple paths in the target client; controlling the mobile robot to move according to the second target path, and cleaning the currently moved position during the movement.

[0013] Further, controlling the mobile robot to clean the key area includes: determining a first target path for the mobile robot to move from the base station to the key area, wherein the first target path is the shortest path or the path with the fewest obstacles when the mobile robot cleans the key area; controlling the mobile robot to move according to the first target path, and cleaning the currently moved position during the movement.

[0014] Further, the method further includes: during the process of the mobile robot moving from the base station to the key area, controlling the mobile robot to clean the current moving path; and / or during the process of the mobile robot moving from the key area to the base station, controlling the mobile robot to clean the current moving path.

[0015] Further, the method further includes: when the degree of dirtiness of the sewage generated after cleaning the cleaning component is greater than or equal to a second preset threshold, controlling the mobile robot to send a first alarm message; wherein, the second preset threshold is greater than the first preset threshold, and the first alarm message is used to indicate that the degree of dirtiness of the key area is too high.

[0016] Further, the method further includes: when the number of key areas determined in the area to be cleaned is greater than or equal to a preset number threshold, controlling the mobile robot to send a second alarm message; wherein, the second alarm message is used to indicate that the area with a high degree of pollution in the area to be cleaned is large.

[0017] Further, the re-cleaning of the key area includes: repeating the cleaning and sewage detection process until the degree of dirtiness of the sewage generated after cleaning the key area is less than the first preset threshold.

[0018] A second aspect of the present invention provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the wastewater detection-based area cleaning method described above through the computer program.

[0019] A third aspect of the present invention provides a computer-readable storage medium including a stored program, wherein the program, when executed, executes the wastewater detection-based area cleaning method described above.

[0020] The technical solution provided in this application has at least the following technical effects: In the area cleaning method based on sewage detection of this application, during the cleaning process of the mobile robot in the area to be cleaned, the mobile robot is controlled to move to the base station under the condition that the preset conditions are met, and the base station cleans the cleaning components of the mobile robot; the transparency of the sewage generated after cleaning the cleaning components is obtained by the sensor set on the base station; the degree of dirtiness of the sewage is determined according to the transparency of the sewage; when the degree of dirtiness is greater than or equal to a first preset threshold, the area cleaned before the preset conditions are met is determined as the key area; the mobile robot is controlled to clean the key area. According to the method of the present invention, automatic key cleaning based on sewage detection is possible, and targeted repeated cleaning of key dirty areas is automatically performed, which improves the thoroughness and efficiency of cleaning.

[0021] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Specification 2 / 10 pages 5 CN 121400727 A Brief Description of the Drawings

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] FIG1 is a schematic diagram of the hardware environment of an optional area cleaning method according to an embodiment of this application; FIG2 is a flowchart of an optional area cleaning method according to an embodiment of this application; FIG3 is a schematic diagram of another optional multiple areas according to an embodiment of this application; FIG4 is a structural block diagram of an optional area cleaning device according to an embodiment of this application; FIG5 is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Description

[0025] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0027] According to one aspect of the embodiments of this application, a method for cleaning an area is provided. Optionally, in this embodiment, the above-described method for cleaning an area can be applied to hardware consisting of a robot 102 and a server 104 as shown in FIG1.In the environment. As shown in Figure 1, robot 102 can connect to server 104 (e.g., an IoT platform or a cloud server) via a network to control robot 102.

[0028] The network may include, but is not limited to, at least one of the following: wired network, wireless network. The wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The wireless network may include, but is not limited to, at least one of the following: WIFI (Wireless Fidelity), Bluetooth, infrared. Robot 102 may include, but is not limited to: a sweeping robot, such as an automatic mop washing robot, a self-cleaning robot, etc. Server 104 may be a server of an IoT platform.

[0029] The area cleaning method of this application embodiment can be executed by robot 102 and server 104 alone, or by robot 102 and server 104 together. The robot 102 can also execute the area cleaning method of this application embodiment by a client installed on it.

[0030] Taking the cleaning method of the area in this embodiment executed by server 104 as an example, FIG2 is a schematic flowchart of an optional area cleaning method according to an embodiment of this application. As shown in FIG2, the process of the method may include the following steps: Step S202, during the cleaning of the area to be cleaned by the mobile robot, under the condition of meeting the preset conditions, the mobile robot is controlled to move to the base station, and the base station cleans the cleaning components on the mobile robot; wherein, the mobile robot may be a sweeping robot, or a sweeping and mopping integrated mobile robot.

[0031] The preset conditions include, but are not limited to: the mobile robot cleans a preset area of ​​the area to be cleaned, the mobile robot cleans the area to be cleaned for a preset duration, or the mobile robot receives a user instruction.

[0032] For example, the mobile robot can clean a certain area (a preset area, which can be set according to actual conditions, e.g., 5 square meters, 10 square meters, etc., as per the manual, page 3 / 10, CN 121400727 A) and then travel to the base station. Alternatively, it can clean for a period of time (a preset duration, which can be determined according to actual conditions, e.g., 5 minutes, 10 minutes) and then travel to the base station. The robot can also return to the base station based on user instructions. User instructions can be text instructions, such as instructions entered by the user on the control panel of the mobile robot. They can also be voice instructions. The mobile robot returns to the base station and cleans the cleaning components through the cleaning tank. After cleaning the cleaning components, the mobile robot can travel back to the previous cleaning position to continue cleaning.

[0033] For example, in the area to be cleaned as shown in Figure 3, the mobile robot cleans the area to be cleaned.After the robot finishes cleaning area 1 shown in the figure, it moves to the base station. The area of ​​area 1 is the preset area mentioned above, or the cleaning time of the mobile robot in area 1 is the preset time mentioned above, or the mobile robot returns to the base station based on the user's instruction after cleaning area 1.

[0034] Step S204: Determine the key area in the area to be cleaned according to the degree of dirtiness of the sewage generated after cleaning the cleaning component, wherein the degree of dirtiness of the sewage generated after the mobile robot cleans the key area and cleans the cleaning component is greater than or equal to a first preset threshold; A cleaning tank is provided in the base station. After the mobile robot finishes cleaning the area to be cleaned each time, it cleans the cleaning component through the cleaning tank. The cleaning tank stores the sewage generated after each cleaning of the cleaning component. A first sensor can be set in the cleaning tank. After the cleaning component is cleaned, the transparency of the sewage in the cleaning tank is identified by the first sensor. The degree of dirtiness of the sewage is determined according to the transparency of the sewage in the cleaning tank.

[0035] Alternatively, a cleaning tank and a sewage tank are provided in the base station. After the cleaning tank finishes cleaning the cleaning component each time, the sewage generated is recycled to the sewage tank. A pipe connects the cleaning tank and the wastewater tank. A second sensor can be installed in this pipe. During the process of wastewater in the cleaning tank being recycled to the wastewater tank, the second sensor is used to identify the transparency of the wastewater in the pipe. The degree of dirtiness of the wastewater is determined based on the transparency of the wastewater in the pipe. The lower the transparency of the wastewater, the higher the degree of dirtiness.

[0036] For example, the area currently being cleaned by the mobile robot is the target area, as shown in Figure 3. Assuming that area 1 shown in the figure is the target area currently being cleaned by the mobile robot, after the mobile robot finishes cleaning area 1, it returns to the base station. The cleaning tank in the base station cleans the cleaning components on the robot. After the cleaning components are cleaned, the transparency of the wastewater in the cleaning tank is detected by the first sensor installed in the cleaning tank. After the cleaning tank has finished cleaning the cleaning components, the wastewater in the cleaning tank is recycled to the wastewater tank. During the wastewater recycling process, the transparency of the wastewater in the cleaning tank can also be detected by the second sensor between the wastewater tank and the cleaning tank. Alternatively, the transparency of the wastewater in the cleaning tank can be detected by a first sensor installed in the cleaning tank to obtain a first transparency, and the transparency of the wastewater in the cleaning tank can be detected by a second sensor between the wastewater tank and the cleaning tank to obtain a second transparency. The average of the first transparency and the second transparency is determined as the target transparency, and the degree of dirtiness of the wastewater is determined based on the target transparency.

[0037] Assuming that after the mobile robot has finished cleaning area 1 shown in Figure 3, the degree of dirtiness of the wastewater generated after cleaning the cleaning components is greater than or equal to a first preset threshold (the first preset threshold can be determined according to the actual situation, for example, transparency)(e.g., less than 50% or 30%). This indicates that area 1 is relatively dirty and is likely not cleaned properly. In this case, area 1 can be designated as a key area, and the robot vacuum cleaner can be controlled to sweep and mop area 1 again until the degree of dirt on the cleaning component is lower than the first preset threshold after cleaning area 1. Then, the mobile robot is controlled to move to other areas (areas other than area 1 in the area to be cleaned); the mobile robot is controlled to clean other areas and identify key areas in other areas. Repeated cleaning of key areas can make the key areas cleaner more thoroughly.

[0038] Alternatively, the key areas can be cleaned after the mobile robot has finished cleaning the area to be cleaned. Each time the cleaning component is cleaned, the degree of dirt on the cleaning component is recorded. Based on the degree of dirt on the cleaning component, the degree of dirt on the previous cleaning area is determined. After all areas are cleaned, a cleaning route is determined based on multiple key areas with high degree of dirt, and these key areas are cleaned.

[0039] Specifically, after cleaning area 1 shown in Figure 3, if the degree of dirtiness of the wastewater generated after cleaning the cleaning component is greater than or equal to a first preset threshold, area 1 is marked as a key area. The mobile robot is controlled to clean other areas in the area to be cleaned, and key areas in the other areas are marked. Assuming that after cleaning area 2 shown in Figure 3, if the degree of dirtiness of the wastewater generated after cleaning the cleaning component is greater than or equal to the first preset threshold, area 2 is marked as a key area.

[0040] After the mobile robot finishes cleaning the area to be cleaned, the mobile robot is controlled to clean the areas marked as key areas (areas 1 and 2 in Figure 3) until the degree of dirtiness of the wastewater generated after cleaning the cleaning component is less than the first preset threshold. By marking the key areas with higher dirtiness and focusing on cleaning the key areas, the cleaning efficiency of the sweeping robot in key areas can be improved.

[0041] Step S206: Control the mobile robot to clean the key areas.

[0042] Through the above steps, a mobile robot is controlled to clean multiple areas. After cleaning each area, the mobile robot moves to the base station and cleans the cleaning components on the mobile robot through the cleaning tank inside the base station. Based on the degree of dirtiness of the wastewater after each cleaning of the cleaning components, key areas among the multiple areas are determined. The degree of dirtiness of the wastewater after cleaning the key areas is greater than or equal to a first preset threshold. The mobile robot is controlled to continue cleaning the key areas until the degree of dirtiness of the wastewater after cleaning the key areas is less than the first preset threshold, thereby realizing the cleaning of key areas.The purpose of the re-cleaning is to achieve the technical effect of thoroughly cleaning the area and improving the cleanliness of the area, thereby solving the problem of insufficient area cleaning in related technologies.

[0043] When focusing on cleaning key areas in the area to be cleaned, cleaning can continue through the shortest path or the path with the fewest obstacles. Specifically, the mobile robot can be controlled to clean the key areas in the following way: determine the shortest path or the path with the fewest obstacles between the base station and the key area as the first target path, the robot moves according to the first target path, and the mobile robot cleans its current position during the movement. This prevents the mobile robot from contaminating the path it moves when cleaning the key areas, achieving a thorough cleaning effect.

[0044] If it is detected that the cleaning components of the sweeping robot are highly dirty, it can also be determined that the sweeping robot will contaminate the path or area on its return to the base station. At this time, the return path or area can also be cleaned in a focused manner. During the process of the mobile robot moving from the base station to the key area, the mobile robot is controlled to clean the current path it is moving; and / or, during the process of the mobile robot moving from the key area to the base station, the mobile robot is controlled to clean the current path it is moving.

[0045] Taking area 1 shown in Figure 3 as an example, area 1 is a key area with a high degree of pollution. Therefore, the path of the sweeping robot returning from area 1 to the base station is likely to be polluted as well. In this case, the robot can be controlled to clean the path between area 1 and the base station. Specifically, the robot can clean the path from the base station to area 1, or it can clean the path from area 1 to the base station. In this embodiment, by cleaning the path between the key area with a high degree of pollution and the base station, the pollution of the area by the mobile robot can be avoided, making the robot clean the area more thoroughly.

[0046] If the target client app is installed on the user's mobile terminal (e.g., mobile phone, tablet computer, etc.), the user can view the status of the smart devices in the smart home system on the app, and can also remotely control the smart devices. As a smart device in the smart home system, the mobile robot can be controlled by the user through the app. When the mobile robot is cleaning the area to be cleaned, it takes a picture of the area to be cleaned through the camera set on the mobile robot. The mobile robot sends the picture to the app, and the app displays the area to be cleaned by the mobile robot.

[0047] After the mobile robot marks the key areas, it sends the information to the app. The app displays the key areas within the area to be cleaned, allowing users to see which areas are most heavily contaminated.

[0048] In real-world scenarios, a robot can move from a base station to a key area via multiple paths, including the shortest path and the path with the fewest obstacles. These paths can be displayed in an app, allowing users to view them and select the optimal path (the second target path). The mobile robot then moves based on the user-selected path.

[0049] In the above embodiment, by displaying the area to be cleaned, the key area within the area to be cleaned, and the path between the base station and the key area in the user's app, and selecting the optimal path from multiple paths as the mobile robot's movement path based on the user's selection, the user can control the mobile robot on their mobile terminal, improving the user experience.

[0050] Furthermore, for areas with high levels of dirt, the mobile robot may not be able to clean them, requiring manual cleaning. Specifically, if the level of dirt in the wastewater generated after cleaning the cleaning components is greater than or equal to a second preset threshold (greater than the first preset threshold, which can be set according to actual conditions), the mobile robot is controlled to send a first alarm message, indicating that the level of dirt in the key area is too high. Specifically, this can be achieved by the robot issuing an alarm sound or by the mobile robot sending a message to the target client, informing the user that the area is too polluted and requires manual cleaning.

[0051] If the area with a high degree of dirt in the area to be cleaned is large, the mobile robot may not be able to clean it, and manual cleaning is required. Specifically, if the number of areas marked as key areas in the area to be cleaned is large (greater than or equal to a preset number threshold, which can be set according to actual conditions, such as 5, 8, etc.), the mobile robot is controlled to send a second alarm message to indicate that the area with a high degree of dirt in the area to be cleaned is large. Specifically, the robot may issue an alarm sound, or the mobile robot may send a message to the target client to indicate to the user that the contaminated area is large and requires manual cleaning.

[0052] It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of action combinations. However, those skilled in the art should know that this application is not limited to the described order of actions, because according to this application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0053] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage...The medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk) includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of this application.

[0054] According to another aspect of the embodiments of this application, a cleaning apparatus for an area for implementing the cleaning method of the above-described area is also provided. Figure 4 is a structural block diagram of an optional area cleaning device according to an embodiment of this application. As shown in Figure 4, the device may include: a first control unit 42, used to control the mobile robot to move to a base station under preset conditions during the cleaning process of the mobile robot, so that the base station can clean the cleaning components on the mobile robot; a determining unit 44, used to determine key areas in the area to be cleaned based on the degree of dirtiness of the wastewater generated after cleaning the cleaning components, wherein the degree of dirtiness of the wastewater generated after the mobile robot cleans the key areas is greater than or equal to a first preset threshold; and a second control unit 46, used to control the mobile robot to clean the key areas.

[0055] In an exemplary embodiment, after the mobile robot has finished cleaning the target area in the area to be cleaned, the mobile robot is controlled to move to the base station, whereby the base station cleans the cleaning components on the mobile robot; if the degree of dirtiness of the wastewater generated after the base station cleans the cleaning components is greater than or equal to a first preset threshold, the mobile robot is controlled to move to the target area and continue cleaning the target area until the degree of dirtiness of the wastewater generated after cleaning the cleaning components in the target area is less than the first preset threshold.

[0056] In an exemplary embodiment, the above-described device is further configured to, after the degree of dirtiness of the wastewater generated after cleaning the cleaning components in the target area is less than the first preset threshold, control the mobile robot to move to other areas in the area to be cleaned besides the target area; control the mobile robot to clean the other areas, and identify the key area in the other areas.

[0057] In an exemplary embodiment, the above-described apparatus is further configured to mark the target area as the key area when the degree of dirtiness of the wastewater generated after cleaning the cleaning component is greater than or equal to a first preset threshold; control the mobile robot to clean other areas in the area to be cleaned except for the target area, and mark the key areas in the other areas.

[0058] In an exemplary embodiment, the above-described device is further configured to, after marking key areas in the other areas, and after the mobile robot has finished cleaning the other areas, control the mobile robot to clean the areas marked as key areas in the area to be cleaned, until the degree of dirtiness of the wastewater generated from cleaning the cleaning components after cleaning the key areas is less than the first preset threshold.

[0059] In an exemplary embodiment, the above-described device is further configured to determine a first target path for the mobile robot to move from the base station to the key areas in the area to be cleaned, wherein the first target path is the shortest path for the mobile robot to clean the key areas in the area to be cleaned, or the first target path is the path with the fewest obstacles for the mobile robot to clean the key areas in the area to be cleaned; control the mobile robot to move according to the first target path, and during the movement of the mobile robot, control the mobile robot to clean the currently moved position.

[0060] In an exemplary embodiment, the above-described device is further configured to, after marking key areas in the other areas, send the area information marked as the key area in the area to be cleaned to a target client, wherein the target client is logged in by a target account, and the target account controls the mobile robot through the target client; and display the area to be cleaned and the key area in the area to be cleaned on the target client.

[0061] In an exemplary embodiment, the above-described device is further configured to, on the target client, display multiple paths for the mobile robot to move from the base station to the key area in the area to be cleaned, wherein the multiple paths include: the shortest path for the mobile robot to clean the key area in the area to be cleaned, and the path with the fewest obstacles for the mobile robot to clean the key area in the area to be cleaned; based on the selection operation performed by the target account on the target client for the second target path among the multiple paths, control the mobile robot to move according to the second target path, and during the movement of the mobile robot, control the mobile robot to clean the currently moved position.

[0062] In an exemplary embodiment, the above-described apparatus is further configured to control the mobile robot to clean the current movement path during the process of the mobile robot moving from the base station to the target area; and / or, to control the mobile robot to clean the current movement path during the process of the mobile robot moving from the target area to the base station.

[0063] In an exemplary embodiment, a cleaning tank is provided in the base station, the cleaning tank being used to store the cleaning process performed each time.The wastewater generated after the cleaning component is cleaned is provided in the cleaning tank with a first sensor. The device is also used to identify the transparency of the wastewater in the cleaning tank using the first sensor after the cleaning component is cleaned; and to determine the degree of dirtiness of the wastewater based on the transparency of the wastewater in the cleaning tank.

[0064] In an exemplary embodiment, the base station is provided with a cleaning tank and a wastewater tank. The cleaning tank is used to store the wastewater generated after each cleaning of the cleaning component. After each cleaning of the cleaning component is completed, the wastewater in the cleaning tank is recycled to the wastewater tank. The cleaning tank and the wastewater tank are connected by a pipe. A second sensor is provided in the pipe. The device is also used to identify the transparency of the wastewater in the pipe using the second sensor during the process of the wastewater in the cleaning tank being recycled to the wastewater tank; and to determine the degree of dirtiness of the wastewater based on the transparency of the wastewater in the pipe.

[0065] In an exemplary embodiment, the above-described device is further configured to control the mobile robot to send a first alarm message when the degree of dirtiness of the wastewater generated after cleaning the cleaning component is greater than or equal to a second preset threshold, wherein the first alarm message is used to indicate that the degree of dirtiness of the key area is too high, and the second preset threshold is greater than the first preset threshold.

[0066] In an exemplary embodiment, the above-described device is further configured to control the mobile robot to send a second alarm message when the number of key areas in the area to be cleaned is greater than or equal to a preset number threshold, wherein the second alarm message is used to indicate that the area with a high degree of pollution in the area to be cleaned is large.

[0067] In an exemplary embodiment, the above-described device is further configured to control the mobile robot to move to the base station when the mobile robot cleans a preset area of ​​the area to be cleaned; control the mobile robot to move to the base station when the mobile robot cleans the area to be cleaned for a preset time; and control the mobile robot to move to the base station when the mobile robot receives a user instruction.

[0068] It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above-mentioned module, as part of the device, can run in the hardware environment shown in Figure 1, and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0069] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium can be used to execute program code for the cleaning method of any of the above-mentioned areas in the embodiments of this application.

[0070] Optionally, in this embodiment, the above-mentioned storage medium can be located on at least one of a plurality of network devices in the network shown in the above embodiments.

[0071] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: S1, during the cleaning process of the mobile robot in the area to be cleaned, under the condition of meeting a preset condition, the mobile robot is controlled to move to the base station, and the base station cleans the cleaning components on the mobile robot; S2, based on the degree of dirtiness of the wastewater generated after cleaning the cleaning components, a key area in the area to be cleaned is determined, wherein the degree of dirtiness of the wastewater generated after the mobile robot cleans the key area and cleans the cleaning components is greater than or equal to a first preset threshold; S3, the mobile robot is controlled to clean the key area. Specification 8 / 10 pages 11 CN 121400727 A

[0072] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0073] Optionally, in this embodiment, the above storage medium may include, but is not limited to: USB flash drive, ROM, RAM, mobile hard disk, magnetic disk or optical disk and other media that can store program code.

[0074] According to another aspect of the embodiments of this application, an electronic device for implementing the cleaning method of the above-described area is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0075] FIG5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. As shown in FIG5, it includes a processor 502, a communication interface 504, a memory 506, and a communication bus 508. The processor 502, the communication interface 504, and the memory 506 communicate with each other through the communication bus 508. The memory 506 is used to store computer programs. When the processor 502 executes the computer program stored in the memory 506, it implements the following steps: S1, during the cleaning process of the mobile robot in the area to be cleaned, under the condition of meeting the preset conditions, the mobile robot is controlled to move to the base station, and the base station cleans the cleaning components on the mobile robot; S2, based on the degree of dirtiness of the wastewater generated after cleaning the cleaning components, the key areas in the area to be cleaned are determined, wherein the degree of dirtiness of the wastewater generated after the mobile robot cleans the key areas and cleans the cleaning components is greater than or equal to a first preset threshold; S3, the mobile robot is controlled to clean the key areas.

[0076] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, and a control bus.Buses, etc. For ease of illustration, only one thick line is used in Figure 5, but this does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0077] The above-mentioned memory may include RAM, or it may include non-volatile memory, for example, at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0078] As an example, the above-mentioned memory 506 may include, but is not limited to, the first control unit 42, the determining unit 44, and the second control unit 46 in the control device of the above-mentioned device. In addition, it may include, but is not limited to, other module units in the control device of the above-mentioned device, which will not be described in detail in this example.

[0079] The processor described above can be a general-purpose processor, which may include, but is not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0080] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, which will not be repeated here.

[0081] Those skilled in the art will understand that the structure shown in FIG. 5 is only illustrative, and the device for implementing the cleaning method of the above area can be a terminal device, which can be a smartphone (such as an Android phone, iOS phone, etc.), tablet computer, handheld computer, and mobile Internet device (MID), PAD, etc. FIG. 5 does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components (such as network interfaces, display devices, etc.) than those shown in FIG. 5, or have a different configuration than those shown in FIG. 5.

[0082] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0083] The sequence numbers of the embodiments in this application are merely for description and do not represent the superiority or inferiority of the embodiments.

[0084] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the method described in each embodiment of this application.

[0085] In the above embodiments of this application, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0087] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0088] In addition, each functional unit in each embodiment of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0089] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the protection scope of this application. Specification 10 / 10 pages 13 CN 121400727 A Figure 1 Figure 2 Specification Drawings 1 / 2 pages 14 CN 121400727 A Figure 3 Figure 4 Figure 5 Specification Drawings 2 / 2 pages 15 CN 121400727 A REGIONALCLEANING METHOD, APPARATUS AND STORAGE MEDIUM BASED ON SEWAGE DETECTION Abstract The present application provides a regional cleaning method, an apparatus and a storage medium based on sewage detection, and belongs to the field of robots. The method includes: during a process in which a mobile robot cleans a to-be-cleaned area, controlling the mobile robot to move to a base station when a preset condition is satisfied, so that the base station cleans a cleaning assembly of the mobile robot; acquiring, by a sensor disposed on the base station, the transparency of sewage generated after cleaning the cleaning assembly; determining the dirt degree of the sewage according to the transparency of the sewage; when the dirt degree is greater than or equal to a first preset threshold, determining an area cleaned before the preset condition is met as a key area; and controlling the mobile robot to clean the key area. With the method of the present application, targeted repeated cleaning can beautomatically performed on heavily soiled key areas through automatic key cleaning based on sewage detection, which improves cleaning thoroughness and cleaning efficiency.

Claims

1. A method for regional cleaning based on wastewater detection, characterized in that, The wastewater detection-based area cleaning method includes: The mobile robot divides the area to be cleaned into sections and cleans multiple sections sequentially. After cleaning the current area, the mobile robot is controlled to move to the base station, where the base station cleans the cleaning components of the mobile robot. The transparency of the wastewater generated after cleaning the cleaning components is obtained by using sensors installed on the base station. The degree of contamination of the wastewater is determined based on its transparency. When the level of dirtiness is greater than or equal to a first preset threshold, the current area is identified as a key area; The mobile robot is controlled to clean the key areas again.

2. The area cleaning method based on wastewater detection according to claim 1, characterized in that, The sensor is a first sensor installed inside the base station cleaning tank, and it acquires the transparency of the wastewater by: After the cleaning components are cleaned, the first sensor is used to identify the first transparency of the wastewater in the cleaning tank.

3. The area cleaning method based on wastewater detection according to claim 2, characterized in that, The base station is equipped with a cleaning tank and a sewage tank. The sensor is a second sensor installed in the pipe between the cleaning tank and the sewage tank, and the transparency of the sewage is obtained by: During the process of the wastewater in the cleaning tank being recycled to the wastewater tank, the second sensor is used to identify the second transparency of the wastewater in the pipe.

4. The area cleaning method based on wastewater detection according to claim 3, characterized in that, The step of determining the degree of contamination of the wastewater based on its transparency includes: The target transparency is determined based on the average of the first transparency and the second transparency; The degree of contamination of the wastewater is determined based on the target transparency.

5. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, The method further includes: After the area to be cleaned is completed, determine the cleaning routes for several key areas; Multiple key areas were cleaned based on the cleaning route.

6. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, After identifying the current area as a key area, the method further includes: Send the regional information of the key areas to the target client; The area to be cleaned and the key areas are displayed on the target client.

7. The area cleaning method based on wastewater detection according to claim 6, characterized in that, Controlling the mobile robot to clean the key areas includes: The target client displays multiple paths taken by the mobile robot as it moves from the base station to the key area. A second target path is determined based on the selection operation performed by the target account on one of the multiple paths in the target client; The mobile robot is controlled to move along the second target path, and the current location is cleaned during the movement.

8. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, Controlling the mobile robot to clean the key areas includes: Determine a first target path for the mobile robot to move from the base station to the key area, wherein the first target path is the shortest path or the path with the fewest obstacles when the mobile robot cleans the key area; The mobile robot is controlled to move along the first target path, and the current location is cleaned during the movement.

9. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, The method further includes: During the movement of the mobile robot from the base station to the key area, the mobile robot is controlled to clean its current path; and / or As the mobile robot moves from the key area to the base station, the robot is controlled to clean its current path.

10. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, The method further includes: If the degree of dirtiness of the wastewater generated after cleaning the cleaning components is greater than or equal to a second preset threshold, the mobile robot is controlled to send a first alarm message. Wherein, the second preset threshold is greater than the first preset threshold, and the first alarm information is used to indicate that the degree of dirtiness in the key area is too high.

11. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, The method further includes: If the number of key areas identified in the area to be cleaned is greater than or equal to a preset threshold, the mobile robot is controlled to send a second alarm message. The second alarm message is used to indicate that the area with a high degree of contamination in the area to be cleaned is relatively large.

12. The area cleaning method based on wastewater detection according to any one of claims 1-4, characterized in that, The re-cleaning of the key areas includes repeating the cleaning and wastewater testing process until the degree of dirtiness of the wastewater generated after cleaning the key areas is less than the first preset threshold.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute, via the computer program, the area cleaning method based on wastewater detection as described in any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the wastewater detection-based area cleaning method according to any one of claims 1 to 12.

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