Control method for cleaning robot and related device

Abstract

The present embodiment relates to a control method for a cleaning robot and a related device. The method comprises: acquiring a contaminant type and a contaminated area of a floor to be cleaned, wherein the contaminant type comprises a liquid contaminant; when there is the contaminated area having the liquid contaminant on the floor to be cleaned, turning a body of the cleaning robot around and driving the cleaning robot to perform a cleaning operation in a reversing posture, so as to use a wet cleaning member to clean the liquid contaminant in the contaminated area. The present invention solves the problem that a dry cleaning member of the cleaning robot is easily wetted when cleaning the liquid contaminant, improving the cleaning effect on the floor having the liquid contaminant.

Description

Control method of cleaning robot and related device

[0001] The present application claims priority to the Chinese patent application No. 2024105978442, filed on May 14, 2024, entitled "Control method of cleaning robot and related device", the Chinese patent application No. 2024106411114, filed on May 22, 2024, entitled "Control method of cleaning robot and related device", the Chinese patent application No. 2024106886113, filed on May 30, 2024, entitled "Control method of cleaning robot and related device", the Chinese patent application No. 2024106909670, filed on May 30, 2024, entitled "Rinse method of wet cleaning element and related device thereof", the Chinese patent application No. 2024119520251, filed on December 27, 2024, entitled "Control method of cleaning robot and related device", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning robots, in particular, relates to a control method of a cleaning robot and related device. BACKGROUND

[0003] In the related art, a cleaning robot with a mopping function is provided with a sweeping device (such as a side sweeper) at the front end of the robot body for sweeping solid waste, and a mop at the rear end of the chassis of the robot body for mopping the floor. When there is liquid on the floor to be cleaned, the sweeping device is easily wetted by the liquid, affecting the sweeping effect of the sweeping device. SUMMARY

[0004] The control method of a cleaning robot and related device provided by the present embodiment at least solves the problem that the dry cleaning element of the cleaning robot is easily wetted when cleaning liquid stains.

[0005] A control method of a cleaning robot, the cleaning robot comprising a wet cleaning element located at the rear end of the chassis of the cleaning robot; the method comprising: obtaining a stain type and a stain area of a floor to be cleaned, wherein the stain type comprises liquid stains; in the case that the stain area of the floor to be cleaned has liquid stains, turning the robot body of the cleaning robot, and driving the cleaning robot to perform cleaning operation in a reverse driving posture, so as to clean the liquid stains in the stain area by using the wet cleaning element.

[0006] A cleaning robot, the cleaning robot comprising: a body, a wet cleaning element located at a rear end of a chassis of the body, and a processing device comprising a processor and a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are configured to cause the processor to perform the above-mentioned control method of the cleaning robot.

[0007] A non-transitory machine readable medium storing computer instructions, wherein the computer instructions are configured to cause a computer to perform the above-mentioned control method of the cleaning robot.

[0008] The control method of the cleaning robot and the related device provided by the embodiments solve the problem that the dry cleaning element of the cleaning robot is easily wetted when cleaning liquid dirt, and avoid the dry cleaning element of the cleaning robot from being wetted, thereby improving the cleaning effect on the ground containing liquid dirt. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor.

[0010] FIG. 1-1 is a structural schematic diagram of the cleaning robot of the embodiments.

[0011] FIG. 1-2 is a flowchart one of the control method of the cleaning robot of the embodiments.

[0012] FIG. 1-3 is a schematic diagram of a map of a room to be cleaned.

[0013] FIG. 1-4 is a schematic diagram of a liquid cleaning path.

[0014] FIG. 1-5 is a schematic diagram of another liquid cleaning path.

[0015] FIG. 1-6 is a schematic diagram of deflection and swing back of the wet cleaning element.

[0016] FIG. 1-7 is a schematic diagram of another deflection and swing back of the wet cleaning element.

[0017] FIG. 1-8 is a flowchart two of the control method of the cleaning robot of the embodiments.

[0018] FIG. 2-1 is a flowchart three of the control method of the cleaning robot of the embodiments.

[0019] FIG. 2-2 is a schematic diagram of not planning a detour path when the target position is outside the cleanable area.

[0020] Fig. 2-3 is a schematic view of the present embodiment when no detour path is planned when the target position is inaccessible due to an obstacle.

[0021] Fig. 2-4 is a schematic view of the present embodiment when a detour path is planned when the target position is inaccessible due to a cliff.

[0022] Fig. 2-5 is a schematic view of strategy A of the present embodiment.

[0023] Fig. 2-6 is a schematic view of strategy B of the present embodiment.

[0024] Fig. 2-7 is a schematic view of the present embodiment when a detour path is planned when an obstacle is detected on one side of a dirty area.

[0025] Fig. 2-8 is a schematic view of the present embodiment when a detour path is planned to pass through a clean area.

[0026] Fig. 2-9 is a schematic view of the present embodiment when a detour path is planned according to a preset detour direction.

[0027] Fig. 2-10 is a schematic view of another reverse twist cleaning of the present embodiment.

[0028] Fig. 2-11 is a schematic view of reverse bow cleaning of the present embodiment.

[0029] Fig. 3 is a flowchart four of the control method of the cleaning robot of the present embodiment.

[0030] Fig. 4-1 is a flowchart five of the control method of the cleaning robot of the present embodiment.

[0031] Fig. 4-2 is a schematic view of a bow wiping path of the present embodiment.

[0032] Fig. 4-3 is a schematic view of a cross wiping path of the present embodiment.

[0033] Fig. 4-4 is a schematic view of a spiral wiping path of the present embodiment.

[0034] Fig. 4-5 is a schematic view of a cleaning path of the present embodiment.

[0035] Fig. 5 is a flowchart six of the control method of the cleaning robot of the present embodiment.

[0036] Fig. 6 is a schematic view of the structure of the processing device of the present embodiment. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0038] FIG. 1-1 is a structural schematic diagram of a cleaning robot according to the present embodiment. As shown in FIG. 1-1, the rear end of the body of the cleaning robot is provided with a wet cleaning element 10 for mopping the floor. The structure of the wet cleaning element can be various forms such as a rotating disc type, a flat plate type, a track type or a roller type. The front end of the body of the cleaning robot can also be provided with a dry cleaning element 20 including a set of edge brushes arranged at the front end of the body close to the edge. The dry cleaning element 20 can also include a middle brush 201 arranged between the edge brushes and the wet cleaning element 10. The middle brush is usually in the form of a rolling brush for rolling the solid dirt on the floor. A suction port (not shown in the figure) of a suction fan is arranged between the edge brushes and the wet cleaning element 10. The suction port is used to suck the solid dirt into a suction box arranged in the body by the negative pressure generated by the suction fan. Each edge brush can include one or more rotating brush heads for gathering the dust and debris within the rotating range to the suction port.

[0039] The cleaning robot also includes a driving device, for example, two driving wheels 40 and a steering wheel 50 as shown in FIG. 1-1. The two driving wheels are arranged at the rear part of the chassis, and the steering wheel can be arranged at the front part of the chassis for steering. The driving wheels can be steerable driving wheels or non-steerable driving wheels.

[0040] The above-described cleaning robot can operate in a single-sweeping mode, a single-mopping mode or a sweeping-mopping mode. In the single-sweeping mode in the related art, only the dry cleaning element works while the wet cleaning element does not work, and the cleaning robot usually cleans along the planned cleaning path in a forward posture. For the cleaning robot with the lifting function of the wet cleaning element, the wet cleaning element can also be lifted off the ground to avoid interfering with the work of the dry cleaning element. In the single-mopping mode in the related art, only the wet cleaning element works while the dry cleaning element does not work, and the cleaning robot usually cleans along the planned cleaning path in a forward posture. For the cleaning robot with the lifting function of the edge brush and / or the middle brush in the dry cleaning element, the edge brush and / or the middle brush can also be lifted off the ground to avoid interfering with the work of the wet cleaning element. In the sweeping-mopping mode in the related art, the dry cleaning element and the wet cleaning element work simultaneously, and the cleaning robot usually cleans along the planned cleaning path in a forward posture. The floor is first swept by the dry cleaning element and then mopped by the wet cleaning element.

[0041] In some embodiments, the cleaning robot further comprises an environment detection device 30 for detecting environment information. The environment detection device 30 comprises, but is not limited to, a distance sensor, a collision sensor, and the like. The distance sensor can be one or more of a ToF laser radar sensor based on time-of-flight measurement of distance, a laser radar sensor based on triangulation method for measuring distance, an infrared ranging sensor, an ultrasonic ranging sensor, a binocular camera or a depth camera, a structured light sensor, or other sensor devices capable of distance measurement. The binocular camera or depth camera is also a sensor for detecting ground dirt information.

[0042] The camera of the cleaning robot shown in FIG. 1-1 as the environment detection device 30 is located at the front end of the cleaning robot. The camera can be slightly inclined towards the ground to capture the image of the ground in front of the cleaning robot. The image captured by the camera will be provided to an image processing module based on artificial intelligence technology for recognition of the ground dirt type and distribution. In order to capture the image of a larger range of ground, the horizontal field of view of the camera is 90°-120° or larger, and the detection distance is 35cm-80cm or larger. Generally, the camera can capture the image of the ground with a width greater than the width of the cleaning robot. In this embodiment, in order to shorten the total length of the patrol path, the camera can use a camera capable of capturing the image of the ground with a width more than twice the width of the camera itself.

[0043] The environment detection device 30 can also be configured as a cliff sensor, which is arranged at the front end of the chassis of the cleaning robot. The cliff sensor comprises one or more infrared light emitting diodes arranged towards the ground and one or more phototransistors or photodiodes for receiving infrared light reflected by the ground. The cliff sensor detects whether there is a large drop such as a staircase or other cliff on the path in which the cleaning robot advances by continuously emitting infrared light of a specific wavelength towards the ground and receiving infrared light reflected by the ground, and provides cliff information to the cleaning robot for avoidance processing to avoid the cleaning robot falling from a high place and causing damage to the equipment.

[0044] It should be noted that the cleaning robot shown in FIG. 1-1 is intended to generally describe the structure of the cleaning robot that can be applied to the control method of the present embodiment, and is not intended to limit the specific cleaning robot to which the embodiments of the present application are applied. It can be understood that in some embodiments, as long as the cleaning robot has a wet cleaning element arranged at the rear end, the cleaning robot is suitable for the control method provided by the present embodiment.

[0045] FIG. 1-2 is a flowchart of the control method of the cleaning robot of the present embodiment. As shown in FIG. 1-2, the flowchart comprises the following steps:

[0046] In step S101, the type and area of dirt on the floor to be cleaned are obtained, wherein the type of dirt includes liquid dirt.

[0047] In step S102, in the case that the area of dirt on the floor to be cleaned has liquid dirt, the body of the cleaning robot is turned around, and the cleaning robot is driven to perform cleaning operation in a reverse posture, so as to clean the liquid dirt in the area of dirt by using the wet cleaning element.

[0048] Compared with the prior art in which the cleaning robot always travels in a forward posture to clean any dirt on the floor, the above steps identify whether the floor to be cleaned has liquid dirt, and in the case that the floor to be cleaned has liquid dirt, the body of the cleaning robot is turned around to perform cleaning operation in a reverse posture. In this way, the wet cleaning element originally arranged at the rear end of the body of the cleaning robot is switched to the front, and the dry cleaning element originally arranged at the front end of the body of the cleaning robot is switched to the rear. The wet cleaning element will clean the liquid dirt on the floor to be cleaned first, so as to effectively protect the air inlet from sucking liquid into the dust collection box and protect the dry cleaning element from being wetted.

[0049] In some embodiments, the cleaning robot obtains information of the next piece of floor to be cleaned by the environment detection device carried thereby while performing cleaning task, and identifies the type and area of dirt on the floor to be cleaned according to the information of the floor to be cleaned. The environment detection device includes but is not limited to at least one of the following: an optical sensor, a spectrum sensor, an ultrasonic sensor, a near-infrared or ultraviolet sensor, etc. The optical sensor may, for example, include a camera, which captures images of the floor, and identifies the area and type of dry and wet stains by color change, reflectivity difference, etc. of the floor. The captured images can also be input into a trained floor dirt classification model to identify the type of dirt and mark the area of dirt by the classification model. The spectrum sensor can identify specific types of stains, such as oil stains, water stains, etc. by analyzing different wavelengths of light. The ultrasonic sensor can assist in judging the degree of dirt on the floor by echo analysis in some cases. The near-infrared or ultraviolet sensor can be used to identify stains that are not easy to see, such as dried pet urine, etc.

[0050] The liquid dirt in the embodiments refers to dirt with fluidity or permeability, which needs to be cleaned by using a wet cleaning element such as a wet mop. For example, the liquid dirt in the embodiments includes wet liquid or viscous substances, which include but are not limited to soy sauce, coffee, water, fruit juice, soup, milk, etc. The liquid dirt in the embodiments can also be a stain formed on the floor after evaporation of the above wet liquid substances, which includes but is not limited to soy sauce stain, coffee stain, water stain, fruit juice stain, soup stain, milk stain, etc.

[0051] For the cleaning robot with both sweeping and mopping functions, the cleaning robot further comprises a suction fan and a dry cleaning element arranged at the front end of the cleaning robot. In step S102, when the cleaning robot is driven to perform the cleaning operation in the reverse posture, the dry cleaning element and the suction fan can be in operation. However, for the purpose of saving power and the like, the dry cleaning element and the suction fan can also be stopped. Especially in the case where the liquid dirt is deep, the wet cleaning element can not be able to clean the liquid dirt completely, and thus, when the suction fan is stopped, the liquid can be prevented from being sucked into the dust collecting box by the suction fan.

[0052] For the cleaning robot with the dry cleaning element having the lifting function, a safer method adopted in some embodiments is that, in step S102, when the cleaning robot is driven to perform the cleaning operation in the reverse posture, the dry cleaning element is lifted so as to be separated from the ground. In this way, whether the liquid dirt on the ground has been cleaned by the wet cleaning element or not, the dry cleaning element can be guaranteed not to be wetted. The dry cleaning element can have the lifting function in whole or in part, for example, the side sweeping part of the dry cleaning element has the lifting function, or the middle sweeping part has the lifting function, or both the side sweeping part and the middle sweeping part have the lifting function.

[0053] The present embodiment will be described and explained in combination with the accompanying drawings.

[0054] FIGS. 1-3 are schematic views of a map of a room to be cleaned according to the present embodiment. When the cleaning robot is started for the first time, the cleaning robot will map the cleaning area and divide the room. In the subsequent cleaning task, the user can specify one or more rooms to be cleaned in the map, or specify an area to be cleaned in the map, or clean the whole house.

[0055] When the cleaning robot performs the cleaning task of the room to be cleaned, the cleaning robot will plan a cleaning path of the room to be cleaned. As shown in FIGS. 1-3, the cleaning path of the room to be cleaned includes two main parts, an edge-following path and a filling path. The edge-following path refers to a cleaning path along the edge of a wall or an obstacle, and the filling path refers to a cleaning path formed in an area surrounded by the edge-following path, which is usually in the shape of an arch, but can also be in other shapes.

[0056] When the cleaning robot performs the ground cleaning, the cleaning robot advances along the planned cleaning path and obtains information of the front ground to be cleaned by using the environment detection device. When the cleaning robot detects that the front ground to be cleaned has liquid dirt, the cleaning robot obtains a dirt area of the liquid dirt at the current position (the position is referred to as a global cleaning interruption position). The cleaning robot plans a liquid cleaning path according to the dirt area of the liquid dirt.

[0057] When planning the liquid cleaning path, if the width of the liquid stain is less than the width of the wet cleaning element, a liquid cleaning path for cleaning back and forth is planned. FIGS. 1-4 are schematic diagrams of a liquid cleaning path of the present embodiment. As shown in FIGS. 1-4, the width of the wet cleaning element is 0.3 m, and the width of the liquid stain is less than 0.3 m. The generated liquid cleaning path extends along the length direction of the liquid stain. The cleaning robot cleans along the liquid cleaning path once or multiple times back and forth. In the case that the length of the liquid stain exceeds a certain value, the cleaning robot can also clean at a certain step length, for example, each step length is 0.5 m. After the cleaning robot cleans the cleaning area of 0.5 m x 0.3 m multiple times back and forth, the cleaning robot cleans the next cleaning area of 0.5 m x 0.3 m.

[0058] When planning the liquid cleaning path, if the width of the liquid stain is greater than the width of the wet cleaning element, an arch-shaped liquid cleaning path is planned. The paths extending along the length direction in the arch-shaped liquid cleaning path are parallel to each other and the interval distance is not greater than the width of the wet cleaning element, so that the cleaning ranges corresponding to adjacent paths at least partially overlap. FIG. 1-5 is a schematic diagram of another liquid cleaning path of the present embodiment. As shown in FIG. 1-5, the width of the wet cleaning element is 0.3 m, and the width of the liquid stain is greater than 0.3 m. At this time, an outer rectangle covering the liquid stain area is first generated, and then the rectangle is widened in the width direction by a certain width, for example, 0.3 m. The rectangle is widened in the length direction by a certain width, for example, 0.5 m, to obtain the liquid stain area to be cleaned.

[0059] For the rectangular liquid stain area, an arch-shaped liquid cleaning path is planned. The paths extending along the length direction in the arch-shaped liquid cleaning path are spaced apart by 0.28 m, so that when the cleaning robot cleans along the arch-shaped path, there is an overlapping area between the cleaning ranges of adjacent paths, so as to ensure comprehensive cleaning of the liquid stain area. The cleaning robot can clean along the liquid cleaning path in a single direction or multiple times back and forth, so as to improve the cleaning effect on the liquid stain.

[0060] After the liquid cleaning path is planned, the cleaning robot can turn around at the global cleaning interruption position, or travel from the global cleaning interruption position to the starting point of the liquid cleaning path and then turn around, so that the cleaning robot is at the starting point of the liquid cleaning path with the rear end of the body facing the advancing direction of the liquid cleaning path. When the cleaning robot cleans along the above-mentioned liquid cleaning path, the cleaning robot travels in a reverse posture, and at the same time, the wet cleaning element remains in an open working state during the travel. During the travel of the cleaning robot in the reverse posture, the position and posture of the cleaning robot are determined by the environmental detection device (such as a laser radar sensor, a camera, an inertial navigation system, etc.) carried by the cleaning robot.

[0061] After the cleaning robot moves from the global cleaning interruption position to the start point of the liquid cleaning path, it directly starts cleaning along the liquid cleaning path in the reverse direction; or after the cleaning robot moves from the global cleaning interruption position to the start point of the liquid cleaning path, it first performs edge cleaning on the framed liquid stain area to be cleaned, and then starts cleaning along the liquid cleaning path in the reverse direction.

[0062] For liquid stains with low dirtiness (e.g. water stains with shallow liquid depth or small-area wet liquid), the cleaning robot can clean the liquid stains completely by keeping the rear end thereof always facing the path extension direction during the cleaning process. However, for liquid stains with large area, large liquid depth, or viscous substances (e.g. yogurt), or liquid dry stains, the cleaning effect is not satisfactory. Therefore, in this embodiment, for all liquid stains or for the above-mentioned difficult-to-clean liquid stains, the wet cleaning member can be driven to produce multiple deflections and swings towards at least one side of the travel direction, so as to repeatedly wipe the liquid stains and improve the cleaning effect.

[0063] In one embodiment, when the cleaning robot travels along the liquid cleaning path in the reverse direction, the wet cleaning member is driven to produce multiple deflections and swings towards at least one side of the travel direction; or when the relative position between the wet cleaning member and the body of the cleaning robot is fixed, the body of the cleaning robot is driven to produce multiple deflections and swings to drive the wet cleaning member arranged at the rear end of the cleaning robot to produce multiple deflections and swings. FIGS. 1-6 are schematic diagrams of one deflection and swing of the wet cleaning member in this embodiment. The dashed lines in FIGS. 1-6 show the movement trajectory of the wet cleaning member produced by multiple deflections and swings towards both sides of the travel direction when the cleaning robot travels in the reverse direction along the travel direction. The movement trajectory of the wet cleaning member presents a zigzag shape densely distributed in the forward travel direction of the cleaning robot. It should be noted that, in order to clearly illustrate the purpose of the drawing, the included angle between adjacent trajectory segments of the zigzag trajectory of the wet cleaning member and the swing directions thereof are exaggeratedly shown in FIGS. 1-6, but in fact the included angle is very small. In this embodiment, the travel speed of the cleaning robot and the frequency of deflection and swing are set to adjust the above-mentioned included angle, so that the total number of deflections and swings of the cleaning robot in the target travel distance reaches a set number. The above-mentioned target distance is the length of the cleaning area formed by the wet cleaning member in the travel direction. In this way, the above-mentioned set number of repeated wiping of the stain area passed by the cleaning robot can be achieved.

[0064] In some other embodiments different from those shown in FIGS. 1-6, driving the cleaning robot to travel along the liquid cleaning path in the reverse direction further comprises performing the following operations multiple times: while the cleaning robot is traveling along the liquid cleaning path in the reverse direction, first controlling the cleaning robot to stop traveling on the liquid cleaning path, driving the wet cleaning member to generate multiple deflections and swings toward at least one side of the traveling direction, and driving the cleaning robot to travel a distance along the liquid cleaning path. The entire liquid stain cleaning is completed until the end. FIG. 1-7 is a schematic diagram of another deflection and swing of the wet cleaning member in this embodiment, and the dashed line in FIG. 1-7 shows the movement trajectory of the wet cleaning member generated by multiple deflections and swings toward both sides of the traveling direction while the cleaning robot travels in the reverse direction along the traveling direction. The movement trajectory shown in FIG. 1-7 indicates that the cleaning robot performs multiple in-place swings around the center of rotation of the cleaning robot after stopping, thereby achieving multiple repeated wiping of the stain area.

[0065] In the above embodiments, the cleaning area of the wet cleaning member after each travel and the deflection and swing generated by the wet cleaning member before each travel partially overlap, so as to prevent the occurrence of a missed cleaning area and improve the cleaning effect.

[0066] In order to avoid the wet cleaning member from being too dirty and affecting the cleaning effect during the liquid stain cleaning of the cleaning robot, when a certain condition is reached, the cleaning robot will return to the base station to clean the wet cleaning member.

[0067] The wet cleaning member of the cleaning robot is usually provided with a preset backwash area, i.e., the maximum area cleaned by the wet cleaning member after the last backwash. In some embodiments, by accumulating the cleaning area of the wet cleaning member, when the cleaning area of the wet cleaning member reaches the preset backwash area, the cleaning robot is controlled to stop traveling at the current position of the liquid cleaning path (referred to as the liquid cleaning interruption position), and the wet cleaning member is stopped and lifted to prevent the wet cleaning member from contaminating the ground during the return to the base station. During the return to the base station, the cleaning robot can be in a forward direction or a reverse direction, which is not limited herein. In the cleaning of the wet cleaning member at the base station, if the base station is provided with a stain sensor, the base station detects whether the wet cleaning member cleaned this time is clean through the stain sensor, and records it as the first detection result.

[0068] Optionally, the cleaning robot can return to the base station to clean the wet cleaning member once after completing the cleaning of a liquid stain. For example, in the case where the cleaning of the current stain area has been completed, the cleaning robot is controlled to return to the base station to clean the wet cleaning member. In the cleaning of the wet cleaning member at the base station, if the base station is provided with a stain sensor, the base station detects whether the wet cleaning member cleaned this time is clean through the stain sensor, and records it as the first detection result.

[0069] Optionally, after the cleaning robot finishes cleaning a liquid stain, it can return to the starting point of the reverse driving posture (i.e., the global cleaning interruption position), and detect whether the stain area can still detect liquid stains and record as a second detection result.

[0070] The cleaning robot can execute a re-cleaning strategy for the stain area based on one or both of the first detection result and the second detection result. If it is determined based on only the first detection result that the wet cleaning element is not clean this time, or based on only the second detection result that the stain area can still detect liquid stains, the re-cleaning strategy of cleaning the stain area again is executed, otherwise the stain area is not re-cleaned.

[0071] When the cleaning robot executes the re-cleaning strategy based on the first detection result and the second detection result, one or a combination of the following strategies can be executed:

[0072] Strategy one: in the case that the first detection result indicates that the wet cleaning element is clean, and the second detection result indicates that the stain area still has liquid stains, the stain area is re-cleaned once along the liquid cleaning path in the reverse driving posture;

[0073] Strategy two: in the case that the first detection result indicates that the wet cleaning element is not clean, and the second detection result indicates that the stain area still has liquid stains, the liquid cleaning path is re-planned, and the stain area is re-cleaned once along the re-planned liquid cleaning path in the reverse driving posture, wherein the re-planned liquid cleaning path has greater cleaning fineness than the liquid cleaning path;

[0074] Strategy three: in the case that the first detection result indicates that the wet cleaning element is clean, and the second detection result indicates that the stain area does not have liquid stains, the stain area is not re-cleaned;

[0075] Strategy four: in the case that the first detection result indicates that the wet cleaning element is not clean, and the second detection result indicates that the stain area does not have liquid stains, the stain area is re-cleaned once along the liquid cleaning path in the reverse driving posture.

[0076] The above re-cleaning strategy combines the stain sensor detection result of the base station and the stain result of the stain area detected by the cleaning robot again, and adopts a targeted re-cleaning strategy, which not only guarantees the cleaning effect of liquid stains, but also improves the cleaning efficiency.

[0077] In some embodiments, in order to improve the cleaning efficiency, the cleaning task is performed by adopting a strategy of reducing the number of backwashing. Specifically, after completing the cleaning of the current liquid dirt area, the wet cleaning element is not backwashed, but directly returns to the global cleaning interruption position, and then turns the body again to switch the cleaning robot to the forward posture, or directly turns the body at the current position to switch the cleaning robot to the forward posture, and then returns to the global cleaning interruption position, and then resumes the working state corresponding to the set cleaning mode at the global cleaning interruption position, and continues to perform the remaining unfinished predetermined cleaning task.

[0078] The working state of the cleaning robot at the global cleaning interruption position specifically includes the working state of the dry cleaning element, the dust suction fan and the wet cleaning element. The cleaning mode includes a single sweeping mode, and the corresponding working state is that the wet cleaning element does not work (stops working, and the wet cleaning element with lifting ability stops and lifts up), the dry cleaning element is in place and works, and the dust suction fan works. The cleaning mode also includes a single mopping mode, and the corresponding working state is that the wet cleaning element is in place and works, the dry cleaning element does not work (stops working, and the dry cleaning element with lifting ability stops and lifts up), and the dust suction fan does not work. The cleaning mode also includes a sweeping and mopping mode, and the corresponding working state is that the wet cleaning element is in place and works, the dry cleaning element is in place and works, and the dust suction fan works.

[0079] In some embodiments, the control method of the cleaning robot further includes: in the case that the to-be-cleaned ground has a dirt area with solid dirt, driving the cleaning robot to perform cleaning operation in the forward posture to clean the solid dirt in the dirt area by using the dry cleaning element. When the cleaning robot cleans the solid dirt, the front end of the body of the cleaning robot faces the direction of travel, the dry cleaning element and the dust suction fan are in the working state. The wet cleaning element is in the non-working state, and if the wet cleaning element has a lifting mechanism, the wet cleaning element can also be lifted to avoid interference with the cleaning of the solid dirt.

[0080] The present embodiment also provides another control method of a cleaning robot. FIGS. 1-8 are a flowchart of the control method of the cleaning robot of the present embodiment. As shown in FIGS. 1-8, the flowchart includes the following steps:

[0081] Step S801: After receiving a predetermined cleaning task, all dirt types and dirt areas of the to-be-cleaned ground in the to-be-cleaned range indicated by the predetermined cleaning task are obtained by traversing the to-be-cleaned range.

[0082] Step S802: A first cleaning path for cleaning liquid dirt and a second cleaning path for cleaning all to-be-cleaned grounds in the to-be-cleaned range are respectively planned.

[0083] Step S803: The cleaning robot is driven to perform cleaning of liquid dirt along the first cleaning path in the reverse posture.

[0084] Step S804, after the cleaning of the liquid dirt is completed, the cleaning robot is driven to clean all the ground to be cleaned in the range to be cleaned along the second cleaning path in a forward posture.

[0085] Through the above steps, the cleaning of the liquid dirt is performed first, and then the overall cleaning of the entire range to be cleaned is performed. Compared with the above embodiment in which the liquid cleaning is performed at any time during the global cleaning, the frequency of turning around of the cleaning robot is reduced, and the path planning is concentrated, the liquid cleaning path is planned at one time, which helps to reduce the time length occupied by the cleaning robot in performing the cleaning action.

[0086] In some other embodiments, step S804 is performed after a set time period after the cleaning of the liquid dirt is completed, and the set time period is greater than the time period required for the ground to dry after the liquid dirt cleaning is performed. By setting the time period, it can be ensured that the global cleaning is performed after the liquid dirt is dried, which is beneficial to improve the cleaning effect.

[0087] FIG. 2-1 is a flowchart of a control method of a cleaning robot according to the embodiment, as shown in FIG. 2-1, the flowchart includes the following steps:

[0088] Step S201, when the cleaning robot is cleaning along the preset cleaning path, environment information of the ground to be cleaned is acquired.

[0089] Step S202, based on the environment information, the dirt type and the dirt area of the ground to be cleaned are identified.

[0090] Step S203, when it is identified that the ground to be cleaned has a preset dirt type, the cleaning robot is controlled to travel from a starting position to a target position along the edge of the dirt area.

[0091] Step S204, the cleaning robot is controlled to clean the dirt area in a reverse posture.

[0092] Among them, the starting position and the target position are located on opposite sides of the dirt area.

[0093] When the cleaning robot acquires the liquid dirtied area, it determines a target position to be reached by the detour according to a pre-set strategy. The target position is located behind the liquid dirtied area on the pre-set cleaning path in this embodiment. The target position should also be at least a safe distance away from the liquid dirtied area, for example 0.3 meters, so that when the center of the cleaning robot reaches the target position, the cleaning robot is at least completely outside the liquid dirtied area, and the cleaning robot can also maintain a safe distance from the liquid dirtied area when it makes a U-turn around the target position, thereby avoiding the cleaning robot having enough cleaning space to get wet during the U-turn.

[0094] After obtaining the liquid dirtied area, the start position and the target position, the cleaning robot can plan a detour path according to these information. The detour path starts at the start position and ends at the target position, and is generally planned as a path from the start position to the target position so that the cleaning robot travels along one side edge of the liquid dirtied area.

[0095] However, a possible situation is that in order to maintain a safe distance between the target position and the liquid dirtied area, the target position determined according to the position of the liquid dirtied area can be located in an area outside the cleanable area that the cleaning robot cannot reach. For example, as shown in FIG. 2-2, when the cleaning robot travels along the pre-set cleaning path L to face the wall, the liquid dirtied area detected at the start position A is just between the cleaning robot and the wall, and the target position B is determined to be behind the wall, which is an area that the cleaning robot cannot reach. In this case, it is meaningless to plan a detour path, so in the case that the target position is outside the cleanable area, the detour path is no longer planned and the detour is not performed. In this case, the cleaning of the liquid dirtied area includes any one of the following cleaning strategies: Strategy A: forward attitude to detect whether there is a cliff in the liquid dirtied area, and then reverse attitude to clean the liquid dirtied area; Strategy B: do not clean the liquid dirtied area.

[0096] Another possible case is that although the target position is in the cleanable area, the cleaning robot detects the cleaning coverage status and / or whether there is an obstacle on the left and right sides of the dirty area when planning the detour path from the starting position to the target position, and plans the detour path according to the cleaning coverage status and / or whether there is an obstacle on the left and right sides of the dirty area. As shown in FIG. 2-3, when the cleaning robot detects that there are obstacles on the left and right sides of the dirty area at the starting position A, it is meaningless to plan a detour path at this time because the target position B is actually unreachable by detouring. At this time, the cleaning of the dirty area with liquid dirt includes any of the following cleaning strategies: Strategy A: detecting whether there is a cliff in the dirty area in the forward posture, and then cleaning the dirty area in the reverse posture; Strategy B: not cleaning the dirty area with liquid dirt.

[0097] Another possible case is that although the target position is in the cleanable area, the cleaning robot detects the cleaning coverage status and / or whether there is an obstacle on the left and right sides of the dirty area when planning the detour path from the starting position to the target position, and plans the detour path according to the cleaning coverage status and / or whether there is an obstacle on the left and right sides of the dirty area. As shown in FIG. 2-3, when the cleaning robot detects that there are obstacles on the left and right sides of the dirty area at the starting position A, it is meaningless to plan a detour path at this time because the target position B is actually unreachable by detouring. At this time, the cleaning of the dirty area with liquid dirt includes any of the following cleaning strategies: Strategy A: detecting whether there is a cliff in the dirty area in the forward posture, and then cleaning the dirty area in the reverse posture; Strategy B: not cleaning the dirty area with liquid dirt.

[0098] The above-mentioned Strategy A and Strategy B will be described and explained below.

[0099] FIG. 2-5 is a schematic diagram of Strategy A of the present embodiment. As shown in FIG. 2-5, the cleaning robot starts from the starting position and travels to the dirty area in the forward posture along the preset cleaning path L, stops running the dry cleaning element and the suction fan during the travel in the forward posture, lifts the dry cleaning element, and at the same time performs cliff detection by using the cliff sensor arranged at the front end of the chassis of the robot, until the cleaning robot travels to the target position. If the cleaning robot encounters a cliff during the travel to the target position, the cleaning robot travels to the cliff edge position. At the target position or the cliff edge position, the cleaning robot adjusts the posture and controls the cleaning robot to travel to the starting position in the reverse posture along the preset cleaning path, and at least turns on the wet cleaning element to clean the dirty area during the travel in the reverse posture. The thin dashed line in FIG. 2-5 represents the travel cleaning path of the cleaning robot in the reverse posture for cleaning the dirty area, and the cleaning robot can reciprocate multiple times on the preset cleaning path in the reverse posture for cleaning.

[0100] In the above manner, first, the dry cleaning element and the dust suction fan are stopped, the dry cleaning element is lifted, and then the cleaning robot performs cliff detection along the preset cleaning path in the dirty area; after no cliff is detected or the cliff edge position is detected, the cleaning of the dirty area is performed along the preset cleaning path in the safety area, which ensures that the dry cleaning element and the dust suction box are not wet, and also avoids the risk of the cleaning robot falling and being damaged.

[0101] Fig. 2-6 is a schematic diagram of strategy B of the present embodiment. As shown in Fig. 2-6, after returning to the starting position after turning around, the cleaning robot sets the dirty area as a temporary no-scan area, then updates the preset cleaning path, and the updated preset cleaning path L' no longer passes through the dirty area, and the cleaning robot is controlled to clean along the updated preset cleaning path L'. After updating the preset cleaning path, the dirty area can be recorded and the user can be notified.

[0102] When the target position is located in the cleanable area, after the turning path is planned, the cleaning robot turns around the dirty area along the turning path, and if no obstacle or cliff is detected during the turning, the cleaning robot can reach the target position. The cleaning robot adjusts its posture to a reverse posture at the target position, with the wet cleaning element in front and the dry cleaning element behind, and cleans the dirty area in the reverse posture.

[0103] Before planning the turning path, the cleaning robot can also perform obstacle detection and cleaning coverage state detection at the starting position. The obstacle detection methods include but are not limited to detecting whether there is an obstacle within a certain range around the cleaning robot using an environment detection device, and also include using map information to determine the position of the obstacle (e.g., a no-go area set on the map, a wall, a column, etc. that has been identified on the map). The cleaning coverage state detection is based on the cleaned ground and the uncleaned ground in the current cleaning task to determine the cleaning coverage state, which is divided into two states: cleaned and uncleaned. The information of the cleaning coverage state and / or whether there is an obstacle on the left and right sides of the liquid dirty area detected by the cleaning robot at the starting position is used to guide the cleaning robot to plan the turning path.

[0104] As shown in Fig. 2-7, in some embodiments, when planning the turning path, if the cleaning robot detects that there is an obstacle on one side and no obstacle on the other side of the dirty area, regardless of the cleaning coverage state of the left and right sides of the dirty area, the cleaning robot will plan a turning path that passes through the side where there is no obstacle, thereby improving the chance of the cleaning robot reaching the target position.

[0105] As shown in FIG. 2-8, in some embodiments, when planning the detour path, if the cleaning robot detects that there is no obstacle on both sides of the dirty area, but the cleaning coverage state of one side of the dirty area is uncleaned and the cleaning coverage state of the other side is cleaned, the planned detour path passes through the cleaned side of the dirty area, so that the cleaning robot can safely detour from the cleaned area to the target position, and the complexity of the scenario caused by the cleaning robot detecting another new liquid dirty area when detouring from the uncleaned area is avoided.

[0106] As shown in FIG. 2-9, in some embodiments, when planning the detour path, if the cleaning robot detects that there is no obstacle on both sides of the dirty area, and the cleaning coverage state of both sides is uncleaned or cleaned, the detour path is planned according to a preset detour direction; in the detour path planning shown in FIG. 2-9, the preset detour direction is clockwise. The preset detour direction may, for example, be clockwise or counterclockwise.

[0107] In some embodiments, the width of the dirty area is not greater than the single cleanable width of the wet cleaning member, and the length of the dirty area can be unlimited. For a dirty area with a width greater than the single cleanable width of the wet cleaning member, the dirty area can not be cleaned in the present embodiment, but can be recorded. In the present embodiment, only the dirty areas with a width not greater than the single cleanable width of the wet cleaning member can be cleaned, and the cleaning of the entire house can be completed without additional or re-planning of the cleaning path by the cleaning robot. The cleaning methods that can be adopted when performing back-and-forth cleaning include back-and-forth cleaning and back-and-swing cleaning.

[0108] FIG. 2-10 is a schematic diagram of back-and-forth cleaning in the present embodiment. As shown in FIG. 2-10, the cleaning robot travels in the forward posture along the preset cleaning path L, and detects a dirty area with liquid dirt from the starting position A, which has a width of 0.3 m and a length of 0.5 m. The single cleanable width of the wet cleaning member is 0.3 m. The cleaning robot plans a detour path M through obstacle detection and cleaning coverage state detection. The cleaning robot detours to the target position B along the detour path M in the forward posture. Then the cleaning robot adjusts the posture at the target position B so that the wet cleaning member faces the dirty area, and thereafter the cleaning robot performs back-and-forth cleaning of the dirty area several times in the back-and-forth posture with the wet cleaning member in front and the dry cleaning member behind along the preset cleaning path L, until the cleaning of the dirty area is completed, and then the cleaning robot continues to clean other areas in the forward posture along the preset cleaning path.

[0109] With reference to FIG. 1-6, a schematic diagram of a reverse twist cleaning of the present embodiment is shown. The turning manner of this cleaning mode is the same as that of FIG. 2-10 and will not be repeated here. The difference is that after the cleaning robot adjusts its posture at the target position B so that the wet cleaning element faces the dirty area, the cleaning robot drives the wet cleaning element to produce multiple deflections and swings towards at least one side of the travel direction while the cleaning robot travels along the preset cleaning path L in the reverse posture. The center position of the wet cleaning element presents a sawtooth-shaped motion trajectory as shown by the dashed arrow in FIG. 1-6. The body twist cleaning improves the cleaning effect on liquid dirt.

[0110] With reference to FIG. 1-7, a schematic diagram of another reverse twist cleaning of the present embodiment is shown. The turning manner of this cleaning mode is the same as that of FIG. 2-10 and will not be repeated here. The difference is that after the cleaning robot adjusts its posture at the target position B so that the wet cleaning element faces the dirty area, the cleaning robot stops traveling after traveling a certain distance along the preset cleaning path L in the reverse posture, then the cleaning robot drives the wet cleaning element to produce multiple deflections and swings towards at least one side of the travel direction in place, and then the cleaning robot continues to travel along the preset cleaning path L for a certain distance. Repeat the above process until the cleaning of the dirty area is completed. The above cleaning mode makes the center position of the wet cleaning element present a motion trajectory as shown by the dashed arrow in FIG. 1-7. The body twist cleaning improves the cleaning effect on liquid dirt.

[0111] In other embodiments, for a dirty area with a width greater than the single cleanable width of the wet cleaning element, a liquid cleaning path can be additionally planned, and the preset cleaning path can be replanned. The cleaning modes that can be adopted when reverse cleaning is performed in the present embodiment include reverse bow cleaning and reverse spiral cleaning, etc.

[0112] Fig. 2-11 is a schematic diagram of the reverse bow-shaped cleaning of the present embodiment. As shown in Fig. 2-11, the cleaning robot travels along the preset cleaning path L in the forward posture, detects a dirty area with liquid dirt from the starting position A, which has a width of 1.2 m and a length of about 2.2 m. The single cleanable width of the wet cleaning element is 0.3 m. The cleaning robot plans a detour path M through obstacle detection and cleaning coverage state detection. The cleaning robot detours along the detour path M in the forward posture to the target position B. Then the cleaning robot adjusts the posture at the target position B so that the wet cleaning element faces the dirty area. Thereafter, the cleaning robot plans a liquid dirt cleaning path N in the shape of a bow, with a spacing between the bows less than the single cleanable width of 0.28 m, to ensure that there is no missed scanning during the bow-shaped cleaning. The cleaning robot cleans the dirty area along the liquid dirt cleaning path N in the reverse posture with the wet cleaning element in front and the dry cleaning element in back, until the cleaning of the dirty area is completed. After that, the preset cleaning path is updated, and the cleaning robot continues to clean other areas in the forward posture along the updated preset cleaning path.

[0113] Fig. 3 is a flowchart of the control method of the cleaning robot of the present embodiment. As shown in Fig. 3, the method comprises the following steps:

[0114] Step S302, obtaining image data of the area to be cleaned, and determining the type and area of the dirt according to the image data.

[0115] For example, the high-definition camera built into the cleaning robot or other image acquisition devices in the room are started, and all-around image shooting is performed on the area to be cleaned. These image data contain details such as the color, texture, and dirt distribution of the ground, providing basic data for subsequent dirt identification. The collected image data are analyzed by image processing algorithms (such as deep learning models) to identify different types of dirt (such as dust, stains, and solid debris) and their distribution on the ground, and to estimate the area covered by the dirt by calculating the proportion of dirt pixels or the area of specific color or shape features. In addition, a multi-modal dirt identification system can be formed by integrating optical sensors (such as near-infrared spectrum analysis), chemical sensors (for detecting specific chemical components), and physical sensors (such as conductivity or humidity sensors), which comprehensively analyze the color, composition, and humidity of the dirt to accurately identify the type of dirt, including but not limited to grease, mud, and water stains, and calculate the area covered by the dirt based on the above image data.

[0116] Step S304, classifying the dirt degree of the dirt according to the type and area of the dirt, to obtain a dirt classification result.

[0117] For example, according to the type and area of the identified dirt, refer to the preset dirt grading standard (such as light, medium, heavy, etc.) to classify the dirt degree of the dirt. The grading standard can include but is not limited to the size, visibility, adhesion strength and impact on the environmental aesthetics of the dirt.

[0118] In step S306, the dirt is cleaned according to the corresponding cleaning mode matched by the dirt grading result.

[0119] In this embodiment, by collecting image data of the area to be cleaned, the specific type of dirt in the image data and the area covered by the dirt are identified; then the dirt degree is classified into several grades according to the identified type and area of the dirt; based on the dirt grading result, the cleaning robot automatically matches the most suitable cleaning mode to achieve efficient and targeted cleaning of the dirt, thereby solving the technical problem in the related art that the cleaning robot cannot effectively identify the type and degree of the dirt on the ground, resulting in the use of a "one-size-fits-all" cleaning strategy, which is difficult to adapt to complex and variable cleaning needs, and achieving the technical effect of being able to select the most effective cleaning method, reducing ineffective cleaning, and significantly improving cleaning efficiency.

[0120] In some embodiments, cleaning the dirt according to the corresponding cleaning mode matched by the dirt grading result includes: in the case that the type of the dirt is solid dirt, determining a first target cleaning mode and a first target cleaning parameter of the dry cleaning piece according to the dirt grade of the solid dirt; wherein the first target cleaning parameter includes the suction force of the dust suction fan and the rotation speed of the dry cleaning piece; the first target cleaning mode includes any one of a twist-wipe mode, an arch-wipe mode, a well-wipe mode and a spiral-wipe mode in which the first target cleaning parameter is sequentially enhanced; in the case that the type of the dirt is liquid dirt, determining a second target cleaning mode and a second target cleaning parameter of the wet cleaning piece according to the dirt grade of the liquid dirt; wherein the second target cleaning parameter includes the water absorption intensity of the wet cleaning piece; the second target cleaning mode includes any one of a reverse twist-wipe mode, a reverse arch-wipe mode, a reverse well-wipe mode and a reverse spiral-wipe mode in which the water absorption intensity is sequentially enhanced.

[0121] The above-mentioned twist-wipe mode is that the cleaning robot moves along a straight path, which is suitable for rapid removal of light dirt; the above-mentioned arch-wipe mode is that the cleaning robot moves along an "arch" trajectory, which increases the overlap of the cleaning path and improves the coverage rate; the above-mentioned well-wipe mode is that the cleaning robot repeatedly cleans along a "well" path, which intensifies the deep cleaning of a certain area; and the above-mentioned spiral-wipe mode is that the cleaning robot spirally expands outward from a center point, which is suitable for heavy disaster areas that need concentrated efforts.

[0122] The reverse driving twist-wipe mode is to clean the cleaning robot in a straight line when it is in reverse driving, which reduces the friction and is suitable for light liquid dirt; the reverse driving arch-wipe mode is to clean the cleaning robot in an arch path when it is in reverse driving, which enhances the coverage and suction capacity of liquid dirt; the reverse driving cross-wipe mode is to clean the cleaning robot in a cross path when it is in reverse driving, which strengthens the processing of large-area liquid dirt; and the reverse driving spiral-wipe mode is to clean the cleaning robot in a spiral path when it is in reverse driving, which concentrates on the processing of liquid dirt and ensures deep cleaning.

[0123] In the embodiments of the present application, by intelligently identifying the type and level of dirt, the most suitable cleaning mode is automatically matched, which greatly improves the cleaning efficiency and reduces manual intervention; at the same time, the cleaning parameters are dynamically adjusted according to the dirt condition, which not only avoids unnecessary energy waste, but also reduces the potential damage to various floors (such as wood floor, ceramic tile, carpet).

[0124] In some of the embodiments, in the case that the type of dirt is solid dirt, the corresponding cleaning mode is matched according to the dirt grading result to clean the dirt, including: if the dirt grading result is the first solid dirt level, the twist-wipe mode is used to clean the dirt; wherein the twist-wipe mode uses a dust suction fan with a suction force of a first suction force value and a dry cleaning piece with a rotation speed of a first rotation speed value; if the dirt grading result is the second solid dirt level, the arch-wipe mode is used to clean the dirt; wherein the arch-wipe mode uses a dust suction fan with a suction force of a second suction force value and a dry cleaning piece with a rotation speed of a second rotation speed value; if the dirt grading result is the third solid dirt level, the cross-wipe mode is used to clean the dirt; wherein the cross-wipe mode uses a dust suction fan with a suction force of a third suction force value and a dry cleaning piece with a rotation speed of a third rotation speed value; if the dirt grading result is the fourth solid dirt level, the spiral-wipe mode is used to clean the dirt; wherein the spiral-wipe mode uses a dust suction fan with a suction force of a fourth suction force value and a dry cleaning piece with a rotation speed of a fourth rotation speed value.

[0125] In the embodiments, the order of the dirt grading result from light to heavy is: the first solid dirt level, the second solid dirt level, the third solid dirt level and the fourth solid dirt level; the order of the suction force of the dust suction fan from small to large is: the first suction force value, the second suction force value, the third suction force value and the fourth suction force value; and the order of the rotation speed of the dry cleaning piece from small to large is: the first rotation speed value, the second rotation speed value, the third rotation speed value and the fourth rotation speed value.

[0126] Optionally, according to the identified dirt coverage area and characteristics, the solid dirt is classified into four levels: first solid dirt level (light), second solid dirt level (medium), third solid dirt level (heavy), and fourth solid dirt level (extremely heavy). For example, light may refer to small-area distribution of debris, while extremely heavy involves large pieces of garbage or dense accumulation of sundries. For example, for light solid dirt: the cleaning robot switches to a twist-and-wipe mode, advances along a straight path, slightly applies suction and brush rotation, which is suitable for removing fine and scattered solid particles; for medium solid dirt: an arch-wipe mode is adopted, the cleaning robot moves in an "arch" path within the area, increasing coverage and cleaning times to deal with slightly larger-area solid dirt; for heavy solid dirt: a cross-wipe mode is switched to, the cleaning robot repeatedly shuttles in a "cross" path within the area, which strengthens the cleaning intensity and coverage density, and is suitable for cleaning solid accumulation that is difficult to remove; for extremely heavy solid dirt: a spiral-wipe mode is adopted, the cleaning robot spirally expands outward from the center of the area, which can gradually expand the cleaning range by concentrating forces, and is particularly suitable for handling a large amount of and dense solid dirt.

[0127] In addition, according to the matched cleaning mode, the cleaning robot automatically adjusts the suction of the dust suction fan, the speed of the dry cleaning element, and whether to enable the wet cleaning element (if applicable), and starts targeted deep cleaning of the dirt.

[0128] In the embodiments of the present application, through intelligent identification and classification, the most suitable cleaning strategy can be adopted for different levels of solid dirt, significantly improving the cleaning effect; resource consumption can be reduced, avoiding over-cleaning of light dirt, reducing unnecessary use of energy and cleaning agent, and improving overall efficiency; for heavy and extremely heavy dirt, more powerful and comprehensive cleaning modes can be adopted to ensure that even the most stubborn dirt can be effectively treated; the user does not need to manually adjust the settings, and the robot autonomously completes the whole process from dirt identification to cleaning mode selection, making home cleaning more intelligent and convenient.

[0129] In some embodiments, when the type of dirt is liquid dirt, the cleaning of the dirt according to the corresponding cleaning mode matched by the dirt classification result includes: if the dirt classification result is the first liquid dirt level, the reverse twist wiping mode is used to clean the dirt; wherein the reverse twist wiping mode uses a wet cleaning element with a first water absorption intensity value; if the dirt classification result is the second liquid dirt level, the reverse arch wiping mode is used to clean the dirt; wherein the reverse arch wiping mode uses a wet cleaning element with a second water absorption intensity value; if the dirt classification result is the third liquid dirt level, the reverse cross wiping mode is used to clean the dirt; wherein the reverse cross wiping mode uses a wet cleaning element with a third water absorption intensity value; if the dirt classification result is the fourth liquid dirt level, the reverse spiral wiping mode is used to clean the dirt area; wherein the reverse spiral wiping mode uses a wet cleaning element with a fourth water absorption intensity value. The dirt classification result from light to heavy is in turn: the first liquid dirt level, the second liquid dirt level, the third liquid dirt level, and the fourth liquid dirt level; the water absorption intensity of the wet cleaning element from small to large is in turn: the first water absorption intensity value, the second water absorption intensity value, the third water absorption intensity value, and the fourth water absorption intensity value.

[0130] Optionally, the identified liquid dirt is classified into four levels: the first liquid dirt level (light), the second liquid dirt level (medium), the third liquid dirt level (heavy), and the fourth liquid dirt level (extremely heavy) according to the characteristics of the liquid dirt. Light may refer to small area of water marks or slight stains, while extremely heavy involves large area or deep penetration of liquid pollution. For example, for light liquid dirt: the cleaning robot adopts the reverse twist wiping mode to clean in a straight line path with light force, avoiding damage to sensitive surfaces, while gently absorbing moisture and stains; for medium liquid dirt: the reverse arch wiping mode is adopted, and the cleaning robot cleans in an arch path while reversing, increasing the coverage and absorption times of liquid dirt, suitable for moderate range of liquid pollution; for heavy liquid dirt: switch to the reverse cross wiping mode, and the cleaning robot repeatedly cleans in a cross path in the reverse state, strengthening the adsorption and dispersion of liquid, effectively handling large range and deep liquid dirt; for extremely heavy liquid dirt: the reverse spiral wiping mode is adopted, and the cleaning robot reverses and cleans in a spiral path from the center to the outside, focusing on the removal of serious liquid pollution, especially suitable for deep penetration or viscous liquid. In addition, the cleaning robot adjusts the water absorption intensity of the wet cleaning element according to the matched cleaning mode, ensuring that various degrees of liquid dirt can be efficiently and carefully removed in the reverse operation.

[0131] In the embodiments of the present application, the reverse cleaning mode can more effectively suck liquid, reduce water marks left by forward propulsion, and keep the ground dry; the soft cleaning mode selection, especially when dealing with light and medium liquid stains, can effectively avoid scratching or damaging sensitive surfaces such as wood and tiles; for heavy and extremely heavy stains, a more intensive and powerful reverse cleaning mode is used to improve cleaning efficiency and effect. According to the specific situation of liquid stains, the cleaning strategy is intelligently adjusted without manual intervention, and the user experience is improved.

[0132] In some embodiments, the method further comprises: obtaining a ground physical property parameter of the stain; identifying the ground material type of the stain according to the ground physical property parameter; and adjusting the cleaning parameter of the cleaning mode according to the ground material type of the stain; wherein the cleaning parameter comprises at least one of the following: suction of the suction fan, speed of the dry cleaning element, water absorption intensity of the wet cleaning element, and concentration of the cleaning liquid. The ground physical property parameter includes the hardness, texture, humidity, etc. of the ground, which is an important basis for identifying the ground material.

[0133] Optionally, the cleaning robot detects the ground physical property parameters such as hardness, roughness, humidity, etc. of the area to be cleaned through the environmental detection device carried, or the ground physical property parameters set in advance, or the ground physical property parameters identified by the mobile phone or the monitoring equipment at home and transmitted to the cleaning robot; based on the collected physical property parameters, the ground material type such as hardwood floor, carpet, tile, marble, etc. is identified through preset algorithm or database comparison; and the cleaning parameter in the cleaning mode is dynamically adjusted according to the identified ground material to achieve the best cleaning effect and protect the ground material. The specific adjustment content includes but is not limited to: suction of the suction fan, speed of the dry cleaning element, water absorption intensity of the wet cleaning element, and concentration of the cleaning liquid.

[0134] In the embodiments of the present application, the cleaning robot performs the cleaning task based on the cleaning parameters adjusted in combination with the stain classification and the ground material, ensuring efficient cleaning effect without damaging the ground; the cleaning parameters can be intelligently adjusted according to different ground materials, realizing customized cleaning strategy and improving cleaning quality and efficiency; potential damage to various ground materials caused by improper cleaning method can be avoided, prolonging the service life of the ground; the use of cleaning liquid can be reasonably controlled, avoiding waste and reducing the impact on the environment while ensuring the cleaning effect; the stain identification, ground material identification, and parameter self-adaptive adjustment are integrated, improving the intelligent level of the cleaning robot and the user satisfaction.

[0135] In some embodiments, the method further comprises: obtaining image data before cleaning and image data after cleaning; comparing the image data before cleaning and the image data after cleaning to determine whether the cleaning effect of the dirt is clean; if the cleaning effect of the dirt is determined to be not clean, cleaning the dirt again until the cleaning effect of the dirt is determined to be clean.

[0136] Optionally, pixel-level or feature-level comparison analysis is performed on the images before and after cleaning, and it is determined whether the image difference is within an acceptable range by setting a threshold. If the image difference meets the threshold, it indicates that the dirt is cleaned, and the cleaning effect of the dirt is determined to be clean. Otherwise, it is considered that the dirt still exists. If it is determined that the dirt is not completely removed, a re-cleaning instruction is automatically triggered, and the dirt is cleaned again. This process can be repeated until the dirt is completely removed as indicated by consecutive comparisons, ensuring the final cleaning effect.

[0137] The step of cleaning the dirt again includes: re-determining the type and area of the dirt; grading the dirt degree of the dirt according to the type and area of the dirt to obtain a dirt grading result; and cleaning the dirt according to the corresponding cleaning mode matched with the dirt grading result.

[0138] In the embodiments of the present application, through accurate image comparison analysis, purposeless repeated cleaning is avoided, and only the areas that are not cleaned are operated, greatly improving the overall efficiency of cleaning operation. It is ensured that each identified dirt area can be thoroughly cleaned, even the small stains that are difficult to detect are not missed, and the thoroughness and cleanliness of the surface are improved.

[0139] In some embodiments, the method further comprises: determining a cleaning area of the dirt according to the area of the dirt, and generating a cleaning path for cleaning the dirt according to the cleaning area of the dirt. When the cleaning robot detects that the to-be-cleaned area in front has dirt, the area of the dirt is obtained, which is a quantitative result based on the size (length, width, etc.) of the dirt. The cleaning area of the dirt can be calculated according to the area of the dirt, and the cleaning area corresponding to different areas is also different. The cleaning robot plans a cleaning path according to the cleaning area of the dirt.

[0140] In some embodiments, when the cleaning mode is the twist-and-wipe mode or the reverse twist-and-wipe mode, the width of the dirt is less than the width of the cleaning piece, and the generated cleaning path extends along the length direction of the dirt.

[0141] When the cleaning mode is set to twist-and-wipe mode or reverse twist-and-wipe mode, and the identified dirt width is less than the width of the cleaning component (such as a mop, a vacuum cleaner brush head, etc.), the generated cleaning path should aim to maximize cleaning efficiency while ensuring comprehensive coverage of the dirt. The cleaning robot will make straight-line back-and-forth wipes along the longest side of the dirt, i.e., its length direction. This is done to take advantage of the width of the cleaning component, covering the entire width of the dirt in one go, reducing the number of back-and-forth trips. After each back-and-forth trip, a slight twist by a certain angle (e.g., 45 degrees) is made, and then the advance along the length direction of the dirt is continued. This "twist" action helps to contact and remove stubborn stains from different angles, ensuring cleaning effectiveness. The straight-line back-and-forth and twist steps are repeated until the entire length of the dirt is completely covered, effectively ensuring deep and wide cleaning of the dirt.

[0142] To achieve active patrol on-demand cleaning, reduce cleaning time consumption, and combine the above-mentioned solution for reverse posture cleaning of liquid dirt, the embodiment provides a control method of a cleaning robot. Figure 4-1 is a flowchart of the control method of the cleaning robot of the embodiment, as shown in Figure 4-1, the flowchart includes the following steps:

[0143] Step S401, obtaining a map including one or more room areas.

[0144] In the above steps, the map is a pre-generated map including one or more room areas. After the cleaning robot is first powered on in a new environment, it will perform a first patrol in the new environment. In the first patrol, the cleaning robot scans the environment through the built-in environment detection device, identifies walls, furniture layout, doorways, and other obstacles, and finally constructs a two-dimensional or three-dimensional map of one or more rooms, so as to plan the action path later.

[0145] Step S402, generating a first patrol path passing through each room area.

[0146] The first inspection path generated in step S402 aims to efficiently facilitate all the rooms, ensuring that each room can be accessed while minimizing repeated movement. However, unlike the cleaning path generated in the related art, the first inspection path does not require the cleaning robot to traverse every area within the room region, but only needs its detection area to cover all cleanable areas within the room region. That is, when the cleaning robot moves along the first inspection path, the detection area formed by the environmental detection device 30 can include all cleanable areas in one or more room regions. Among them, the cleanable area is an area in one or more room regions that the cleaning robot can clean, and the cleanable area can be determined when the cleaning robot performs the first inspection on the room. For those areas in the room region that are narrower than the cleaning robot and cannot be entered by the cleaning robot (for example, narrow gaps between furniture and walls), they do not belong to the cleanable area.

[0147] In step S403, the cleaning robot is controlled to move along the first inspection path and detect the dirt information of each room region using the environmental detection device during movement. The dirt information includes the location of the dirty area, the area of the dirty area, and the type of dirt. During movement according to the first inspection path, the cleaning robot uses its environmental detection device to detect the degree of dirt on the ground. These information includes the specific location of the dirty area, the size of the covered area, and possibly the type of stain (such as liquid dirt or solid dirt), which prepares for the subsequent targeted cleaning.

[0148] In step S404, the cleaning path for cleaning the target room region is planned according to the dirt information. The target room region is the room region containing the dirty area. In step S404, the cleaning robot dynamically plans the cleaning path for the room containing the dirty area according to the collected dirt information. During the planning of the cleaning path, the cleaning order of each room region can be determined, and the cleaning sub-path type and cleaning method corresponding to each dirty area can be determined. In addition, the cleaning parameters such as increasing the cleaning frequency or adjusting the cleaning intensity can be determined according to the degree of dirt.

[0149] In step S405, the cleaning robot is controlled to clean the target room region along the cleaning path.

[0150] Compared with the related art in which the cleaning robot performs complete cleaning on all areas in the specified room in the entire cleaning region according to the user's instruction, the above steps actively inspect the dirt information before cleaning and plan the cleaning path for cleaning the room region containing the dirty area according to the dirt information obtained by the inspection, thereby avoiding cleaning the room region that does not contain the dirty area, reducing the cleaning time. Moreover, the cleaning method is more flexible and intelligent, realizing on-demand cleaning of the room.

[0151] In step S404, a cleaning sub-path type corresponding to the dirty area is determined according to the dirty information, and a cleaning path is planned according to the cleaning sub-path type. In this embodiment, the planned cleaning path includes a cleaning sub-path corresponding to each dirty area. In each dirty area, the cleaning robot cleans the dirty area along the cleaning sub-path. For different types and different areas of dirty areas, different cleaning sub-paths can be planned to improve the cleaning effect. The cleaning sub-path type includes at least one of the following: a twist-and-wipe path, an arch-and-wipe path, a cross-and-wipe path, and a spiral-and-wipe path.

[0152] FIGS. 1-6, 1-7, 4-2, 4-3, and 4-4 are schematic diagrams of two twist-and-wipe paths, one arch-and-wipe path, one cross-and-wipe path, and one spiral-and-wipe path, respectively. Twist-and-wipe refers to a cleaning method in which the front end or the rear end of the cleaning robot swings to the left and right sides to drive the cleaning element to wipe the ground left and right during cleaning. When the cleaning robot swings to the left and right sides while moving forward, its path is as shown in FIG. 1-6. When the cleaning robot stops moving, the end of the cleaning robot swings to the left and right sides several times before moving forward again, and its path is as shown in FIG. 1-7. Arch-and-wipe refers to a cleaning method in which the end of the cleaning robot always faces the front of the path and moves along an arch-shaped path during cleaning. The arch-and-wipe path is as shown in FIG. 4-2. Cross-and-wipe refers to a cleaning method in which the cleaning robot first cleans the dirty area row by row and then cleans the dirty area column by column during cleaning. The cross-and-wipe path is as shown in FIG. 4-3. Spiral-and-wipe refers to a cleaning method in which the cleaning robot starts from the outer area of the dirty area and spirals around the center of the dirty area while gradually reducing the radius of the spiral during cleaning. The spiral-and-wipe path is as shown in FIG. 4-4.

[0153] In some embodiments, the twist-and-wipe path is used to clean liquid or dirt that is not greater than the width of the cleaning robot. The arch-and-wipe path is used to clean liquid or solid dirt that is small in size and greater than the width of the cleaning robot. The cross-and-wipe path is used to clean liquid or solid dirt that is large in size and greater than the width of the cleaning robot in both length and width. The spiral-and-wipe path is used to clean liquid dirt that is deep, or stubborn solid or liquid dirt.

[0154] In some of the embodiments, the cleaning robot plans a W-shaped path for the room area identified as a non-dirty area in the target room area for regular cleaning, and plans a cleaning sub-path for the room area identified as a dirty area for cleaning in a cleaning mode corresponding to the type and degree of dirt. In this way, each target room area is cleaned completely, and the cleaning efficiency is guaranteed because the room area identified as a non-dirty area is cleaned in the W-shaped path with high efficiency.

[0155] In other embodiments, the cleaning robot does not clean the room area identified as a non-dirty area in the target room area, but only cleans the dirty area, so as to improve the cleaning efficiency as much as possible. In this case, the cleaning range formed by the movement of the cleaning robot along the cleaning path does not cover all areas of the target room area. FIGS. 4-5 are schematic diagrams of the cleaning path of the present embodiment. In FIGS. 4-5, a W-shaped path, a cross-shaped path and a spiral path are planned for the dirty area A, the dirty area B and the dirty area C respectively, and in the finally planned cleaning path, the shortest path is used to connect adjacent cleaning sub-paths, and the cleaning member of the cleaning robot can not work on the shortest path connecting the cleaning sub-paths.

[0156] In some of the embodiments, the cleaning mode corresponding to the dirty area can be determined according to the dirt information in step S405, and the cleaning mode includes forward cleaning and reverse cleaning; in the case where the type of dirt in the dirty area is solid dirt, the cleaning robot is controlled to clean the dirty area in the forward cleaning mode; in the case where the type of dirt in the dirty area is liquid dirt, the cleaning robot is controlled to clean the dirty area in the reverse cleaning mode.

[0157] In order to ensure that the dirty area has been thoroughly cleaned, after the cleaning robot completes a cleaning along the cleaning path, the dirty area can be checked to determine whether to clean again.

[0158] For example, in some embodiments, after controlling the cleaning robot to clean the target room area along the cleaning path, a second patrol path of the room area that has been cleaned is generated; the cleaning robot is controlled to move along the second patrol path, and the environmental detection device is used to detect the dirt information of the room area that has been cleaned during the movement, so as to determine whether there is still a dirty area in the room area that has been cleaned; if there is still a dirty area in the room area that has been cleaned, the cleaning robot is controlled to clean the dirty area again. In the present embodiment, the generation method of the second patrol path is similar to that of the first patrol path, and the only difference is that the patrol area of the first patrol path is all room areas in one or more room areas, while the patrol area of the second patrol path is the room area that has been cleaned.

[0159] For example, in some embodiments, the cleaning robot is controlled to perform cleaning of the target room area along the cleaning path, and then a third patrol path of the room area containing the target dirty area is generated, the target dirty area including a dirty area in the dirty area whose degree of dirtiness is greater than a preset degree; the cleaning robot is controlled to move along the third patrol path and detect, using the environmental detection device, the dirty information of the room area containing the target dirty area during the movement to determine whether there is still a dirty area in the room area containing the target dirty area; and if there is still a dirty area in the room area that has been cleaned, the dirty area is cleaned again. In this embodiment, the third patrol path is different from the first patrol path or the second patrol path, and the patrol area of the third patrol path only contains those dirty areas whose degree of dirtiness is greater than the preset degree. The degree of dirtiness can be determined according to the coverage area of the dirty area, and / or the category of the dirt, and / or the state of the dirt. For example, the preset degree mentioned above refers to a degree of dirtiness that is relatively difficult to clean, including but not limited to: a dirty area with an area greater than 100 square centimeters, or a dry liquid dirty area (such as soup, ink, etc.).

[0160] After the cleaning robot performs the cleaning operation on the dirty area, dirt or debris is often stuck on the cleaning components / cleaning elements of the cleaning robot. For example, after cleaning a solid dirty area, paper scraps or hair and other garbage are often stuck on the dry cleaning element. For such garbage, it is generally only necessary to set a stopper between the bases of the base station to which the cleaning robot moves, and the paper scraps or hair and other garbage on the dry cleaning element can be scraped off by the stopper. However, if the cleaning robot is cleaning a liquid dirty area, dirt is stuck on the wet cleaning element (such as a mop). At this time, in order to avoid affecting the subsequent cleaning operation of the liquid dirty area and to ensure the cleaning effect of the subsequent dirty area, the related art generally determines the cleaning time or cleaning frequency of the mop by fixing the cleaning time or by detecting the degree of dirtiness of the backwash water in the backwash tank of the base station. The related art cannot implement a customized backwashing scheme for the wet cleaning element in combination with the actual dirty cleaning scene, resulting in problems such as waste of water resources, too long cleaning time of the mop, incomplete backwashing of the mop, and thus low efficiency, poor effect, and poor user experience of the backwashing of the wet cleaning element.

[0161] To solve the above problems, the present embodiment provides a control method of a cleaning robot for backwashing of a wet cleaning element. As shown in FIG. 5, the backwashing method of the wet cleaning element mainly includes:

[0162] In step S501, environmental information of a current cleaning task is obtained.

[0163] The wet cleaning element provided in the embodiment is arranged on the cleaning robot, the current cleaning task refers to a cleaning task performed by the cleaning robot on a liquid dirty area, and the environment information is obtained when the cleaning robot performs the current cleaning task, i.e., performs the liquid dirty area cleaning.

[0164] In step S502, the liquid dirty area cleaned in the current cleaning task and the dirt type are determined according to the environment information.

[0165] Through the above arrangement, the liquid dirty area cleaned and the dirt type are determined according to the environment information corresponding to the actual cleaning task, i.e., the actual stain information adhered to the wet cleaning element is determined, and the accuracy of the subsequent determined backwashing parameter is improved.

[0166] In some embodiments, the step of determining the liquid dirty area cleaned in the current cleaning task according to the environment information includes: determining the cleaning start position, the cleaning completion position and the cleaning path of the cleaning robot in the current cleaning task according to the environment information; and determining the liquid dirty area cleaned in the current cleaning task according to the cleaning start position, the cleaning completion position and the cleaning path. Specifically, after the cleaning start position, the cleaning completion position and the cleaning path of the cleaning robot in the current cleaning task are determined according to the environment information, the liquid dirty area cleaned in the current cleaning task can be quickly determined in combination with the map of the area to be cleaned.

[0167] In some embodiments, the step of determining the liquid dirty area cleaned in the current cleaning task according to the environment information further includes: determining the first cleaning image corresponding to the cleaning robot before performing the current cleaning task and the second cleaning image corresponding to the cleaning robot after performing the current cleaning task according to the environment information; and performing image recognition on the first cleaning image and the second cleaning image to determine the liquid dirty area cleaned in the current cleaning task.

[0168] The above step provides another scheme for determining the liquid dirty area, i.e., the liquid dirty area cleaned is determined through image recognition by the cleaning images collected before and after the cleaning robot performs the cleaning operation on the dirty area. Specifically, the environment detection device on the cleaning robot can be used to collect the cleaning scene image to realize the recognition of the liquid dirty area, and the position and shape of the liquid target in the liquid dirty area are recognized to perform edge detection and contour extraction on the liquid target to obtain the recognition result of the type of the liquid target.

[0169] By taking the environmental detection device to identify the dirty cleaning scene, including different types of liquid dirt (such as water stains, oil stains, ink, sauce, etc.), and determine the coverage area, and then provide data support for subsequent determination of the backwash parameters of the wet cleaning element, so as to realize the automatic and rapid formulation of the customized scheme for the wet cleaning element based on the actual dirty cleaning scene.

[0170] In some embodiments, the environmental detection device can identify the liquid dirt area and the corresponding dirt type through an identification module equipped with a preset AI identification model. The identification module further includes a camera and a laser radar. The camera and the laser radar are used to collect the scene image of the cleaning area, and then the AI identification model is used to identify the liquid dirt area in the scene based on the scene image and the point cloud information, including the dirt type and the dirt area.

[0171] In another embodiment, while determining the cleaned liquid dirt area and the dirt type in the current cleaning task according to the environmental information, the liquid concentration level can also be determined at the same time. Combining the liquid concentration helps to improve the accuracy of subsequent determination of the backwash parameters, and further improves the backwash effect of the wet cleaning element.

[0172] Step S503, determining the target backwash parameters of the wet cleaning element according to the liquid dirt area and the dirt type. The determination step of the target backwash parameters can be performed by the host or the base station. Data transmission can be performed between the host and the base station, such as transmitting the data to the base station after the host performs the target backwash parameters.

[0173] For the cleaning scene of the liquid dirt area, the cleaning robot generally returns to the base station for wet cleaning element backwash operation after cleaning the identified liquid dirt area, and then continues to perform other liquid dirt area cleaning operation after the wet cleaning element backwash is completed. Therefore, the above scheme directly determines the backwash parameters based on the liquid dirt area and the dirt type determined by the cleaning robot in the environment information of the current cleaning task, which helps to avoid water waste and ensure the cleaning effect of the wet cleaning element.

[0174] In some embodiments, the backwash parameters include cleaning water temperature, cleaning time and cleaning intensity; the dirt type includes starch dirt, high pigment dirt, clean water dirt and oil stain dirt; the step of determining the target backwash parameters of the wet cleaning element according to the liquid dirt area and the dirt type includes: determining the target cleaning water temperature of the wet cleaning element according to the dirt type; wherein the cleaning water temperature of the starch dirt is lower than that of the clean water dirt, and the cleaning water temperature of the clean water dirt is lower than that of the high pigment dirt and the oil stain dirt; determining the target cleaning time and the target cleaning intensity of the wet cleaning element according to the liquid dirt area.

[0175] In the embodiment, the cleaning time can be determined by the cleaning water amount and the cleaning times. The starch-based stains include flour, and the high-pigment-based stains include soy sauce, beverages, and ink. The starch-based stains need to be cleaned at low temperature, and the high-pigment-based stains and the oil-based stains need to be cleaned at high temperature.

[0176] Optionally, the backwashing parameters can further include a cleaning liquid type, a cleaning liquid amount, a cleaning water amount, and a cleaning times. The determination of the target backwashing parameters needs to be combined with the stain type to determine finally. For example, for oil stains, an oil removal agent (cleaning liquid) can be added and the water temperature can be increased, and for ink, a stronger cleaning agent and multiple cleaning can be required. In some embodiments, the cleaning strength can also be adjusted according to the material of the mop to adapt to the best cleaning needs of mops of different materials. The cleaning scheme determined in the above manner can accurately control the cleaning water temperature and the cleaning water amount, and the type and dosage of the cleaning liquid, to achieve the maximum effectiveness of water resources and cleaning liquid and avoid waste. At the same time, the cleaning time and the cleaning times are intelligently adjusted to ensure that the mop is thoroughly cleaned without being over-cleaned, thereby prolonging the service life of the mop. In another embodiment, a mapping table of the stain type, the stain size, and the stain concentration level and the backwashing parameters can also be pre-constructed.

[0177] In some embodiments, an adaptive model can also be constructed based on the stain type, the stain size, and a preset algorithm to output corresponding backwashing parameters. At the same time, the adaptive model can also be optimized and adjusted based on the user feedback and / or the cleaning effect of the next time.

[0178] In step S504, when the robot returns to the base station for backwashing, the wet cleaning piece is backwashed according to the target backwashing parameters.

[0179] In some embodiments, the above method further includes: during the backwashing of the wet cleaning piece according to the target backwashing parameters, the following steps are cyclically executed: acquiring a current backwashing parameter and a current water quality value of the backwashing water in the base station according to a preset period; determining whether to perform a clean water supplement operation on the backwashing water according to the current water quality value, the current backwashing parameter, a water quality preset value, and the target backwashing parameter; if not, continuing to perform the backwashing operation; if yes, performing the backwashing operation after performing the clean water supplement operation; and until the backwashing operation of the wet cleaning piece is completed. Specifically, the water quality state (i.e., the current water quality value, representing the degree of dirt of the backwashing water) of the backwashing water in the backwashing tank can be monitored by the intelligent sensor provided in the base station. In another embodiment, the sewage recovery and cleaning water supplement operations can also be automatically triggered based on a preset threshold.

[0180] In some embodiments, the method further comprises: optimizing the target backwashing parameter of the wet cleaning piece according to the operation condition of the cleaning robot and the battery power and the like. Further, the method can further comprise: automatically learning and adjusting the target backwashing parameter according to the multiple backwashing data and the user feedback, so as to improve the backwashing efficiency and the water resource utilization.

[0181] In some embodiments, the step of determining whether to perform the clean water supplement operation on the backwashing water according to the current water quality value, the current backwashing parameter, the water quality preset value and the target backwashing parameter, and if not, continuing to perform the backwashing operation, and if yes, performing the clean water supplement operation and then performing the backwashing operation, comprises: if the current water quality value is higher than the water quality preset value and the current cleaning time in the current backwashing parameter is lower than the target cleaning time in the target backwashing parameter, not performing the clean water supplement operation on the backwashing water; and if the current water quality value is lower than the water quality preset value and the current cleaning time is lower than the target cleaning time, performing the clean water supplement operation on the backwashing water.

[0182] It should be noted that since the cleaning time can be determined by the cleaning water amount and the cleaning times, when determining whether to perform the clean water supplement operation, only the current water quality value and the preset value are compared, and the current cleaning time and the target cleaning time are compared. In other embodiments, the current cleaning times and the target cleaning times can also be compared as a reference for determining whether to perform the clean water supplement operation.

[0183] In some embodiments, if the backwashing water in the backwashing tank needs to be subjected to the sewage recovery and the cleaning water supplement operation during the cleaning process of the wet cleaning piece, the target backwashing parameter can be adjusted according to the backwashing condition, and the wet cleaning piece can be continuously backwashed by the supplemented cleaning water according to the adjusted target backwashing parameter, so as to ensure the backwashing quality of the wet cleaning piece.

[0184] The above method provided by the embodiments overcomes the problems in the related art that the fixed cleaning time or the cleaning times of the mop are determined by detecting the dirt degree of the backwashing water in the backwashing tank of the base station, the customized backwashing scheme cannot be automatically and quickly formulated in combination with the actual dirty cleaning scene, the water resource is wasted, the backwashing time of the mop is too long, the backwashing of the mop is not thorough, and the water resource is wasted, the backwashing efficiency of the wet cleaning piece is low, the backwashing effect is poor, and the user experience is poor, and the technical effects of saving the water resource, improving the backwashing efficiency of the wet cleaning piece, improving the backwashing effect and improving the user experience are achieved.

[0185] The embodiment also provides a cleaning robot. The cleaning robot comprises a body, a wet cleaning element arranged at a rear end of the body, a dry cleaning element arranged at a front end of the body, and a processing device comprising a processor and a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used to cause the processor to execute the control method.

[0186] The embodiment also provides a non-transitory machine readable medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the control method.

[0187] The processing device provided by the embodiment comprises at least one processor, and a memory in communication connection with the at least one processor. The memory stores computer instructions executable by the at least one processor, and the computer instructions are used to cause the processing device to execute the method of the embodiment when executed by the at least one processor.

[0188] Referring to FIG. 6, a block diagram of a structure of a processing device that can be a server or a client of the embodiment will now be described, which is an example of a hardware device that can be applied to various aspects of the embodiment. The processing device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The processing device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the embodiments described and / or claimed in this document to that which is presented herein.

[0189] As shown in FIG. 6, the processing device comprises a computing unit 601, which can perform various appropriate actions and processes according to computer instructions stored in a read-only memory (ROM) 602 or loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for operation of the processing device can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0190] A number of components in the processing device are connected to the I / O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 can be any type of device that is capable of inputting information to the processing device, and can receive inputted digital or character information, as well as generate key signal inputs related to user settings and / or function controls of the processing device. The output unit 607 can be any type of device that is capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 608 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 609 allows the processing device to exchange information / data with other devices over a computer network, such as the Internet, and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a Wi-Fi device, a WiMAX device, a cellular communication device, and / or the like.

[0191] The computing unit 601 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a CPU, a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 601 performs various methods and processes described above. For example, in some embodiments, the method embodiments can be implemented as computer instructions tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer instructions can be loaded and / or installed onto the processing device via the ROM 602 and / or the communication unit 609. In some embodiments, the computing unit 601 can be configured to perform the above-described methods by any other appropriate means, such as by means of firmware.

[0192] The computer instructions for implementing the methods of the embodiments can be written in any combination of one or more programming languages. The computer instructions can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer instructions, when executed by the processor or controller, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer instructions can be entirely on a machine, partially on a machine, partially on a machine as part of an independent software package, and partially on a remote machine or server.

[0193] In the context of this embodiment, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared signals, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or Flash memory), optical fiber, portable compact disc read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0194] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of a cleaning robot, the cleaning robot comprising a wet cleaning member located at a rear end of a chassis of the cleaning robot; the method comprising: acquiring a dirt type and a dirty area of a floor to be cleaned, wherein the dirt type comprises liquid dirt; and in a case where the dirty area of the floor to be cleaned has liquid dirt, turning the body of the cleaning robot, and driving the cleaning robot to perform a cleaning operation in a backward posture to clean the liquid dirt in the dirty area by using the wet cleaning member.

2. The method of claim 1, wherein, The acquiring of the dirt type and the dirty area of the floor to be cleaned comprises: acquiring information of the floor to be cleaned by an environment detection device carried by the cleaning robot, and identifying the dirt type and the dirty area of the floor to be cleaned according to the information of the floor to be cleaned.

3. The method of claim 1, wherein, The cleaning robot comprises a dust suction fan and a dry cleaning member located at a front end of a chassis of the cleaning robot; and the method further comprises performing one or more combinations of the following: stopping the dry cleaning member and the dust suction fan from operating; and lifting the dry cleaning member.

4. The method of claim 3, wherein, The driving of the cleaning robot to perform the cleaning operation in the backward posture comprises: planning a liquid cleaning path according to the dirty area; and driving the cleaning robot to travel along the liquid cleaning path in the backward posture and operating the wet cleaning member.

5. The method of claim 4, wherein, The driving of the cleaning robot to travel along the liquid cleaning path in the backward posture further comprises: driving the wet cleaning member to generate multiple deflections and swings towards at least one side of a traveling direction during the traveling along the liquid cleaning path in the backward posture; or the driving of the cleaning robot to travel along the liquid cleaning path in the backward posture further comprises: controlling the cleaning robot to stop traveling on the liquid cleaning path, driving the wet cleaning member to generate multiple deflections and swings towards at least one side of a traveling direction, and driving the cleaning robot to travel along the liquid cleaning path for a distance. The cleaning area of the wet cleaning member after each traveling and generating the deflection and the swing partially overlaps with the cleaning area before each traveling and generating the deflection and the swing.

6. The method of claim 5, wherein, The method further comprises: in a case where the cleaning of the dirty area has been completed, controlling the cleaning robot to return to a base station to clean the wet cleaning member; acquiring a first detection result detected by the base station before the cleaning of the wet cleaning member, the first detection result being used to indicate a cleanliness of the wet cleaning member; and / or driving the cleaning robot to return to a starting point of the traveling in the backward posture, detecting a second detection result of the dirty area at the starting point, the second detection result being used to indicate whether the dirty area still has liquid dirt; and performing a re-cleaning strategy for the dirty area according to the first detection result and / or the second detection result.

7. The method of claim 6, wherein, According to the first detection result and the second detection result, the re-cleaning strategy of the dirty area includes: in the case that the first detection result indicates that the wet cleaning element is clean and the second detection result indicates that the dirty area still has liquid dirt, performing once re-cleaning of the dirty area along the liquid cleaning path in a reverse posture; in the case that the first detection result indicates that the wet cleaning element is not clean and the second detection result indicates that the dirty area still has liquid dirt, re-planning a liquid cleaning path, and performing once re-cleaning of the dirty area along the re-planned liquid cleaning path in a reverse posture, wherein the re-planned liquid cleaning path has greater cleaning fineness relative to the liquid cleaning path; in the case that the first detection result indicates that the wet cleaning element is clean and the second detection result indicates that the dirty area has no liquid dirt, not performing re-cleaning of the dirty area; in the case that the first detection result indicates that the wet cleaning element is not clean and the second detection result indicates that the dirty area has no liquid dirt, performing once re-cleaning of the dirty area along the liquid cleaning path in a reverse posture.

8. The method of claim 5, wherein, The method further includes: in the case that the cleaning of the dirty area has been completed, turning the body of the cleaning robot, controlling the dry cleaning element, the dust suction fan and the wet cleaning element to be in a working state corresponding to a cleaning mode, and continuing to perform a predetermined cleaning task, wherein the cleaning mode includes a single sweeping mode, a single mopping mode and a sweeping and mopping mode.

9. The method of claim 1, wherein, The method further includes: in the case that the cleaning of the dirty area has been completed, turning the body of the cleaning robot, controlling the dry cleaning element, the dust suction fan and the wet cleaning element to be in a working state corresponding to a cleaning mode, and continuing to perform a predetermined cleaning task, wherein the cleaning mode includes a single sweeping mode, a single mopping mode and a sweeping and mopping mode.

10. The method of claim 1, wherein, The method further includes: in the case that the cleaning of the dirty area has been completed, turning the body of the cleaning robot, controlling the dry cleaning element, the dust suction fan and the wet cleaning element to be in a working state corresponding to a cleaning mode, and continuing to perform a predetermined cleaning task, wherein the cleaning mode includes a single sweeping mode, a single mopping mode and a sweeping and mopping mode.

11. The method of claim 10, wherein, Before turning the body of the cleaning robot and driving the cleaning robot to perform cleaning operation in a reverse posture, the method further includes controlling the cleaning robot to travel along an edge of the dirty area from a starting position to a target position, wherein the starting position and the target position are located on opposite sides of the dirty area. The cliff sensor of the cleaning robot is arranged at a front end of a body chassis; and the controlling the cleaning robot to travel along the edge of the dirty area from the starting position to the target position includes: determining the target position according to the position of the dirty area; planning a travel path for traveling from the starting position to the target position; and controlling the cleaning robot to travel along the travel path and perform cliff detection.

12. The method of claim 11, wherein, The method further comprises: after the target position is determined according to the position of the dirty area, judging whether the target position is outside the cleanable area and / or detecting whether there is an obstacle on the left and right sides of the dirty area; in the case that there is an obstacle on the left and right sides of the dirty area or the target position is outside the cleanable area, not planning the detour path, but controlling the cleaning robot to clean along the preset cleaning path; 13. The method of claim 11, wherein, The method further comprises: after the detour path is planned, the cleaning robot is controlled to travel along the detour path and perform cliff detection, and in the case that an obstacle or a cliff that hinders the detour is detected while traveling along the detour path, the cleaning robot is controlled to stop the detour and return to the starting position; the cleaning robot is controlled to clean along the preset cleaning path.

14. The method of claim 11, wherein, The cleaning robot comprises a dust suction fan and a dry cleaning element located at the front end of the chassis of the cleaning robot; The method further comprises: after the detour path is planned, the cleaning robot is controlled to travel along the detour path and perform cliff detection, and in the case that an obstacle or a cliff that hinders the detour is detected while traveling along the detour path, the cleaning robot is controlled to stop the detour and return to the starting position; the cleaning robot is controlled to clean along the preset cleaning path.

15. The method of claim 14, wherein, The cleaning robot comprises a dust suction fan and a dry cleaning element located at the front end of the chassis of the cleaning robot; The method further comprises: after the detour path is planned, the cleaning robot is controlled to travel along the detour path and perform cliff detection, and in the case that an obstacle or a cliff that hinders the detour is detected while traveling along the detour path, the cleaning robot is controlled to stop the detour and return to the starting position; the cleaning robot is controlled to clean along the preset cleaning path. The cleaning robot further comprises a dry cleaning element; 16. The method of claim 1, wherein, The method further comprises: obtaining image data of the area to be cleaned, and determining the type and area of the dirt according to the image data; grading the dirtiness of the dirt according to the type and area of the dirt to obtain a dirt grading result; and cleaning the dirt according to the corresponding cleaning mode matched according to the dirt grading result.

17. The method of claim 16, wherein, The cleaning robot further comprises a dry cleaning element; The cleaning of the dirt according to the matching of the dirt classification result and the corresponding cleaning mode comprises: in the case that the type of the dirt is solid dirt, determining a first target cleaning mode and a first target cleaning parameter of the dry cleaning piece according to the dirt level of the solid dirt; wherein the first target cleaning parameter comprises suction of a suction fan and rotation speed of the dry cleaning piece; the first target cleaning mode comprises at least one of a reciprocating cleaning mode, a twist-wipe cleaning mode, an arch-wipe cleaning mode, a cross-wipe cleaning mode and a spiral-wipe cleaning mode; in the case that the type of the dirt is liquid dirt, determining a second target cleaning mode and a second target cleaning parameter of the wet cleaning piece according to the dirt level of the liquid dirt; wherein the second target cleaning parameter comprises water absorption intensity of the wet cleaning piece; the second target cleaning mode comprises at least one of a reverse reciprocating cleaning mode, a reverse twist-wipe cleaning mode, a reverse arch-wipe cleaning mode, a reverse cross-wipe cleaning mode and a reverse spiral-wipe cleaning mode. The method further comprises: acquiring a ground physical characteristic parameter of the dirt; identifying a ground material type of the dirt according to the ground physical characteristic parameter; and adjusting a cleaning parameter of the cleaning mode according to the ground material type of the dirt; wherein the cleaning parameter comprises at least one of the following: suction of the suction fan, rotation speed of the dry cleaning piece, water absorption intensity of the wet cleaning piece and concentration of the cleaning liquid.

18. The method of claim 1, wherein, The cleaning robot further comprises an environment detection device, and the method further comprises: acquiring a map comprising one or more room areas; generating a first patrol path passing through each room area; controlling the cleaning robot to move along the first patrol path and detect dirt information of each room area by using the environment detection device in the moving process, wherein the dirt information comprises a position of a dirty area, an area of the dirty area and a dirt type; planning a cleaning path for cleaning a target room area according to the dirt information, wherein the target room area is a room area containing a dirty area; and controlling the cleaning robot to clean the target room area along the cleaning path.

19. The method of claim 18, wherein, Planning the cleaning path for cleaning the target room area according to the dirt information comprises: determining a cleaning sub-path type corresponding to the dirty area according to the dirt information; and planning the cleaning path according to the cleaning sub-path type, wherein the cleaning path comprises one or more cleaning sub-paths, each cleaning sub-path corresponds to one cleaning sub-path type; wherein the cleaning sub-path type comprises at least one of the following: a twist-wipe path, an arch-wipe path, a cross-wipe path and a spiral-wipe path; and the cleaning path connects adjacent cleaning sub-paths by using a shortest path.

20. The method of claim 18, wherein, The method further comprises: after controlling the cleaning robot to clean the target room area along the cleaning path, generating a second patrol path of a room area that has been cleaned or contains a target dirty area, the target dirty area including a dirty area in the dirty area that has a degree of dirtiness greater than a preset degree; controlling the cleaning robot to move along the second patrol path and use the environment detection device to detect the dirty information of the room area during the movement to determine whether the room area still has a dirty area; and if the room area still has a dirty area, controlling the cleaning robot to clean the dirty area again.

21. The method of claim 1, wherein, The method further comprises: in a case where the cleaning area of the wet cleaning element reaches a preset backwashing area, controlling the cleaning robot to stop on the liquid cleaning path, stopping and lifting the wet cleaning element, and returning to the base station to clean the wet cleaning element; and after the cleaning of the wet cleaning element is completed, controlling the cleaning robot to return to the stopping point of the liquid cleaning path to clean the dirty area along the liquid cleaning path in a reverse direction.

22. The method of claim 21, wherein, The method further comprises: obtaining environment information of a current cleaning task; determining a cleaned liquid dirty area and a dirty type in the current cleaning task according to the environment information; and determining a target backwashing parameter of the wet cleaning element according to the liquid dirty area and the dirty type. The backwashing parameter includes a cleaning water temperature, a cleaning time length, and a cleaning intensity, and the dirty type includes a starch-based dirty, a high-pigment-based dirty, a clean water dirty, and an oil-stain dirty.

23. The method of claim 22, wherein, The method further comprises: during the backwashing of the wet cleaning element according to the target backwashing parameter, cyclically executing the following steps: obtaining a current backwashing parameter and a current water quality value of backwashing water in the base station according to a preset period; determining whether to perform a clean water supplement operation on the backwashing water according to the current water quality value, the current backwashing parameter, a water quality preset value, and the target backwashing parameter; if not, continuing to perform the backwashing operation; if yes, performing the clean water supplement operation and then performing the backwashing operation; and until the backwashing operation of the wet cleaning element is completed. If the current water quality value is higher than the water quality preset value and a current cleaning time length in the current backwashing parameter is lower than a target cleaning time length in the target backwashing parameter, the backwashing water is not subjected to the clean water supplement operation; and if the current water quality value is lower than the water quality preset value and the current cleaning time length is lower than the target cleaning time length, the backwashing water is subjected to the clean water supplement operation.

24. A cleaning robot comprising: A machine body, a wet cleaning element located at a rear end of a chassis of the machine body, and a processing device, the processing device including a processor and a non-transient machine readable medium storing computer instructions for causing the processor to execute the control method of the cleaning robot according to any one of claims 1 to 23.

25. A non-transient machine readable medium storing computer instructions for causing a computer to execute the control method of the cleaning robot according to any one of claims 1 to 23.

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