A cleaning robot control method based on water flow detection and a cleaning robot

Abstract

The present invention discloses a cleaning robot control method based on water flow detection and a cleaning robot, the cleaning robot control method comprising: controlling the cleaning robot to perform continuous water absorption detection; when the effective water absorption time of the cleaning robot in a preset time period is greater than a first preset time period, determining a large water volume area according to the moving trajectory of the cleaning robot in the preset time period, controlling the cleaning robot to focus on planning cleaning in the large water volume area until the preset cleaning completion condition is reached, and controlling the cleaning robot to leave the large water volume area; when the water storage capacity of the water storage tank reaches the effective time length of the second preset position greater than or equal to the third preset time period, controlling the cleaning robot to stop performing continuous water absorption detection, and controlling the cleaning robot to move to a preset sewage discharge position, and discharging the stored sewage to the preset sewage discharge position. The present invention determines the behavior of the cleaning robot based on water flow detection, focuses on cleaning the large water volume area, and improves the overall cleaning effect of the cleaning robot.

Description

Technical Field

[0001] The present invention relates to the field of cleaning robots, and in particular to a cleaning robot control method based on water flow detection and a cleaning robot. Background Art

[0002] Cleaning robots are service robots. With the maturity of cleaning robot technology and the improvement of cost-effectiveness, cleaning robots are now widely used in daily life. Currently, existing cleaning robots can mainly realize the functions of sweeping and mopping the floor. However, for environments where there is water on the ground, current cleaning robots cannot effectively clean the water. Instead, the water will be transferred with the sweeping and mopping device and moving wheels of the cleaning robot, resulting in water accumulation everywhere. In addition, the existing technology cannot focus on cleaning areas with more water, which affects the overall cleaning effect of the cleaning robot and leads to poor user experience. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a cleaning robot control method based on water flow detection and a cleaning robot, which can analyze the amount of water absorbed by the cleaning robot to determine its behavior, focus on cleaning areas with large water volume, improve the overall cleaning effect of the cleaning robot, and improve the user experience. The specific technical solutions of the present invention are as follows:

[0004] A cleaning robot control method based on water flow detection, the cleaning robot control method based on water flow detection comprising: controlling the cleaning robot to perform continuous water absorption detection; when the effective water absorption time of the cleaning robot within a preset time period is greater than a first preset time period, determining a large water volume area according to the movement trajectory of the cleaning robot within the preset time period; controlling the cleaning robot to perform key planned cleaning in the large water volume area until a preset cleaning completion condition is reached, and controlling the cleaning robot to leave the large water volume area and go to the nearest area to be cleaned; wherein, the effective water absorption time period refers to the total time period that the cleaning robot is in an effective water absorption state; when there is water flowing through the first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an effective water absorption state at this moment; when there is no water flowing through the first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an invalid water absorption state at this moment.

[0005] Compared with the prior art, the present technical solution detects in real time whether the cleaning robot is effectively absorbing water, and compares the result of the effective water absorption time within a preset time period with the first preset time period, so as to decide whether the current cleaning area of ​​the cleaning robot is a large water volume area. If it is a large water volume area, the large water volume area is planned to be cleaned in a focused manner, so as to achieve targeted and focused cleaning of the large water volume area by the cleaning robot, thereby improving the overall cleaning effect of the cleaning robot. The present technical solution decides on the behavior of the cleaning robot based on the water volume detection and analysis results, thereby improving the rationality of the cleaning robot's behavioral decision-making.

[0006] Furthermore, the cleaning robot performs continuous water absorption detection, which means that the cleaning robot continuously absorbs water during walking and detects whether the water absorption is effective. This technical solution controls the cleaning robot to perform continuous water absorption detection so that the cleaning robot can also achieve better cleaning of some areas with less water, and enables the cleaning robot to grasp the water distribution in each area and perform targeted cleaning according to the water distribution.

[0007] Furthermore, the method of determining a large water volume area based on the moving trajectory of the cleaning robot within a preset time period specifically includes: taking the midpoint of the moving trajectory of the cleaning robot within the preset time period as the center point of a square area, and determining the square area as a large water volume area; wherein the coverage area of ​​the large water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the large water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the side length of the square area is a preset length; and the square area covers the moving trajectory of the cleaning robot within the preset time period. This technical solution is expanded based on the moving trajectory of the cleaning robot within the preset time period, determines a square large water volume area, and realizes the control of the cleaning robot to perform key planned cleaning in the large water volume area.

[0008] Furthermore, the control of the cleaning robot to perform focused planned cleaning in the area with large water volume specifically means that: the moving trajectory of the cleaning robot in the area with large water volume is denser than the moving trajectory in the area without large water volume and the cleaning robot executes a high-power water absorption mode; wherein, the cleaning robot executes a conventional power water absorption mode when performing continuous water absorption detection; the water absorption effect of the cleaning robot in the high-power water absorption mode is better than the water absorption effect of the cleaning robot in the conventional power water absorption mode. This technical solution controls the cleaning robot to execute the high-power water absorption mode in the area with large water volume, so that the cleaning robot can absorb water quickly. Compared with the conventional power water absorption mode, the cleaning robot in the high-power water absorption mode can greatly improve the cleaning efficiency of the cleaning robot in the area with large water volume.

[0009] Furthermore, the cleaning robot control method based on water flow detection also includes: when the cleaning robot detects that the effective water absorption time within a preset time period is less than a second preset time period during the continuous water absorption detection process, the small water volume area is determined according to the moving trajectory of the cleaning robot within the preset time period, and the cleaning robot is controlled to perform small water volume planned cleaning in the small water volume area; wherein, the midpoint of the moving trajectory of the cleaning robot within the preset time period is used as the center point of the square area, and the square area is determined to be the small water volume area; the coverage area of ​​the small water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the small water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the small water volume planned cleaning means that the density of the moving trajectory of the cleaning robot in the small water volume area is smaller than that of the moving trajectory in the non-small water volume area, and the cleaning robot executes a small-power water absorption mode, and the water absorption effect of the cleaning robot in the small-power water absorption mode is worse than that of the cleaning robot in the conventional power water absorption mode. This technical solution controls the cleaning mode of the cleaning robot according to the actual water absorption situation of the cleaning robot, executes the small water volume mode in the small water volume area, reduces the water absorption power of the cleaning robot, and reduces the overall power consumption of the cleaning robot while ensuring the cleaning effect of the cleaning robot.

[0010] Furthermore, the preset cleaning completion condition is that the cleaning robot does not effectively absorb water when traversing the large water volume area and / or the duration of the cleaning robot's key planned cleaning in the large water volume area reaches the preset maximum cleaning duration. This technical solution determines whether the cleaning robot has cleaned up the accumulated water in the large water volume area by judging the effective water absorption duration of the cleaning robot, or controls the cleaning robot to leave the large water volume area by judging whether the cleaning duration of the cleaning robot in the large water volume area reaches the maximum cleaning duration, thereby avoiding the cleaning robot from mistakenly entering the large water volume area such as the sink, causing the cleaning robot to clean in the large water volume area for too long, affecting the cleaning efficiency of the cleaning robot.

[0011] Furthermore, the cleaning robot control method based on water flow detection also includes: when the cleaning robot performs key planning cleaning in a large water volume area, and the cleaning robot does not effectively absorb water when traversing the large water volume area, the large water volume area is marked as a cleaned area on the map, and the cleaning robot is controlled to leave the large water volume area and go to the nearest uncleaned area to continue to perform continuous water absorption detection; wherein, the closest uncleaned area refers to the uncleaned area with a boundary point that is the shortest distance from the current position of the cleaning robot. This technical solution uses whether the cleaning robot has effectively absorbed water in the large water volume area as a criterion for judging whether the cleaning robot has completed the cleaning of the large water volume area, so that the cleaning robot can only leave the area after all the accumulated water in the large water volume area is absorbed, avoiding the situation where the cleaning robot enters the next area to be cleaned before completing the cleaning, and ensuring that all the accumulated water is cleaned.

[0012] Furthermore, the cleaning robot control method based on water flow detection also includes: when the duration of the cleaning robot's focused cleaning in a large water volume area reaches a preset maximum cleaning duration, the large water volume area is marked on the map as an area to be cleaned again, and the cleaning robot is controlled to leave the large water volume area and go to the nearest uncleaned area, and continue to perform continuous water absorption detection until the cleaning robot has cleaned all uncleaned areas, and the cleaning robot is controlled to perform focused cleaning on the areas to be cleaned again marked on the map in order from near to far according to the distance. This technical solution limits the maximum cleaning duration of the cleaning robot to avoid the situation where the cleaning robot mistakenly enters a large water volume area such as a sink, causing the cleaning robot to clean in the area for too long, affecting the overall cleaning efficiency of the cleaning robot. The cleaning robot is controlled to first perform water absorption detection on other uncleaned areas, until the cleaning robot completes the cleaning of all uncleaned areas, and then performs focused cleaning on the marked areas to be cleaned again, which not only ensures the cleaning efficiency of the cleaning robot, but also ensures the overall cleaning effect.

[0013] Furthermore, the cleaning robot control method based on water flow detection also includes: when the water storage capacity of the water tank of the cleaning robot reaches the second preset position and the effective time is greater than or equal to the third preset time, the cleaning robot is controlled to stop performing continuous water absorption detection, and the cleaning robot is controlled to move to the preset sewage discharge position, and the cleaning robot is controlled to discharge the sewage stored in the water tank to the preset sewage discharge position; wherein, when the water storage capacity reaches the second preset position, it is considered to be effective, and the effective time refers to the duration of the water storage capacity reaching the second preset position. This technical solution determines whether the cleaning robot performs sewage discharge by detecting whether the water storage capacity in the water tank reaches the second preset position, thereby avoiding the situation where the cleaning robot continues to absorb water when the water in the water tank is full, causing the sewage stored in the water tank to overflow.

[0014] A cleaning robot based on water volume monitoring, the cleaning robot based on water flow detection comprises: a water absorption module, a water storage module, a water flow detection module and a control module; the water absorption module comprises a water absorption pipe, the water absorption module is arranged at a position extending from the inside of the cleaning robot to the bottom of the robot, and is used for the cleaning robot to absorb sewage on its traveling plane; the water storage module is arranged inside the body of the cleaning robot and is connected to the water absorption module, and comprises a water storage tank, and is used for storing sewage absorbed by the water absorption module; the water flow detection module is arranged at a first preset position of the water absorption pipe of the water absorption module, and is used for detecting whether sewage is currently flowing through the first preset position of the water absorption pipe; the control module is arranged inside the body of the cleaning robot, and is respectively connected to the water absorption module, the water storage module and the water flow detection module, and is used for controlling each module inside the cleaning robot, so as to realize the cleaning robot control method based on water volume monitoring as described above. Compared with the prior art, the technical solution in this invention detects whether there is water flowing through the first preset position of the water suction pipe of the cleaning robot based on the water flow detection module, thereby realizing the detection of whether the cleaning robot is effectively absorbing water. Setting the water flow detection module in the water suction pipe of the cleaning robot can accurately control the water absorption situation of the cleaning robot in real time, and more accurately realize the decision-making of the cleaning robot's behavior based on water volume monitoring.

[0015] Furthermore, the cleaning robot has a water suction port at the bottom of its body, and the water suction module also includes a water suction motor; the water suction motor is used to provide suction based on the rotation of the motor to suck the sewage into the water storage module through the water suction pipe and the water suction port; one end of the water suction pipe is connected to the water suction port, and the water suction pipe is used to transfer the sewage sucked by the water suction motor from the water suction port of the robot to the water storage module. This technical solution uses the water suction motor to suck the ground sewage from the water suction port through the water suction pipe into the water storage module, thereby realizing the sewage cleaning function of the cleaning robot.

[0016] Furthermore, a sewage outlet is provided at the bottom of the cleaning robot body or the side elevation of the body, and the sewage outlet is used to transfer the sewage stored in the water storage module from the cleaning robot body to the cleaning robot body; the water storage module includes a water tank, a water storage port, a drainage port and a drainage pipe; the water tank is used to store the sewage sucked in by the water absorption module; the water storage port is used to enable the water absorption module to transfer the sucked sewage to the water tank for storage; the drainage port has a switch function, is set at a preset drainage position of the water tank body, and is used to discharge the sewage stored in the water tank; one end of the drainage pipe is connected to the drainage port, and the other end of the drainage pipe is connected to the sewage outlet, and the drainage pipe is used to transfer the sewage stored in the water tank to the sewage outlet through the drainage port. The water storage module of this technical solution realizes the control of the discharge of sewage stored in the water tank based on the drainage port with a switch function, without the need for the user to manually dump the sewage, thereby improving the user experience.

[0017] Furthermore, the water flow detection module is composed of two electrode sheets, and the two electrode sheets are respectively arranged on both sides of the first preset position of the water suction pipe; the water flow detection module detects whether there is water flowing through the first preset position of the water suction pipe according to the change in capacitance between the two electrode sheets. This technical solution determines whether there is water flowing through the first preset position of the water suction pipe by detecting the change in capacitance between the two electrode sheets. This water flow detection unit composed of two electrode sheets has low cost and is easy to implement.

[0018] Furthermore, the cleaning robot further comprises: a water volume detection module, which is arranged at a second preset position in the water tank of the water storage module, and is used to detect whether the water volume in the water tank has reached the second preset position. This technical solution prevents the water volume in the water tank from being too full, causing the sewage stored in the water tank to overflow from the water storage port, thereby polluting the ground on which the cleaning robot is traveling, and affecting the cleaning effect of the cleaning robot.

[0019] Furthermore, the water volume detection module is composed of an electrode sheet, and the electrode sheet is arranged at a second preset position in the water storage tank of the water storage module. This technical solution utilizes the change in the capacitance of the electrode sheet when the water volume in the water storage tank reaches the second preset position, and realizes the purpose of detecting the water level at the second preset position in the water storage tank at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a flowchart of a cleaning robot control method based on water flow detection according to an embodiment of the present invention.

[0021] Figure 2 A cross-sectional view of a bottom module of a cleaning robot based on water flow detection according to an embodiment of the present invention.

[0022] Figure 3 This is a structural distribution diagram of a water storage tank and a water level detection module according to an embodiment of the present invention.

[0023] Figure 4 This is a module schematic diagram of a cleaning robot based on water flow detection according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be described and illustrated in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention and are not used to limit the present invention. In addition, it can also be understood that for ordinary technicians in the field, some changes such as design, manufacturing or production on the technical content disclosed in the present invention are just conventional technical means, and should not be understood as the content disclosed in this application is insufficient.

[0025] Unless otherwise defined, the technical terms or scientific terms involved in the present invention should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a kind of", "the" and the like involved in this application do not represent quantitative restrictions and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions, such as: a process, method, system product or device comprising a series of steps or modules is not limited to the listed steps or units, but may also include steps or modules that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The terms "first", "second", "third" and the like involved in this application are merely used to distinguish similar correspondences and do not represent a specific ordering of objects.

[0026] It should be noted that the cleaning robot mentioned in the embodiments of the present invention may be a cleaning robot with a sweeping function, or a cleaning robot with a mopping function, or a cleaning robot with both sweeping and mopping functions.

[0027] In one embodiment of the present invention, a cleaning robot control method based on water flow detection is provided, such as Figure 1 As shown, the method specifically includes: controlling the cleaning robot to perform continuous water absorption detection; when the effective water absorption time of the cleaning robot within a preset time period is greater than a first preset time period, determining a large water volume area based on the moving trajectory of the cleaning robot within the preset time period, controlling the cleaning robot to perform key planned cleaning in the large water volume area until the preset cleaning completion conditions are met, and controlling the cleaning robot to leave the large water volume area; wherein, the effective water absorption time period refers to the total time the cleaning robot is in an effective water absorption state, when there is water flowing through a first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an effective water absorption state at this moment, and when there is no water flowing through the first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an invalid water absorption state at this moment.

[0028] Specifically, the cleaning robot performs continuous water absorption detection, which means that the cleaning robot continuously absorbs water during walking, and detects whether the cleaning robot is in an effective water absorption state. The preset time period refers to a preset cleaning working time period of the cleaning robot, and the preset time period can be adjusted according to user needs, such as: setting the preset time period to 3 / 5 / 10 / 20 / 30 seconds, then detecting the effective water absorption time of the cleaning robot in every 3 / 5 / 10 / 20 / 30 seconds, if the effective water absorption time of the cleaning robot in the 3 / 5 / 10 / 20 / 30 seconds is greater than the first preset time, then determining the large water volume area according to the moving trajectory of the cleaning robot in the 5 / 10 / 20 / 30 seconds, controlling the robot to perform key planned cleaning in the large water volume area, until the preset completion condition is reached, and controlling the cleaning robot to leave the large water volume area.

[0029] It should be noted that the preset time period is based on the time period composed of the current moment of the cleaning robot and the moment before it, that is, when the preset time is 3 seconds, the preset time period refers to the time period composed of the current moment of the cleaning robot and the moment before it totaling 3 seconds.

[0030] The first preset time length is used to determine whether the effective water absorption time of the cleaning robot within the preset time period reaches the high water volume area standard. The first preset time length is set based on the first preset time length being 60% to 80% of the preset time period length. The specific setting percentage can be adjusted according to different user needs.

[0031] Based on the above embodiments, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, wherein the preset time period of the cleaning robot is set to any value between 1 and 60 seconds according to the walking speed of the cleaning robot, and the first preset time length is set to 60% of the preset time length according to the preset time period length, so that when the effective water absorption time of the cleaning robot within the preset time period reaches 60% of the preset time period length, a large water volume area can be determined according to the moving trajectory of the cleaning robot within the preset time period.

[0032] Based on the above embodiments, a cleaning robot control method based on water flow detection provided by another embodiment of the present invention also includes: the determination of a large water volume area based on the moving trajectory of the cleaning robot within a preset time period specifically includes: taking the midpoint of the moving trajectory of the cleaning robot within the preset time period as the center point of the square area, determining the square area as a large water volume area, and marking the large water volume area on the map; wherein the coverage area of ​​the large water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the large water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the side length of the square area is a preset length; the square area covers the moving trajectory of the cleaning robot within the preset time period. It should be noted that the preset length of the side length of the square area is adjusted and set accordingly according to the actual length of the preset time period, and within a certain range, the preset length of the side length of the square area is positively correlated with the length of the preset time period.

[0033] It should be noted that the large water volume area determined based on the moving trajectory of the cleaning robot within the preset time period can also be determined by taking the midpoint of the moving trajectory of the cleaning robot within the preset time period as the center point of the rectangle / circle / polygon, and the rectangle / circle / polygon as the large water volume area. The actual shape of the large water volume area can be adjusted according to the environmental terrain to which the cleaning robot is to be used. The shape of the large water volume area can be but is not limited to square, rectangle, circle or polygon, etc.

[0034] Based on the above embodiment, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, which further includes: the control of the cleaning robot to perform key planning cleaning in a large water volume area, specifically refers to: the moving trajectory of the cleaning robot in the large water volume area is denser than the moving trajectory in the non-large water volume area and the cleaning robot executes a high-power water absorption mode; wherein, when the cleaning robot performs continuous water absorption detection, the cleaning robot executes a conventional power water absorption mode; the water absorption efficiency of the cleaning robot in the high-power water absorption mode is better than the water absorption efficiency of the cleaning robot in the conventional power water absorption mode. The cleaning robot performs key planning cleaning in a large water volume area, so that the cleaning movement trajectory of the cleaning robot in the large water volume area is denser and the water absorption efficiency is higher. The cleaning robot has a denser moving trajectory in the large water volume area, which means that the cleaning area of ​​the cleaning robot in the large water volume area is more comprehensive, and the cleaning dead corner area is greatly reduced. At the same time, the cleaning robot uses a high-power water absorption mode in the large water volume area to make the water absorption efficiency of the cleaning robot better, ensuring that the effective water absorption detection result of the cleaning robot is better and more accurate. It should be noted that the amount of water absorbed per unit time by the cleaning robot in high-power water absorption mode is greater than the amount of water absorbed per unit time by the cleaning robot in normal power water absorption mode, and the water absorption efficiency is positively correlated with the amount of water absorbed per unit time by the cleaning robot.

[0035] Based on the above embodiment, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, and further includes: the preset cleaning completion condition may be, but is not limited to, that the cleaning robot does not effectively absorb water when traversing a large water volume area and / or that the duration of the cleaning robot's key planning cleaning in a large water volume area reaches a preset maximum cleaning duration. It should be noted that the preset cleaning completion condition is used to limit how the cleaning robot ends the cleaning of a large water volume area, and the preset cleaning completion condition can be changed according to different actual application requirements. Specifically, the cleaning robot does not effectively absorb water when traversing a large water volume area means that the cleaning robot does not effectively absorb water when traversing a large water volume area for a week, and whether the cleaning robot effectively absorbs water is determined by judging whether there is water flowing through the first preset position of the water absorption pipe of the cleaning robot. If there is water flowing through the first preset position of the water absorption pipe of the cleaning robot at the current moment, it is determined that the cleaning robot effectively absorbs water at the current moment. On the contrary, if there is no water flowing through the first preset position of the water absorption pipe of the cleaning robot at the current moment, it is determined that the cleaning robot does not effectively absorb water at the current moment.

[0036] Based on the above embodiments, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, which also includes: when the cleaning robot performs key planning cleaning in a large water volume area, and the cleaning robot does not have a moment in which it is in an effective water absorption state when traversing the large water volume area, the large water volume area is marked as a cleaned area on the map, and the cleaning robot is controlled to leave the large water volume area and go to the nearest uncleaned area to continue to perform continuous water absorption detection; wherein, the closest uncleaned area refers to the uncleaned area where there is a boundary point with the shortest distance from the current position of the cleaning robot. This embodiment determines whether the accumulated water in the large water volume area has been completely cleaned up by judging whether the cleaning robot has a moment in which it is in an effective water absorption state when traversing the large water volume area. When the accumulated water in the large water volume area has been completely cleaned up, the cleaning robot is controlled to leave the large water volume area to ensure the cleaning effect of the accumulated water in the large water volume area.

[0037] Based on the above embodiment, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, which further includes: when the cleaning robot performs key planning cleaning in a large water volume area for a preset maximum cleaning time, the large water volume area is marked on the map as a secondary cleaning area, and the cleaning robot is controlled to leave the large water volume area and go to the nearest uncleaned area, and continue to perform continuous water absorption detection until the cleaning robot cleans all uncleaned areas, and controls the cleaning robot to perform key planning cleaning on the areas to be cleaned marked on the map from near to far in order of distance. Wherein, the cleaning robot performs key planning cleaning on the areas to be cleaned marked on the map from near to far in order of distance, specifically including: there is a boundary point of the area to be cleaned marked on the map that is the shortest distance from the current position of the cleaning robot, and the area to be cleaned is taken as the closest area for key planning cleaning, and when the key planning cleaning of an area to be cleaned is completed, the area to be cleaned is marked as a cleaned area, and the closest area is found from the remaining areas to be cleaned for the next key planning cleaning, and so on, until all areas to be cleaned are marked as cleaned areas. This embodiment limits the maximum cleaning time of the cleaning robot to prevent the cleaning robot from accidentally entering areas with large amounts of water, such as sinks, which would affect the normal working efficiency of the cleaning robot. Areas with large amounts of water that have not been cleaned within the preset maximum cleaning time are marked, and after the cleaning of the remaining areas to be cleaned is completed, the areas to be cleaned for the second time are planned to be cleaned in a focused manner. Priority is given to regional cleaning to ensure that the normal working efficiency of the cleaning robot is not affected.

[0038] Based on the above embodiments, a cleaning robot control method based on water flow detection provided in another embodiment of the present invention also includes: when the cleaning robot detects that the effective water absorption time within a preset time period is less than a second preset time period during the continuous water absorption detection process, a small water volume area is determined according to the moving trajectory of the cleaning robot within the preset time period, and the cleaning robot is controlled to perform small water volume planned cleaning in the small water volume area; wherein, the midpoint of the moving trajectory of the cleaning robot within the preset time period is used as the center point of the square area, and the square area is determined to be a small water volume area; the coverage area of ​​the small water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the small water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the small water volume planned cleaning means that the density of the moving trajectory of the cleaning robot in the small water volume area is smaller than that of the moving trajectory in the non-small water volume area, and the cleaning robot executes a small power water absorption mode, and the water absorption efficiency of the cleaning robot in the small power water absorption mode is weaker than the water absorption efficiency of the cleaning robot in the conventional power water absorption mode.

[0039] It should be noted that the small water area is determined based on the moving trajectory of the cleaning robot within the preset time period, or the midpoint of the moving trajectory of the cleaning robot within the preset time period is used as the center point of the rectangle / circle / polygon, and the rectangle / circle / polygon is used as the large water area. The shape of the actual small water area can be adjusted according to the environmental terrain to which the cleaning robot is to be used. The shape of the small water area can be but is not limited to a square, rectangle, circle or polygon, etc.

[0040] Specifically, the second preset time length is used to determine whether the effective water absorption time length of the cleaning robot within the preset time period reaches the small water volume area standard. The second preset time length is set based on the second preset time length being 5% to 20% of the preset time period length. The specific setting percentage can be adjusted according to different user needs. For example, if the preset time period is set to 30 seconds, the second preset time length can be set to any time between 1.5 seconds and 6 seconds. It should be noted that the second preset time length can also be 1% to 25% of the preset time period length. In this embodiment, all the values ​​are not listed, but those skilled in the art can understand that the role of the second preset time length is based on the preset time length setting to determine whether the effective water absorption time length of the cleaning robot within the preset time period reaches the small water volume area standard. The specific time length value can be adjusted accordingly according to the change of the small water volume area standard.

[0041] It should be noted that the scope of the preferred embodiments of the present invention includes alternative implementations, in which the functions may not be performed in the order described or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0042] Based on the above embodiment, another embodiment of the present invention provides a cleaning robot control method based on water flow detection, the method further includes: when the water storage capacity of the water tank of the cleaning robot reaches the second preset position and the effective time is greater than or equal to the third preset time, the cleaning robot is controlled to stop performing continuous water absorption detection, and the cleaning robot is controlled to move to the preset sewage discharge position, and the cleaning robot is controlled to discharge the sewage stored in the water tank to the preset sewage discharge position; wherein, when the water storage capacity reaches the second preset position, it is considered to be effective, and the effective time refers to the duration of the water storage capacity reaching the second preset position; the third preset time can be but is not limited to 0.1 seconds to 5 seconds, and specifically the third preset time needs to be set according to the distance between the second preset position and the water storage port of the water tank. Specifically, the third preset time is used to determine whether the water storage capacity in the water tank continues to reach the second preset position, so as to avoid misjudgment caused by the shaking of sewage in the water tank when the cleaning robot moves.

[0043] Based on the above embodiment, another embodiment of the present invention provides a cleaning robot based on water flow detection, such as Figure 4 As shown, the cleaning robot based on water flow detection includes: a water absorption module, a water storage module, a water flow detection module and a control module; Figure 2 As shown, the cleaning robot has a water inlet and a sewage outlet at the bottom of its body. The water inlet is used in conjunction with the water inlet module to enable the cleaning robot to suck sewage from the outside of the cleaning robot into the water storage module inside the cleaning robot; the sewage outlet is used in conjunction with the water storage module to enable the cleaning robot to discharge sewage from the cleaning robot body to the outside of the cleaning robot. It should be noted that although Figure 2 The water inlet and the sewage outlet are represented by an elliptical shape, but in the present invention, the shapes of the water inlet and the sewage outlet can be, but are not limited to, circular, elliptical, rectangular or irregular shapes.

[0044] The water suction module includes a water suction pipe and a water suction motor. The water suction motor is used to suck sewage from the outside of the cleaning robot into the water storage module through the water suction pipe and the water suction port based on the suction force provided by the rotation of the motor; the water suction pipe is used to transmit the sewage sucked by the water suction motor from the water suction port to the water storage module, and one end of the water suction pipe is connected to the water suction port. Specifically, the power of the water suction motor can be adjusted to realize the high-power water suction mode, the conventional power water suction mode and the low-power water suction mode of the cleaning robot described in the above embodiment.

[0045] The water storage module includes a water tank, a water storage port, a drainage port and a drainage pipe. The water storage port is used to be connected to the other end of the water suction pipe of the water suction module, so as to store the sewage transmitted by the water suction pipe into the water tank; the drainage port has a switching function, is connected to one end of the drainage pipe, and is used to discharge the sewage stored in the water tank; the other end of the drainage pipe is connected to the sewage outlet, and is used to transmit the sewage discharged from the water tank from the body of the cleaning robot to the outside of the cleaning robot; the water tank is arranged in the body of the cleaning robot, and is used to store the sewage collected by the water suction module.

[0046] The water flow detection module is arranged at the first preset position of the water suction pipe, and is used to detect whether there is sewage flowing at the first preset position of the water suction pipe; when the water flow detection module detects that there is sewage flowing at the first preset position of the water suction pipe, the water flow detection signal of the water flow detection module is in a valid state, that is, the cleaning robot is in a valid water suction state; conversely, when the water flow detection module detects that there is no sewage flowing at the first preset position of the water suction pipe, the water flow detection signal of the water flow detection module is in an invalid state, that is, the cleaning robot is in an invalid water suction state. Specifically, the first preset position is a position where the water volume detection unit is pre-set in the water suction pipe of the cleaning robot according to the water suction detection requirements of the cleaning robot. The first preset position can be, but is not limited to, the water suction port position of the water suction pipe, the water suction pipe close to the water suction port position, or the middle position of the water suction pipe, etc.

[0047] Preferably, the water flow detection module is composed of two electrode sheets, and the two electrode sheets are respectively arranged on both sides of the pipe wall of the first preset position of the water suction pipe; the water flow detection module detects whether there is water flowing through the first preset position of the water suction pipe according to the change of capacitance between the two electrode sheets. When the capacitance between the two electrode sheets changes, it is confirmed that there is water flowing through the first preset position of the water suction pipe; when the capacitance between the two electrode sheets remains stable, it is confirmed that there is no water flowing through the first preset position of the water suction pipe.

[0048] Based on the above embodiments, a cleaning robot based on water flow detection is provided in another embodiment of the present invention and further includes: a water level detection module, which is arranged at a second preset position of the water tank of the water storage module, and is used to detect whether the water storage amount inside the water tank reaches the second preset position; when the water storage amount inside the water tank reaches the second preset position, the water level detection signal of the water level detection module is in a valid state, conversely, when the water storage amount inside the water tank does not reach the second preset position, the water level detection signal of the water level detection module is in an invalid state.

[0049] The water volume monitoring module is set at the second preset position of the water tank. The second preset position refers to a position slightly lower than the water storage port of the water tank, so that the water volume detection module can detect the water volume of the water tank and promptly control the cleaning robot to stop absorbing water, so as to avoid the sewage stored in the water tank from overflowing from the water storage port due to overfilling; the specific position of the second preset position needs to be set according to the different sizes of water tanks used by the cleaning robot and the water storage port setting position. It should be noted that the drainage port of the water tank can be set at but not limited to the bottom of the water tank, or on the side elevation of the water tank within a certain distance from the bottom of the water tank; the water storage port of the water tank can be set at but not limited to the top of the water tank, or on the side elevation of the water tank within a certain distance from the top of the water tank; the certain distance refers to one quarter or one third of the height of the water tank.

[0050] Preferably, Figure 3 is a distribution diagram of a water storage tank and a water volume detection module provided in an embodiment of the present invention, such as Figure 3 As shown, the water storage port is set at the top of the water storage tank, the drainage port is set at the bottom of the water storage tank, and the water volume monitoring module is set on the side elevation at a certain distance from the top of the water storage tank. It should be noted that Figure 3 The water storage tank is shown as a cylindrical shape, but the water storage tank in the present invention can be, but is not limited to, a cube, a cuboid, a sphere, a cylinder or a cone, etc.; Figure 3 The water storage port and the drainage port are illustrated as ellipses, but the shapes of the water storage port and the drainage port in the present invention can be, but are not limited to, circular, elliptical, rectangular or irregular shapes. It should be noted that the shape of the water storage port matches the shape of the pipe opening of the water suction pipe connected thereto, and the shape of the drainage port matches the shape of the drainage pipe connected thereto. Similarly, the shape of the water suction port matches the shape of the pipe opening of the water suction pipe connected thereto, and the shape of the sewage outlet matches the shape of the drainage pipe connected thereto. In particular, the shapes of the water storage port and the water suction port can be the same or different, and the shapes of the drainage port and the sewage outlet can be the same or different.

[0051] Preferably, the water level detection module and the water storage port cannot be located on the same side elevation of the water tank to prevent sewage flowing into the water storage port from affecting the accuracy of the water level detection signal of the water level detection module being in a valid state.

[0052] Preferably, the water level detection module is composed of an electrode sheet, and utilizes the change in capacitance of the electrode sheet when the water level in the water tank reaches a second preset position to achieve the purpose of detecting the water level at the second preset position in the water tank.

[0053] The control module is disposed inside the cleaning robot body and is connected to the water absorption module, the water storage module and the water flow detection module respectively, so as to realize the control module to control each module inside the cleaning robot, so as to realize the cleaning robot control method based on water flow detection described in the above embodiment. Figure 4 As shown, the control module controls the working status of the water volume monitoring module and the water flow detection module. At the same time, the control module also receives the status of the water volume detection signal fed back by the water flow detection module. The control module controls the operation of the water absorption module and the water storage module according to the status of the water flow monitoring signal and the water volume detection signal.

[0054] In the embodiments provided by the present invention, it should be understood that the disclosed structures and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0055] Obviously, the above-mentioned embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, and the technical solutions between the various embodiments can be combined with each other. Although the embodiments of the present invention have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is limited by the attached claims and their equivalents. The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those of ordinary skill in the art, the present invention can have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cleaning robot control method based on water flow detection, characterized in that: The cleaning robot control method based on water flow detection includes: Control the cleaning robot to perform continuous water absorption detection; When the effective water absorption time of the cleaning robot within the preset time period is longer than the first preset time period, the large water volume area is determined according to the movement trajectory of the cleaning robot within the preset time period; Control the cleaning robot to perform key planned cleaning in the area with large water volume until the preset cleaning completion conditions are met, and then control the cleaning robot to leave the area with large water volume; Among them, the effective water absorption time refers to the total time that the cleaning robot is in an effective water absorption state; when there is water flowing through the first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an effective water absorption state at that moment; when there is no water flowing through the first preset position of the water absorption pipe of the cleaning robot, it is confirmed that the cleaning robot is in an invalid water absorption state at that moment.

2. The cleaning robot control method based on water flow detection according to claim 1 is characterized in that: The continuous water absorption detection performed by the cleaning robot means that the cleaning robot continuously absorbs water during walking, and detects whether the cleaning robot is in an effective water absorption state.

3. The cleaning robot control method based on water flow detection according to claim 1 is characterized in that: The method of determining a large water volume area based on the moving trajectory of the cleaning robot within a preset time period specifically includes: taking the midpoint of the moving trajectory of the cleaning robot within the preset time period as the center point of a square area, determining the square area as a large water volume area, and marking the large water volume area on a map; wherein the coverage area of ​​the large water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the large water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the side length of the square area is a preset length; and the square area covers the moving trajectory of the cleaning robot within the preset time period.

4. The cleaning robot control method based on water flow detection according to claim 1 is characterized in that: The controlling of the cleaning robot to perform focused cleaning in the area with large water volume specifically means that: the moving trajectory of the cleaning robot in the area with large water volume is denser than the moving trajectory in the area without large water volume and the cleaning robot executes a high-power water absorption mode; wherein, the cleaning robot executes a conventional power water absorption mode when executing continuous water absorption detection; the water absorption efficiency of the cleaning robot in the high-power water absorption mode is better than the water absorption efficiency of the cleaning robot in the conventional power water absorption mode.

5. The cleaning robot control method based on water flow detection according to claim 4 is characterized in that: The cleaning robot control method based on water flow detection also includes: when the cleaning robot detects that the effective water absorption time within a preset time period is less than a second preset time period during the continuous water absorption detection process, a small water volume area is determined according to the moving trajectory of the cleaning robot within the preset time period, and the cleaning robot is controlled to perform small water volume planned cleaning in the small water volume area; wherein, the midpoint of the moving trajectory of the cleaning robot within the preset time period is used as the center point of the square area, and the square area is determined to be a small water volume area; the coverage area of ​​the small water volume area is equivalent to the actual physical area of ​​the square, and the coverage area position of the small water volume area changes with the change of the midpoint of the moving trajectory of the cleaning robot within the preset time period; the small water volume planned cleaning means that the density of the moving trajectory of the cleaning robot in the small water volume area is smaller than that of the moving trajectory in the non-small water volume area, and the cleaning robot executes a small power water absorption mode, and the water absorption effect of the cleaning robot in the small power water absorption mode is weaker than the water absorption effect of the cleaning robot in the conventional power water absorption mode.

6. The cleaning robot control method based on water flow detection according to claim 1, characterized in that: The preset cleaning completion condition is that the cleaning robot does not effectively absorb water when traversing the large water volume area and / or the duration for which the cleaning robot performs key planned cleaning in the large water volume area reaches a preset maximum cleaning duration.

7. The cleaning robot control method based on water flow detection according to claim 6, characterized in that: The cleaning robot control method based on water flow detection also includes: when the cleaning robot performs key planned cleaning in an area with a large amount of water, and the cleaning robot does not exist in an effective water absorption state when traversing the area with a large amount of water, the area with a large amount of water is marked as a cleaned area on the map, and the cleaning robot is controlled to leave the area with a large amount of water and go to the nearest uncleaned area to continue to perform continuous water absorption detection; wherein, the nearest uncleaned area refers to an uncleaned area with a boundary point that is the shortest distance from the current position of the cleaning robot.

8. The cleaning robot control method based on water flow detection according to claim 6, characterized in that: The cleaning robot control method based on water flow detection also includes: when the time for the cleaning robot to perform key planned cleaning in a large water volume area reaches a preset maximum cleaning time, the large water volume area is marked on the map as an area to be cleaned again, and the cleaning robot is controlled to leave the large water volume area and go to the nearest uncleaned area, and continue to perform continuous water absorption detection until the cleaning robot has cleaned all uncleaned areas, and the cleaning robot is controlled to perform key planned cleaning on the areas to be cleaned again marked on the map in order of distance from near to far.

9. The cleaning robot control method based on water flow detection according to claim 1, characterized in that: The cleaning robot control method based on water flow detection also includes: when the water storage volume of the water tank of the cleaning robot reaches the second preset position and the effective time is greater than or equal to the third preset time, the cleaning robot is controlled to stop performing continuous water absorption detection, and the cleaning robot is controlled to move to the preset sewage discharge position, and the cleaning robot is controlled to discharge the sewage stored in the water tank to the preset sewage discharge position; wherein, when the water storage volume reaches the second preset position, it is considered to be effective, and the effective time refers to the time duration for the water storage volume to reach the second preset position.

10. A cleaning robot based on water flow detection, characterized in that: The cleaning robot based on water flow detection comprises: a water absorption module, a water storage module, a water flow detection module and a control module; A water absorption module, including a water absorption pipeline, is arranged at a position extending from the inside of the cleaning robot to the bottom of the cleaning robot, and is used for the cleaning robot to absorb sewage on the moving plane; A water storage module is arranged inside the cleaning robot body and connected to the water absorption module to store the sewage absorbed by the water absorption module; A water flow detection module is arranged at a first preset position of the water suction pipe of the water suction module, and is used to detect whether sewage is currently flowing through the first preset position of the water suction pipe; The control module is arranged inside the cleaning robot body and is respectively connected to the water absorption module, the water storage module and the water flow detection module, and is used to control each module inside the cleaning robot to implement the cleaning robot control method based on water flow detection as described in any one of claims 1 to 9.

11. The cleaning robot based on water flow detection according to claim 10, characterized in that: A water suction port is provided at the bottom of the cleaning robot body, and the water suction module also includes a water suction motor; the water suction motor is used to provide suction based on the rotation of the motor to suck the sewage into the water storage module through the water suction pipe and the water suction port; one end of the water suction pipe is connected to the water suction port, and the water suction pipe is used to transmit the sewage sucked by the water suction motor from the water suction port of the robot to the water storage module.

12. The cleaning robot based on water flow detection according to claim 11, characterized in that: A sewage outlet is provided at the bottom of the cleaning robot body or the side elevation of the body, and the sewage outlet is used to transfer the sewage stored in the water storage module from the body of the cleaning robot to the outside of the cleaning robot; the water storage module includes a water tank, a water storage port, a drainage port and a drainage pipe; the water tank is used to store the sewage sucked in by the water suction module; the water storage port is used to enable the water suction module to transfer the sucked sewage to the water tank for storage; the drainage port has a switching function, is arranged at a preset drainage position of the water tank body, and is used to discharge the sewage stored in the water tank; one end of the drainage pipe is connected to the drainage port, and the other end of the drainage pipe is connected to the sewage outlet, and the drainage pipe is used to transfer the sewage stored in the water tank to the sewage outlet through the drainage port.

13. The cleaning robot based on water flow detection according to claim 10, characterized in that: The water flow detection module is composed of two electrode sheets, which are respectively arranged on both sides of the first preset position of the water suction pipe; the water flow detection module detects whether there is water flowing through the first preset position of the water suction pipe according to the capacitance change between the two electrode sheets.

14. The cleaning robot based on water flow detection according to claim 10, characterized in that: The cleaning robot further comprises: a water volume detection module, which is arranged at a second preset position in the water tank of the water storage module and is used to detect whether the water volume in the water tank reaches the second preset position.

15. The cleaning robot based on water flow detection according to claim 14, characterized in that: The water volume detection module is composed of an electrode sheet, and the electrode sheet is arranged at a second preset position in the water storage tank of the water storage module.

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