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

Abstract

The embodiment of the present invention discloses a cleaning robot and its control method, device, electronic device, and storage medium. The control method first obtains a travel route; then controls the walking component of the cleaning robot to move back and forth gradually based on the travel route, and controls the cleaning component wheels of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot. Thus, the method can control the cleaning component of the robot to clean the same cleaning area multiple times at different rotation speeds during the reciprocating and progressive movement, thereby cleaning the dirtier or stubborn stains on the ground and improving the cleaning effect.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a cleaning robot and a control method, device, electronic equipment, and storage medium thereof. Background Art

[0002] In recent years, with the development of social economy and the improvement of family living standards, home cleaning has gradually entered the era of intelligence and mechanization. The cleaning robots that have emerged can liberate people from home cleaning work, effectively reduce people’s workload in home cleaning, and alleviate people’s fatigue during home cleaning.

[0003] The mopping solution adopted by the existing cleaning robot is to directly install a cleaning water tank at the bottom of the robot and stick a cleaning rag at the bottom of the water tank. When the robot moves, the water in the water tank continuously penetrates into the rag to clean the floor, thereby achieving wet mopping. However, when there are some dirty or stubborn stains on the floor, the cleaning effect is poor. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In a first aspect, an embodiment of the present invention provides a control method for a cleaning robot, comprising:

[0006] Get the route;

[0007] The walking component of the cleaning robot is controlled to move back and forth gradually based on the travel route, and during the reciprocating and gradual movement of the walking component of the cleaning robot, the cleaning component of the cleaning robot is controlled to rotate at different rotation speeds.

[0008] In some possible implementations, the travel route includes at least one travel section, and the control of the walking component of the cleaning robot to perform reciprocating progressive movement based on the travel route includes:

[0009] Controlling the walking component of the cleaning robot to perform at least one round trip motion from a starting point to a turning point based on the travel section;

[0010] Controlling the walking component of the cleaning robot to move from the starting point to the turning point again based on the travel section;

[0011] Determine the turning point as the new starting point, and determine any point between the new starting point and the target point on the travel section as the new turning point, repeat the above steps until there is no new turning point, and the target point is the end point or U-turn point where the cleaning robot travels in the same posture on the travel section.

[0012] In some possible implementations, determining the turning point as a new starting point, and determining any point between the new starting point and the target point on the travel section as a new turning point, and repeating the above steps until there is no new turning point, includes:

[0013] Determine whether the target point is a U-turn point. If the target point is a U-turn point, control the cleaning robot to turn around to a new starting point, and repeat the steps of returning from the starting point to the target point until all travel sections are completed.

[0014] In some possible implementations, controlling the cleaning robot to turn around to a new starting point includes:

[0015] Determine the U-turn point of the travel section as a new starting point, and determine the starting point of the travel section as a new target point;

[0016] Turning the forward direction of the cleaning robot to a direction opposite to the original forward direction;

[0017] or,

[0018] Controlling the walking component of the cleaning robot to move a preset distance from the turning point to the starting point of a new travel section, wherein the preset distance is no greater than the width of the cleaning component;

[0019] The forward direction of the cleaning robot is turned to a direction opposite to the original forward direction.

[0020] In some possible implementations, during the reciprocating progressive movement of the walking component of the cleaning robot, controlling the cleaning component of the cleaning robot to rotate at different speeds includes:

[0021] During at least one round trip movement of the walking component of the cleaning robot from the starting point to the turning point, the cleaning component of the cleaning robot is controlled to rotate at a first preset speed, or to rotate alternately at the first preset speed and a second preset speed, wherein the second preset speed is less than the first preset speed;

[0022] During the process of the walking component of the cleaning robot moving from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to rotate at the second preset speed.

[0023] In some possible implementations, the cleaning component of the cleaning robot includes a rotatable brush roller and a water spraying component for spraying water onto the brush roller, and the step of controlling the cleaning component of the cleaning robot to throw water includes:

[0024] Controlling the water spraying assembly to spray water toward the brush roller;

[0025] After the water spraying assembly is controlled to stop spraying water, the brush roller is controlled to rotate at a first preset speed so that the brush roller can spin off water.

[0026] In some possible implementations, controlling the cleaning component of the cleaning robot to absorb water includes:

[0027] The brush roller is controlled to rotate at a second preset speed, which is less than the first preset speed.

[0028] In a second aspect, an embodiment of the present invention provides a control device for a cleaning robot, comprising:

[0029] An acquisition module is used to obtain a travel route;

[0030] The control module is used to control the walking component of the cleaning robot to move back and forth gradually based on the travel route, and to control the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot.

[0031] In a third aspect, an embodiment of the present invention provides a cleaning robot, including a walking component, a cleaning component and a controller;

[0032] The controller is configured to execute the control method of the cleaning robot described in any one of the first aspects.

[0033] In some possible implementations, the cleaning robot is a mopping robot or a sweeping and mopping robot.

[0034] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the steps of the control method of the cleaning robot described in any one of the first aspects.

[0035] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer program instructions, which, when called and executed by a processor, implement the steps of the control method of the cleaning robot described in any one of the first aspects.

[0036] According to a cleaning robot and its control method, device, electronic device, and storage medium provided by an embodiment of the present invention, the control method first obtains a travel route; then controls the walking component of the cleaning robot to move back and forth gradually based on the travel route, and controls the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot. Thus, the method can control the cleaning component of the robot to clean the same cleaning area multiple times at different rotation speeds during the reciprocating and progressive movement of the robot, thereby cleaning up the dirtier or stubborn stains on the ground and improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The following drawings of the present invention are used as part of the embodiments of the present invention for understanding the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0038] In the attached figure:

[0039] Figure 1 is a three-dimensional schematic diagram of a cleaning robot according to an optional embodiment of the present invention;

[0040] Figure 2 for Figure 1 Schematic diagram from top view;

[0041] Figure 3 is a three-dimensional schematic diagram of a control method for a cleaning robot according to an optional embodiment of the present invention;

[0042] Figure 4 A schematic diagram of a travel route in an optional embodiment of the present invention;

[0043] Figure 5 A schematic diagram of a travel route in another optional embodiment of the present invention;

[0044] Figure 6 It is a flowchart of controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the travel route in step S302;

[0045] Figure 7 A path diagram of the reciprocating progressive movement of a cleaning robot according to an optional embodiment of the present invention;

[0046] Figure 8 A path diagram of the reciprocating progressive movement of a cleaning robot according to another optional embodiment of the present invention;

[0047] Fig. 9 It is a flowchart of controlling the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating progressive movement of the walking component of the cleaning robot in step S302;

[0048] Fig.10 A schematic diagram of a route of a cleaning robot rotating at a first preset speed during reciprocating progressive movement according to an optional embodiment of the present invention;

[0049] Fig.11 A schematic diagram of a route of alternating rotation of a first preset speed and a second preset speed in the reciprocating progressive movement of a cleaning robot according to an optional embodiment of the present invention;

[0050] Fig.12 A schematic diagram of a route of alternating rotation of a first preset speed and a second preset speed in the reciprocating progressive movement of a cleaning robot according to another optional embodiment of the present invention;

[0051] Fig.13 4 is a structural diagram of a control method for a cleaning robot according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0052] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the concept of these exemplary embodiments to those of ordinary skill in the art.

[0055] Figure 1 and Figure 2 Schematic diagram of a cleaning robot according to various exemplary embodiments of the present disclosure. Figure 1 and Figure 2As shown, the cleaning robot includes a body 1, a detection component 2, a walking component 3, a controller, a storage component, a cleaning component 4 and a battery component.

[0056] The body 1 forms the outer shell of the cleaning robot and contains other components. In some embodiments, the body 1 can be a flat cylinder.

[0057] The detection component 2 is used to detect the surrounding environment of the cleaning robot, so as to find environmental objects such as obstacles, walls, steps and charging piles for charging the sweeping robot.

[0058] The walking assembly 3 is used to drive the cleaning robot forward or backward. In some embodiments, the walking assembly 3 includes a pair of driving wheels 31 installed on both sides of the middle of the bottom of the body, and the driving wheels 31 are used to drive the cleaning robot forward or backward. In some embodiments, the walking assembly also includes a guide wheel 32 set at the front of the body, and the guide wheel 32 is used to change the driving direction of the cleaning robot during the travel process.

[0059] The controller is set on the circuit board inside the body, and can draw a real-time map of the environment where the cleaning robot is located based on the information of the surrounding objects fed back by the detection component and the preset algorithm. The controller can also control the cleaning robot to perform cleaning tasks along a certain path.

[0060] The storage component is arranged on a circuit board in the body, and the storage component includes a memory, and the memory can store the position information and speed information of the cleaning robot and the real-time map drawn by the processor.

[0061] The cleaning assembly 4 includes a water spray assembly arranged in the body and a brush roller arranged at the bottom of the body, and the water spray assembly includes a box for storing cleaning liquid and a spray pipeline connected between the box and the brush roller, so that the cleaning liquid can flow to the brush roller during the use of the cleaning device. A valve is also arranged on the spray pipeline to control whether the cleaning liquid in the box flows to the brush roller.

[0062] The brush roller includes a roller and a driving component connected to the roller brush, and the driving component can drive the roller brush to rotate. The material of the roller brush is not limited, and can be cotton cloth, fiber cloth, etc.

[0063] The battery assembly includes a rechargeable battery, a charging circuit connected to the rechargeable battery, and a charging electrode arranged on the side of the cleaning robot body. In some embodiments, the charging circuit includes a charging control circuit, a charging temperature detection circuit, and a charging voltage detection circuit. In some embodiments, the charging electrode is in the shape of a strip, and there are two charging electrodes in total.

[0064] It should be noted that the cleaning robot may also include Figure 1 and Figure 2Other modules or components not shown, or only some of the above modules or components may be included, which is not limited in the embodiments of the present invention, and is only described by taking the above sweeping robot as an example.

[0065] First, as Figure 3 As shown, an embodiment of the present invention provides a control method for a cleaning robot, comprising:

[0066] Step S301: Obtain the travel route.

[0067] The route of the cleaning robot is planned according to the real-time map drawn by the controller or obtained by the cleaning robot detecting the cleaning area. The planned route can be a straight line, a curve, or a combination of a straight line and a curve. This application does not strictly limit the shape of the route.

[0068] Step S302: Control the walking component of the cleaning robot to move back and forth gradually based on the travel route, and control the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot.

[0069] The cleaning effect of the cleaning robot varies with the speed of the cleaning component. When the cleaning component rotates at a first preset speed, the cleaning component performs a water-spinning operation, that is, the cleaning component rotates at a higher speed so that the cleaning liquid soaked on the cleaning component is thrown to the ground to soak the stains on the ground; when the cleaning component rotates at a second preset speed (the second preset speed is less than the first preset speed), the cleaning component performs a water-absorbing operation to recover the sewage soaked in the stains on the ground, thereby effectively avoiding the situation where pedestrians slip and fall due to the slippery ground, and greatly reducing the stolen goods absorbed by the wet ground. In the process of the reciprocating progressive movement of the cleaning robot, the cleaning robot can be repeatedly moved in the same cleaning area, and in the process of multiple repeated movements, the cleaning component is controlled to operate at different speeds. Compared with the prior art of directly mopping a rag soaked in cleaning liquid, the cleaning liquid thrown to the ground can first soak the stains on the ground to make the stains easier to remove, and then the sewage soaked in the stains is recovered by the cleaning component to improve the cleaning effect.

[0070] The present embodiment provides a control method for a cleaning robot. The control method first obtains a travel route; then controls the walking component of the cleaning robot to move back and forth gradually based on the travel route, and controls the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot. Thus, the method can control the cleaning component of the robot to clean the same cleaning area multiple times at different rotation speeds during the reciprocating and progressive movement of the robot, thereby cleaning the dirtier or stubborn stains on the ground and improving the cleaning effect.

[0071] In some possible implementations, the travel route includes at least one travel segment, that is, the travel route may include only one straight or curved travel segment, and of course may also include a circuitous route consisting of two or more travel segments, for example, Figure 4 As shown, when the cleaning robot encounters an obstacle such as a wall, the cleaning robot will turn around and move along the original route, so that the route includes a route, namely, route 1; in another case, such as Figure 5 As shown, the entire cleaning area is divided into a plurality of sub-areas. For example, the entire cleaning area includes sub-area AI. When the cleaning robot moves to the boundary of a sub-area, it needs to turn around and continue cleaning. For example, sub-area A includes travel sections 1-11, so the travel route also includes a circuitous route composed of all travel sections in all sub-areas. Specifically, Figure 6 As shown, in step S302, the walking component of the cleaning robot is controlled to move back and forth progressively based on the travel route, which specifically includes the following steps:

[0072] Step S601: Control the walking component of the cleaning robot to perform at least one round trip motion from a starting point to a turning point based on the travel section.

[0073] The starting point can be the starting point of the travel section, or any point on the travel section except the target point. The turning point can be any point on the travel route except the starting point, wherein the target point is the end point or U-turn point of the cleaning robot traveling in the same posture on the travel section.

[0074] One round trip movement is when the cleaning robot moves from the starting point to the turning point, and then moves from the turning point to the starting point. Figure 7 As shown, the starting point is point A, the turning point is point B, and one round trip movement is the cleaning robot moving from point A to point B, and then from point B to point A. It can be seen that after at least one round trip movement, the cleaning robot will eventually return to the starting point. The number of round trips can be preset by the staff. For example, for a dirty floor, the number of round trips can be set to more than two times. This application does not strictly limit the number of round trips.

[0075] Step S602: Control the walking component of the cleaning robot to move from the starting point to the turning point again based on the traveling section.

[0076] The robot is controlled to move from the starting point to the turning point again to prepare for the robot to move forward.

[0077] Step S603: Determine the turning point as the new starting point, and determine any point between the new starting point and the target point on the route as the new turning point. Repeat the above steps until there is no new turning point. The target point is the end point or U-turn point where the cleaning robot travels in the same posture on the route.

[0078] The target point is the end point or turning point of the cleaning robot moving in the same posture on the moving section. When the cleaning robot stops cleaning after moving to the target point, the target point is the end point; when the cleaning robot turns around and continues cleaning after moving to the target point, the target point is the turning point.

[0079] The distance from the starting point to the turning point and the distance from the new starting point to the new turning point can be the same or different; the number of round trips of the cleaning robot between the starting point and the turning point and the number of round trips between the new starting point and the new turning point can be the same or different, and this application does not make strict restrictions.

[0080] For example, continue with Figure 7 For example, in a travel section, the starting point is point A and the turning point is point B. After steps S401 and S402, the cleaning robot moves to the turning point B, and then determines the turning point B as the new starting point A1. After any point between the new starting point A1 and the target point C on the route is determined as the new turning point B1, steps S401 and S402 are repeated, that is, the cleaning robot is controlled to move from the new starting point A1 to the new turning point B1 after at least one round trip between the new starting point A1 and the new turning point B1, and so on, until there is no new turning point, that is, until the new starting point coincides with the target point C of the route, and the reciprocating progressive movement is completed. Among them, the distance between the starting point A and the turning point B can be the same as or different from the distance between the new starting point A1 and the new turning point B1. The number of round trips of the cleaning robot between the starting point A and the turning point B can be the same as or different from the number of round trips between the new starting point A1 and the new turning point B1. For example, if the area between the starting point A and the turning point B is dirty, the number of round trips between the starting point A and the turning point B can be set to 3 times. If the area between the new starting point A1 and the new turning point B1 is cleaner, the number of round trips between the new starting point A1 and the new turning point B1 can be set to 1 time.

[0081] Step S604: Determine whether the target point is a U-turn point. If the target point is a U-turn point, execute step S405.

[0082] Step S605: Control the cleaning robot to turn around to a new starting point, and repeat the steps of returning from the starting point to the target point until all travel sections are completed.

[0083] The turning point may be a position where the cleaning robot encounters an obstacle, or a boundary of a cleaning sub-area. When the target point is the turning point, the cleaning robot needs to be controlled to turn around and travel to a new starting point.

[0084] Specifically, according to different travel routes, different methods are used to control the cleaning robot to turn around to a new starting point. Now, different control methods are explained in detail.

[0085] The first control method: when the cleaning robot encounters an obstacle such as a wall during its travel route, it is necessary to control the cleaning robot to turn around and travel along the original travel route. Specifically, controlling the cleaning robot to turn around to a new starting point includes:

[0086] Step S6051a: Determine the U-turn point of the travel section as the new starting point, and determine the starting point of the travel section as the new target point.

[0087] like Figure 4 As shown, the cleaning robot travels to the U-turn point C of the travel section 1, that is, when the cleaning robot travels to C and encounters an obstacle, it is necessary to control the cleaning robot to return along the travel section 1, so as to set the U-turn point C of the travel section 1 as the new starting point A1, and determine the original starting point A of the travel section as the new target point C1.

[0088] Step S6052a: Change the forward direction of the cleaning robot to a direction opposite to the original forward direction.

[0089] For example, Figure 4 As shown, assuming that the cleaning robot encounters a wall, the original forward direction of the cleaning robot is the direction close to the wall, and the direction away from the wall is the opposite direction to the original forward direction. By changing the direction, the cleaning robot can move along the original travel section to avoid obstacles.

[0090] The second control method: the entire cleaning area is divided into multiple sub-areas. For each cleaning sub-area, the cleaning robot needs to be controlled to turn around and move to a new route section. Specifically, controlling the cleaning robot to turn around to a new starting point includes:

[0091] Step S6051b: Control the walking component of the cleaning robot to move from the turning point to the starting point of the new travel section, and the preset distance is no greater than the width of the cleaning component.

[0092] The distance between the U-turn point and the starting point of the new travel section is less than or equal to the width of the cleaning component, thereby avoiding leaving uncleaned areas.

[0093] For example, Figure 8 As shown, the cleaning robot walks to the target point C1 of the travel section 1. When the target point C1 is a U-turn point, the cleaning robot turns around to the starting point A2 of the travel section 2, and then repeats the above steps S601-603 to clean the travel section 2, and then determines whether the target point C2 of the travel section 2 is a U-turn point. If so, it turns around again to the starting point of the travel section 3, and so on, until all travel sections are completed.

[0094] Step S6052b: Change the forward direction of the cleaning robot to a direction opposite to the original forward direction.

[0095] by Figure 8 Taking the route shown as an example, the original forward direction is the direction approaching the target point C1, and the direction away from the target point C1 is the opposite direction to the original forward direction, so that the cleaning robot can move along the new administrative section.

[0096] In some possible implementations, such as Fig. 9 As shown, in step S302, during the reciprocating progressive movement of the walking component of the cleaning robot, controlling the cleaning component of the cleaning robot to rotate at different speeds includes:

[0097] Step S901: During at least one round trip motion of the walking component of the cleaning robot from a starting point to a turning point, the cleaning component of the cleaning robot is controlled to rotate at a first preset speed, or to rotate alternately at a first preset speed and a second preset speed, wherein the second preset speed is less than the first preset speed.

[0098] Specifically, the cleaning assembly of the cleaning robot includes a rotatable brush roller and a water spray assembly for spraying water onto the brush roller, wherein the brush roller includes a roller and a driving component connected to the roller brush, and the driving component can drive the roller brush to rotate. The material of the roller brush is not limited, and it can be cotton cloth, fiber cloth, etc. The water spray assembly includes a box for storing cleaning liquid and a spraying pipeline connected between the box and the brush roller, so that the cleaning liquid can flow to the roller during the use of the cleaning device. A valve is also provided on the spraying pipeline to control whether the cleaning liquid in the box flows to the roller.

[0099] Before the cleaning component rotates at the first preset speed, the water spray component is controlled to spray water to the brush roller, so that the brush roller can absorb sufficient cleaning liquid. Specifically, the valve on the spray pipeline can be controlled to open, so that the cleaning liquid in the box flows to the brush roller by gravity. After the water spray component is controlled to stop spraying water, the brush roller is controlled to rotate at the first preset speed to allow the brush roller to shake off water.

[0100] After the brush roller is fully soaked with the cleaning liquid, the water spray assembly is controlled to stop spraying water, that is, the valve on the spraying pipeline is controlled to be closed. Then the brush roller is controlled to rotate at a first preset speed, so as to utilize centrifugal force to throw out the cleaning liquid on the brush roller, wherein the first preset speed can be preset by the staff, and in order to ensure that the cleaning liquid is thrown out quickly and fully, the first preset speed can be a higher rotation speed.

[0101] After the brush roller is spun off the water, it becomes relatively dry and regains its strong water absorption capacity. Therefore, the brush roller is controlled to rotate at the second preset speed, and the water absorption capacity restored by the brush roller can be used to absorb the sewage and stains on the ground into the dust box, thereby facilitating the collection and treatment of the dirt and completing the water absorption operation. Among them, the second preset speed can be preset by the staff. In order to ensure that the cleaning liquid and stains are fully absorbed, the second preset speed can be a slower rotation speed.

[0102] The different rotation speeds of the brush roller can be used to achieve water removal and water absorption operations without the need to set up a separate water absorption component. The component structure of the cleaning robot can be reduced, thereby reducing the production cost of the cleaning robot, simplifying the production process of the cleaning robot, and improving production efficiency.

[0103] During at least one round trip between the starting point and the turning point, the cleaning robot is controlled to rotate the cleaning component at a first preset speed, or to rotate alternately at the first preset speed and the second preset speed, that is, the cleaning component performs a water-spinning operation, or alternately spins water and absorbs water, which can ensure that the cleaning component repeatedly cleans the same area to further improve the cleaning effect. Specifically, whether the cleaning component performs a water-spinning operation, or alternately spins water and absorbs water during the round trip process can be preset by the staff.

[0104] For example, Figure 7 As shown, the starting point is point A and the turning point is point B. Assuming that the cleaning robot moves back and forth between point A and point B once, the cleaning component rotates at a first preset speed during this round trip to perform water-spinning operation, so that more cleaning liquid is soaked on the ground to make the stains easier to remove.

[0105] In another example, if the area between point A and point B has a relatively stubborn stain, then Fig.10As shown, the cleaning robot can move back and forth between point A and point B three times, and the cleaning component can rotate at a first preset speed during the three round trips to throw out the cleaning liquid, that is, to perform a water-throwing operation, or, as shown in FIG. Fig.11 As shown in FIG. 1 (where the solid line is the path of rotation at the first preset speed, and the dotted line is the path of rotation at the second preset speed), the first two round trips can be rotated at the first preset speed, and the last round trip can be rotated at the second preset speed, or, as shown in FIG. Fig.12 As shown (wherein the solid line is the path of rotation at the first preset speed, and the dotted line is the path of rotation at the second preset speed), it is also possible to rotate at the first preset speed during the first two round trips and the last time from point A to point B, and to rotate at the second preset speed during the last time from point B to point A. Similarly, in the round trip movement between point A and point B, the combination of rotation at the first preset speed and the second preset speed can be freely performed, and this application will not list them one by one.

[0106] Step S602: When the walking component of the cleaning robot moves from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to rotate at a second preset speed.

[0107] During the process of the cleaning robot moving from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to rotate at a second preset speed to absorb the sewage on the ground, so as to ensure that the area is subjected to at least one water absorption operation and reduce residual water stains on the ground. This not only effectively prevents pedestrians from slipping and falling due to the slippery ground, but also greatly reduces the absorbed dirt, thereby improving the cleaning effect.

[0108] Second, as Fig.13 As shown, an embodiment of the present invention provides a control device for a cleaning robot, comprising:

[0109] An acquisition module 1301 is used to acquire a travel route;

[0110] The control module 1302 is used to control the walking component of the cleaning robot to move back and forth gradually based on the travel route, and control the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot.

[0111] In some possible implementations, the control module 1102 is further used to control the cleaning component of the cleaning robot to throw away water, or alternately throw away water and absorb water, during at least one round trip movement of the walking component of the cleaning robot from the starting point to the turning point;

[0112] During the process that the walking component of the cleaning robot moves from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to absorb water.

[0113] In some possible implementations, the cleaning component of the cleaning robot includes a rotatable brush roller and a water spray component for spraying water onto the brush roller, and the control module 1102 is further used to control the water spray component to spray water onto the brush roller;

[0114] After the water spraying assembly is controlled to stop spraying water, the brush roller is controlled to rotate at a first preset speed so that the brush roller can spin off water.

[0115] In some possible implementations, the control module 1102 is further configured to control the brush roller to rotate at a second preset speed, where the second preset speed is less than the first preset speed.

[0116] In a third aspect, an embodiment of the present invention provides a cleaning robot, including a walking component 3, a cleaning component 4 and a controller;

[0117] A controller, wherein the controller is configured to execute the control method of the cleaning robot described in any one of the first aspects.

[0118] In some possible implementations, the cleaning robot is a mopping robot or a sweeping and mopping robot.

[0119] In a fourth aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute any step of the control method of the cleaning robot in the first aspect.

[0120] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer program instructions, which, when called and executed by a processor, implement the steps of any one of the cleaning robot control methods of the first aspect.

[0121] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control method for a cleaning robot, characterized in that: include: Get the route; Controlling the walking component of the cleaning robot to move back and forth gradually based on the travel route, and controlling the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and gradual movement of the walking component of the cleaning robot; The method of controlling the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot comprises: During at least one round trip movement of the walking component of the cleaning robot from the starting point to the turning point, the cleaning component of the cleaning robot is controlled to rotate at a first preset speed, or to rotate alternately at the first preset speed and a second preset speed, wherein the second preset speed is less than the first preset speed; wherein when the cleaning component rotates at the first preset speed, the cleaning component is performing a water-spinning operation; and when the cleaning component rotates at the second preset speed, the cleaning component is performing a water-absorbing operation; During the process of the walking component of the cleaning robot moving from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to rotate at the second preset speed.

2. The method according to claim 1, characterized in that The travel route includes at least one travel section, and the walking component of the cleaning robot is controlled to move back and forth in a progressive manner based on the travel route, including: Controlling the walking component of the cleaning robot to perform at least one round trip motion from a starting point to a turning point based on the travel section; Controlling the walking component of the cleaning robot to move from the starting point to the turning point again based on the travel section; Determine the turning point as the new starting point, and determine any point between the new starting point and the target point on the travel section as the new turning point, repeat the above steps until there is no new turning point, and the target point is the end point or U-turn point where the cleaning robot travels in the same posture on the travel section.

3. The method according to claim 2, characterized in that The step of determining the turning point as a new starting point, and determining any point between the new starting point and the target point on the travel section as a new turning point, and repeating the above steps until there is no new turning point, comprises: Determine whether the target point is a U-turn point. If the target point is a U-turn point, control the cleaning robot to turn around to a new starting point, and repeat the steps of returning from the starting point to the target point until all travel sections are completed.

4. The method according to claim 3, characterized in that The controlling the cleaning robot to turn around to a new starting point comprises: Determine the turning point of the traveling section as a new starting point, and determine the starting point of the traveling section as a new target point; Turning the forward direction of the cleaning robot to a direction opposite to the original forward direction; or, Controlling the walking component of the cleaning robot to move a preset distance from the turning point to the starting point of a new travel section, wherein the preset distance is no greater than the width of the cleaning component; The forward direction of the cleaning robot is turned to a direction opposite to the original forward direction.

5. A control device for a cleaning robot, characterized in that: include: An acquisition module is used to obtain a travel route; A control module, used to control the walking component of the cleaning robot to move back and forth gradually based on the travel route, and to control the cleaning component of the cleaning robot to rotate at different speeds during the reciprocating and progressive movement of the walking component of the cleaning robot; The control module is specifically used for: During at least one round trip movement of the walking component of the cleaning robot from the starting point to the turning point, the cleaning component of the cleaning robot is controlled to rotate at a first preset speed, or to rotate alternately at the first preset speed and a second preset speed, wherein the second preset speed is less than the first preset speed; wherein when the cleaning component rotates at the first preset speed, the cleaning component is performing a water-spinning operation; and when the cleaning component rotates at the second preset speed, the cleaning component is performing a water-absorbing operation; During the process of the walking component of the cleaning robot moving from the starting point to the turning point again, the cleaning component of the cleaning robot is controlled to rotate at the second preset speed.

6. A cleaning robot, characterized in that: Including walking components, cleaning components and controller; The controller is configured to execute the control method of the cleaning robot according to any one of claims 1-4.

7. The cleaning robot according to claim 6, characterized in that: The cleaning robot is a mopping robot or a sweeping and mopping robot.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the steps of the control method of the cleaning robot according to any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: Computer program instructions are stored, and when the computer program instructions are called and executed by a processor, the steps of the control method of the cleaning robot according to any one of claims 1 to 4 are implemented.

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