Mop cleaning method, device, robot base station and storage medium

Abstract

The embodiment of the present invention discloses a mop cleaning method, device, robot base station and storage medium. The method includes: obtaining cleaning data and sensor detection values ​​of the robot; screening the sensor detection values; determining the degree of dirtiness of the mop based on the screened sensor detection values; calculating the mop cleaning data according to the cleaning data and the degree of dirtiness; analyzing the mop cleaning data and planning a cleaning strategy; and cleaning the mop according to the cleaning strategy. This embodiment dynamically adjusts the cleaning data of each cleaning stage through sensor detection values ​​and cleaning data, plans the best cleaning strategy, and thus cleans the mop according to the cleaning strategy, thereby improving the cleaning efficiency, ensuring the best cleaning effect, and saving water costs.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a mop cleaning method, a mop cleaning device, a robot base station and a storage medium. Background Art

[0002] In recent years, with the development of artificial intelligence technology, intelligent robots that can sweep and wash the floor have been widely used. Such robots are generally equipped with a mop and a corresponding base station, which can perform operations such as water injection, mop washing, and charging for the robot. When the robot completes the cleaning task or needs to wash the mop, the robot automatically returns to the robot base station, and the base station can perform the mop washing operation according to the robot's instructions.

[0003] The existing robot base station has a fixed cleaning strategy and method for cleaning the mop. For example, the cleaning time, the strength of cleaning the mop, and the amount of water required for cleaning are all fixed, which will cause a certain amount of water waste, and cannot save the cleaning time of the mop, resulting in low cleaning efficiency. Based on this, how to reasonably plan the mop cleaning strategy and method to improve the mop cleaning efficiency is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a mop cleaning method, device, robot base station and storage medium.

[0005] In a first aspect, the present invention provides a mop cleaning method, comprising:

[0006] Obtain the robot's cleaning data and sensor detection values;

[0007] Screening the sensor detection value;

[0008] Determine the dirtiness of the mop based on the filtered sensor detection values;

[0009] Calculating mop cleaning data according to the cleaning data and the degree of dirtiness;

[0010] Analyze the mop cleaning data and plan a cleaning strategy;

[0011] Wash the mop according to the described cleaning strategy.

[0012] In one embodiment, the calculating the mop cleaning data according to the cleaning data and the dirtiness comprises:

[0013] The cleaning data and the sensor detection value are calculated according to a predetermined weight value and a predetermined calculation formula to obtain the total water output, total cleaning time and cleaning strength required for cleaning the mop, as the mop cleaning data.

[0014] In one embodiment, analyzing the mop cleaning data and planning a cleaning strategy includes:

[0015] Based on the total water output and the total cleaning time, the water output and the cleaning time corresponding to each predetermined cleaning stage are calculated.

[0016] In one embodiment, the calculating of the water output and the cleaning time corresponding to each predetermined cleaning stage based on the total water output and the total cleaning time includes:

[0017] Based on the mapping relationship between the predetermined total water output range and the water output ratio value of each stage, searching for the ratio value of the water output of each cleaning stage corresponding to the total water output, so as to calculate the water output corresponding to each cleaning stage;

[0018] Based on the mapping relationship between the predetermined total cleaning time range and the cleaning time ratio value of each stage, the cleaning time ratio value of each cleaning stage corresponding to the total cleaning time is found to calculate the cleaning time corresponding to each cleaning stage.

[0019] In one embodiment, the screening of the sensor detection value includes:

[0020] Eliminate the maximum value and the minimum value among the sensor detection values;

[0021] The sensor detection values ​​after the elimination process are averaged to obtain a detection average value.

[0022] In one embodiment, determining the dirtiness of the mop based on the filtered sensor detection value includes: searching and determining the dirtiness level corresponding to the detection average value based on a predetermined dirtiness level mapping table.

[0023] In one embodiment, obtaining the cleaning data and sensor detection values ​​of the robot includes:

[0024] Acquiring cleaning data of the robot, wherein the cleaning data includes cleaning mode parameters and environmental parameters;

[0025] The parameters are collected by the sensor at a predetermined period to obtain sensor detection values ​​of a predetermined number of periods.

[0026] In a second aspect, the present invention provides a mop cleaning device, comprising:

[0027] Parameter acquisition module, used to obtain the robot's cleaning data and sensor detection values;

[0028] A screening module, used for screening the sensor detection value;

[0029] A dirtiness determination module, used to determine the dirtiness of the mop based on the filtered sensor detection values;

[0030] A calculation module, used for calculating mop cleaning data according to the cleaning data and the dirtiness;

[0031] A strategy planning module, used to analyze the mop cleaning data and plan a cleaning strategy;

[0032] The cleaning module is used to clean the mop according to the cleaning strategy.

[0033] In a third aspect, the present invention provides a robot base station, the robot base station comprising a memory and at least one processor, the memory storing a computer program, and the processor being used to execute the computer program to implement the above-mentioned mop cleaning method.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed, the above-mentioned mop cleaning method is implemented.

[0035] The embodiments of the present invention have the following advantages:

[0036] This embodiment obtains the cleaning data and sensor detection values ​​of the robot; screens the sensor detection values; determines the dirtiness of the mop based on the screened sensor detection values; calculates the mop cleaning data based on the cleaning data and the dirtiness; analyzes the mop cleaning data and plans the cleaning strategy; and cleans the mop according to the cleaning strategy. This embodiment dynamically adjusts the cleaning data (water output, cleaning time, and cleaning intensity) of each cleaning stage through sensor detection values ​​and cleaning data, plans the best cleaning strategy, and thus cleans the mop according to the cleaning strategy, rationally plans the mop cleaning strategy and cleaning method, improves the cleaning efficiency, ensures the best cleaning effect, and saves water costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0038] Figure 1 This is a schematic diagram of a first implementation of the mop cleaning method in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a second implementation of the mop cleaning method in an embodiment of the present invention;

[0040] Figure 3This is a schematic diagram of a third implementation of the mop cleaning method in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a fourth implementation of the mop cleaning method in an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of an implementation of a mop cleaning device in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0046] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0047] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0048] Example 1

[0049] Please refer to Figure 1 , this embodiment proposes a mop cleaning method, and the mop cleaning method is described in detail below.

[0050] S110, obtaining the cleaning data and sensor detection values ​​of the robot.

[0051] In a possible implementation, Figure 2 As shown, step 110 may specifically include the following steps:

[0052] S111, obtaining cleaning data of the robot.

[0053] S112, collecting various parameters through sensors at a predetermined period to obtain sensor detection values ​​of a predetermined number of periods.

[0054] When the robot completes its cleaning task or needs to clean the mop, the robot automatically returns to the robot base station (hereinafter referred to as the base station). The base station receives the robot's cleaning data, which includes the cleaning mode (water-saving mode, key cleaning mode, stubborn stain mode, etc.) and environmental parameters set by the user when the robot performs the cleaning task. The robot senses the degree of dirtiness of the cleaning environment through its own sensors. The cleaning environment refers to the material and degree of dirtiness of the floor. For example, before returning to the base station, the robot cleans a particularly dirty tile floor. For another example, the robot cleans a relatively clean wooden floor. In this embodiment, for the convenience of explanation, the cleaning data can be simply quantified. For example, the cleaning mode M is quantified to 1-10; the environmental parameter E is quantified to 1-10.

[0055] In addition, the processor on the base station collects various parameters in the robot sensor according to a predetermined period (for example, 10ms), and the sensor parameters of each period will be stored, thereby obtaining the sensor detection values ​​of a predetermined number of periods (for example, 100 periods), where the sensor detection values ​​can be voltage values ​​or current values.

[0056] S120, screening the sensor detection values.

[0057] In a possible implementation, Figure 3 As shown, step S120 may specifically include the following steps:

[0058] S121, removing the maximum value and the minimum value among the sensor detection values;

[0059] S122, calculating the average value of the sensor detection values ​​after the elimination process to obtain the detection average value.

[0060] After the base station obtains the voltage value or current value of the degree of dirtiness output by the robot sensor, this embodiment is explained by taking the sensor detection value as a voltage value as an example. After receiving the voltage value of the sensor (the voltage value is 0-3.3V), the processor of the base station first performs a screening process, removes the maximum and minimum values ​​of all voltage values, and then averages the remaining voltage values ​​to obtain the detection average value, and then performs a 12-bit digital quantization on the detection average value, and then multiplies the quantized value by 10; for example, when the voltage value is 0-3.3V, the corresponding quantized value multiplied by 10 has a value range of 0-40960.

[0061] S130, determining the dirtiness of the mop based on the filtered sensor detection values.

[0062] In a feasible implementation manner, based on a predetermined dirt level mapping table, the dirt level corresponding to the detected average value is searched and determined.

[0063] Exemplarily, the predetermined dirt level mapping table includes a mapping relationship between dirt levels and sensor detection values ​​(or detection average values, or digital quantization values ​​after digital quantization of the detection average values), and the numerical ranges corresponding to different sensor detection values ​​or detection average values ​​or digital quantization values ​​correspond to different dirt levels and degrees of dirtiness; based on the predetermined dirt level mapping table, the degree of dirtiness of the mop can be determined.

[0064] For example, the dirt level mapping table may be shown in Table 1 below:

[0065] Table 1 Dirt level mapping table

[0066]

[0067]

[0068] S140, calculating mop cleaning data according to the cleaning data and the degree of dirtiness.

[0069] In a feasible implementation, the cleaning data and sensor detection values ​​(or corresponding digital quantization values) are calculated according to predetermined weight values ​​and predetermined calculation formulas to obtain the total water output, total cleaning time and cleaning intensity required for cleaning the mop as mop cleaning data.

[0070] In this embodiment, the cleaning data includes the cleaning mode and environmental parameters selected by the user. For the convenience of explanation, the cleaning parameters are simply quantified. The user selects the cleaning mode M (value ranges from 1 to 10), the environmental parameter E (value ranges from 1 to 10), and the sensor detection value S (value ranges from 1 to 10); sets the water output W (value ranges from 1 to 100), the cleaning time T (value ranges from 1 to 100), and the cleaning intensity F (value ranges from 1 to 100).

[0071] The cleaning data and sensor detection values ​​are calculated according to predetermined weight values ​​and a predetermined calculation formula to obtain the cleaning data of the mop, wherein the cleaning data includes total water output, total cleaning time and cleaning intensity; the predetermined weight values ​​can be set according to actual conditions and are not limited here.

[0072] Exemplarily, a predetermined weight value may be set, and the calculation process of setting the water output W, the cleaning time T, and the cleaning intensity F is as follows:

[0073] W = M*2+E*4+S*4;

[0074] T = M*5+E*3+S*2;

[0075] F=M*3+E*3+S*4.

[0076] S150, analyzing the mop cleaning data and planning a cleaning strategy.

[0077] In a feasible implementation, the water output and cleaning time corresponding to each cleaning stage are calculated based on the total water output and the total cleaning time.

[0078] In a possible implementation, Figure 4 As shown, step S150 may specifically include the following steps:

[0079] S151, based on the mapping relationship between the predetermined total water output range and the water output ratio value of each stage, searching for the ratio value of the water output of each washing stage corresponding to the total water output, so as to calculate the water output corresponding to each washing stage;

[0080] S152, based on the mapping relationship between the predetermined total cleaning time range and the cleaning time ratio value of each stage, searching for the cleaning time ratio value of each cleaning stage corresponding to the total cleaning time, so as to calculate the cleaning time corresponding to each cleaning stage.

[0081] After calculating the total water output, total cleaning time and cleaning intensity, the mop cleaning data is analyzed and the cleaning strategy is planned. The cleaning strategy includes the water spraying method (indirect, continuous) and the movement method of the mop cleaning component (uniform speed, accelerated, the lower the movement speed, the greater the cleaning intensity).

[0082] For example, a fixed mop cleaning stage (stage) and the water spraying method and cleaning component movement method of each cleaning stage are set, and the cleaning intensity of each cleaning stage is consistent, and the cleaning time and water output of each cleaning stage are dynamically adjusted. Specifically, the cleaning stages and the water spraying method and cleaning component movement method of each stage are set as follows:

[0083] Cleaning stage 1: first spray water continuously (water output W1) for a period of time (cleaning time T1), and the mop cleaning component is stationary;

[0084] Cleaning stage 2: In this stage, water is sprayed indirectly throughout the whole process (water output W2), and the mop cleaning component first accelerates (cleaning force F1) for a period of time (cleaning time T2), and then moves at a constant speed (cleaning force F2) for a period of time (cleaning time T3).

[0085] Among them, the water output W = W1 + W2, the cleaning time T = T1 + T2 + T3, and the cleaning intensity F = F1 = F2.

[0086] Exemplarily, a mapping relationship between the total water output range and the proportion of the water output in each stage, as well as a mapping relationship between the total cleaning time range and the proportion of the cleaning time in each stage, can be set, so as to determine the water output and cleaning time in each stage according to the corresponding mapping relationship, that is, according to the mapping relationship between the predetermined total water output range and the proportion of the water output in each stage, the proportion of the water output in each cleaning stage corresponding to the total water output is found and the proportion is calculated to obtain the water output corresponding to each cleaning stage; according to the mapping relationship between the predetermined total cleaning time range and the proportion of the cleaning time in each stage, the proportion of the cleaning time in each cleaning stage corresponding to the total cleaning time is found and the proportion is calculated to obtain the cleaning time corresponding to each cleaning stage.

[0087] For example, the relationship between the total water output range and the water output at each stage can be set as shown in Table 2 below:

[0088] Table 2 Relationship between total water output range and water output at each stage

[0089]

[0090] The relationship between the total cleaning time range and the cleaning time of each stage can be set as shown in Table 3 below:

[0091] Table 3 Relationship between total cleaning time range and cleaning time at each stage

[0092]

[0093] For example, when the total water output W is 80, the total cleaning time T is 50, and the cleaning intensity F is 60, the optimal cleaning strategy is:

[0094] Cleaning stage 1: first, water is sprayed continuously (water output W1) for a period of time (T1), and the mop cleaning component is stationary;

[0095] Cleaning stage 2: In this stage, water is sprayed indirectly throughout the whole process (W2), and the mop cleaning component first accelerates (F1) for a period of time (T2), and then moves at a constant speed (F2) for a period of time (T3). Among them, the water output W = W1 + W2, the cleaning time T = T1 + T2 + T3, and the cleaning force F = F1 = F2; combined with the above Table 2 and Table 3, it can be calculated that W1 is 56, W2 is 24; T1 is 5, T2 is 35, T3 is 10; F1 = F2 = 60.

[0096] S160, cleaning the mop according to the cleaning strategy.

[0097] After the water output, cleaning time and cleaning intensity of each predetermined cleaning stage are calculated, the mop can be cleaned according to each cleaning stage and a cleaning strategy formed by the cleaning data corresponding to each stage.

[0098] For example, when the total water output W is 80, the total cleaning time T is 50, and the cleaning force F is 60, the mop can be cleaned according to the following cleaning strategy:

[0099] Cleaning stage 1: first spray water continuously (water output is 56) for a period of time (cleaning time is 5), and the mop cleaning component is stationary;

[0100] Cleaning stage 2: In this stage, water is sprayed indirectly throughout the whole process (the water output is 24), and the mop cleaning component first accelerates (cleaning force is 60) for a period of time (cleaning time is 35), and then moves at a constant speed (cleaning force is 60) for a period of time (cleaning time is 10).

[0101] This embodiment obtains the cleaning data and sensor detection values ​​of the robot; screens the sensor detection values; determines the dirtiness of the mop based on the screened sensor detection values; calculates the mop cleaning data based on the cleaning data and the dirtiness; analyzes the mop cleaning data and plans the cleaning strategy; and cleans the mop according to the cleaning strategy. This embodiment dynamically adjusts the cleaning data (water output, cleaning time, and cleaning intensity) of each cleaning stage through sensor detection values ​​and cleaning data, plans the best cleaning strategy, and thus cleans the mop according to the cleaning strategy, rationally plans the mop cleaning strategy and cleaning method, improves the cleaning efficiency, ensures the best cleaning effect, and saves water costs.

[0102] Example 2

[0103] Please refer to Figure 5 , an embodiment of the present invention further provides a mop cleaning device, comprising:

[0104] A parameter acquisition module 501 is used to acquire the cleaning data and sensor detection values ​​of the robot;

[0105] A screening module 502, used for screening the sensor detection value;

[0106] A dirtiness determination module 503, for determining the dirtiness of the mop based on the filtered sensor detection values;

[0107] A calculation module 504, for calculating mop cleaning data according to the cleaning data and the dirtiness;

[0108] A strategy planning module 505 is used to analyze the mop cleaning data and plan a cleaning strategy;

[0109] The cleaning module 506 is used to clean the mop according to the cleaning strategy.

[0110] The above-mentioned mop cleaning device corresponds to the mop cleaning method of Example 1; any optional items in Example 1 are also applicable to this embodiment and will not be described in detail here.

[0111] An embodiment of the present invention further provides a robot base station, which includes a memory and at least one processor, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the mop cleaning method of the above embodiment.

[0112] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the robot base station (such as sensor detection values, mop cleaning data, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0113] An embodiment of the present invention further provides a computer-readable storage medium storing machine executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the steps of the mop cleaning method of the above embodiment.

[0114] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0116] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0117] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mop cleaning method, characterized in that: The method comprises: Acquire cleaning data and sensor detection values ​​of the robot; the cleaning data includes cleaning mode parameters and environmental parameters; the cleaning mode parameters are cleaning modes set by the user when the robot performs a cleaning task; Screening the sensor detection value; Determine the dirtiness of the mop based on the filtered sensor detection values; Calculating mop cleaning data according to the cleaning data and the degree of dirtiness; Analyze the mop cleaning data and plan a cleaning strategy; cleaning the mop according to the cleaning strategy; The calculating of the mop cleaning data according to the cleaning data and the degree of dirtiness includes: The cleaning data and the sensor detection value are respectively calculated according to a predetermined weight value and a predetermined calculation formula to obtain a total water output, a total cleaning time, and a cleaning force required for cleaning the mop as the mop cleaning data; The analyzing the mop cleaning data and planning a cleaning strategy includes: Based on the total water output and the total cleaning time, the water output and the cleaning time corresponding to each predetermined cleaning stage are calculated.

2. The mop cleaning method according to claim 1, characterized in that: The calculating of the water output and the cleaning time corresponding to each predetermined cleaning stage based on the total water output and the total cleaning time includes: Based on the mapping relationship between the predetermined total water output range and the water output ratio value of each stage, searching for the ratio value of the water output of each cleaning stage corresponding to the total water output, so as to calculate the water output corresponding to each cleaning stage; Based on the mapping relationship between the predetermined total cleaning time range and the cleaning time ratio value of each stage, the cleaning time ratio value of each cleaning stage corresponding to the total cleaning time is found to calculate the cleaning time corresponding to each cleaning stage.

3. The mop cleaning method according to claim 1, characterized in that: The screening of the sensor detection value comprises: Eliminate the maximum value and the minimum value among the sensor detection values; The sensor detection values ​​after the elimination process are averaged to obtain a detection average value.

4. The mop cleaning method according to claim 3, characterized in that: Determining the dirtiness of the mop based on the filtered sensor detection value includes: searching and determining the dirtiness level corresponding to the detection average value based on a predetermined dirtiness level mapping table.

5. The mop cleaning method according to claim 1, characterized in that: The obtaining of the cleaning data and sensor detection values ​​of the robot includes: Acquiring cleaning data of the robot, wherein the cleaning data includes cleaning mode parameters and environmental parameters; The parameters are collected by the sensor at a predetermined period to obtain sensor detection values ​​of a predetermined number of periods.

6. A mop cleaning device, characterized in that: include: Parameter acquisition module, used to obtain the robot's cleaning data and sensor detection values; The cleaning data includes cleaning mode parameters and environmental parameters; The cleaning mode parameter is a cleaning mode set by the user when the robot performs a cleaning task; A screening module, used for screening the sensor detection value; A dirtiness determination module, used to determine the dirtiness of the mop based on the filtered sensor detection values; A calculation module, used for calculating mop cleaning data according to the cleaning data and the dirtiness; A strategy planning module, used to analyze the mop cleaning data and plan a cleaning strategy; A cleaning module, used for cleaning the mop according to the cleaning strategy; Wherein, the calculation module is specifically used for: The cleaning data and the sensor detection value are respectively calculated according to a predetermined weight value and a predetermined calculation formula to obtain a total water output, a total cleaning time, and a cleaning force required for cleaning the mop as the mop cleaning data; Wherein, the strategy planning module is specifically used for: Based on the total water output and the total cleaning time, the water output and the cleaning time corresponding to each predetermined cleaning stage are calculated.

7. A robot base station, characterized in that: The method comprises a memory and at least one processor, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the mop cleaning method according to any one of claims 1 to 5.

8. A computer storage medium, characterized in that The computer program is stored therein, and when the computer program is executed, the mop cleaning method according to any one of claims 1 to 5 is implemented.

Images