Drum control method and system of washing and mopping robot, washing and mopping robot and medium

Abstract

The embodiment of the present invention discloses a drum control method, system, a washing and mopping robot and a medium. The washing and mopping robot comprises: a drum device, a flexible cleaning material layer coated on the outer surface of the drum device, and a lifting device for controlling the height of the drum device relative to the ground; the drum control method of the washing and mopping robot comprises the following steps: cleaning the target cleaning area according to the cleaning instruction; obtaining the current cleaning parameters, and obtaining the rotation direction of the drum device according to the cleaning parameters, wherein the rotation direction includes the same direction as the movement direction of the washing and mopping robot or the opposite direction; judging whether the flexible cleaning material needs to be cleaned, and if the flexible cleaning material needs to be cleaned, driving the lifting device to raise the drum device, and driving the drum device to rotate according to the preset washing direction. The present invention can effectively improve the cleaning effect and save resources.

Description

Technical Field

[0001] The invention relates to the field of washing and mopping robots, and in particular to a drum control method and system of the washing and mopping robot, the washing and mopping robot and a medium. Background Art

[0002] A washing and mopping robot is a type of smart home appliance that can automatically clean the floor in a room with a certain degree of artificial intelligence. In order to improve the cleaning efficiency and cleaning degree of the washing and mopping robot, a rotating drum for cleaning the floor is provided on the washing and mopping robot. When the washing and mopping robot moves forward normally, the flexible cleaning material on the surface of the drum device rubs against the floor to clean the floor.

[0003] However, the drum of the washing and mopping robot only rotates following the movement of the washing and mopping robot, and cannot effectively remove the stains on the ground, especially for stubborn stains or the ground with a relatively rough surface, the rotation of the drum device can only remove part of the stains. Summary of the invention

[0004] Based on this, it is necessary to propose a drum control method, system, washing and mopping robot and medium for the above-mentioned problems, which can effectively improve the cleaning effect and cleaning efficiency.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide a drum control method of a washing and mopping robot, which is applied to the washing and mopping robot, the washing and mopping robot comprising: a drum device, a flexible cleaning material layer covering the outer surface of the drum device, and a lifting device for controlling the height of the drum device relative to the ground;

[0006] The drum control method of the washing and mopping robot comprises the following steps:

[0007] Clean the target cleaning area according to the cleaning instructions;

[0008] Acquire current cleaning parameters, and acquire the rotation direction of the drum device according to the cleaning parameters, wherein the rotation direction includes a direction that is the same as or opposite to the movement direction of the washing and mopping robot;

[0009] It is determined whether the flexible cleaning material needs to be cleaned. If the flexible cleaning material needs to be cleaned, the lifting device is driven to raise the roller device, and the roller device is driven to rotate according to a preset washing direction.

[0010] Wherein, the step of obtaining the rotation direction of the drum device according to the cleaning parameter further includes:

[0011] Acquire the rotation speed of the drum device and the rotation time of the drum device rotating in the rotation direction according to the cleaning parameter;

[0012] The cleaning parameters include at least one of the cleaning time, the expected cleaning time, the rotation resistance, the rotation direction, the cleaning environment conditions, the user's cleaning requirements, and the cleaning mode.

[0013] Wherein, the step of obtaining the rotation speed of the drum device and the rotation time of the drum device in the rotation direction according to the cleaning parameter includes:

[0014] It is determined whether the rotation direction changes. If the rotation direction changes, when the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the rotation speed of the drum device is increased.

[0015] Wherein, after the step of determining whether the rotation direction has changed, the following steps are included:

[0016] If the rotation direction changes, a waterproof operation is performed between the drum device and the washing and mopping robot.

[0017] Wherein, the step of obtaining the rotation speed of the drum device and the rotation time of the drum device in the rotation direction according to the cleaning parameter includes:

[0018] When the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the roller device is lowered.

[0019] Wherein, the step of obtaining the rotation speed of the drum device and the rotation time of the drum device in the rotation direction according to the cleaning parameter includes:

[0020] The rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

[0021] Wherein, the step of driving the drum device to rotate in a preset elution direction includes:

[0022] The current rotation direction of the drum device is obtained, and the direction opposite to the current rotation direction is used as the preset elution direction.

[0023] The technical solution adopted by the present invention to solve the technical problem is: to provide a drum control system of a washing and mopping robot, which is applied to the washing and mopping robot, the washing and mopping robot comprising: a drum device, a flexible cleaning material layer covering the outer surface of the drum device, and a lifting device to control the height of the drum device relative to the ground;

[0024] The drum control system of the washing and mopping robot includes the following modules:

[0025] A rotation module, used to obtain current cleaning parameters, and obtain the rotation direction of the drum device according to the cleaning parameters, wherein the rotation direction may be the same as or opposite to the movement direction of the washing and mopping robot;

[0026] The cleaning module is used to determine whether the flexible cleaning material needs to be cleaned. If the flexible cleaning material needs to be cleaned, the lifting device is driven to raise the roller device, and the roller device is driven to rotate in a preset direction.

[0027] The technical solution adopted by the present invention to solve its technical problem is: to provide a washing and mopping robot, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0028] The technical solution adopted by the present invention to solve its technical problem is: providing a storage medium storing a computer program, and when the computer program is executed by a processor, the processor executes the steps of the above method.

[0029] The embodiments of the present invention have the following beneficial effects:

[0030] The rotation direction of the drum device is obtained according to the current cleaning parameters. Different rotation directions correspond to different cleaning effects. The rotation direction of the drum device is set according to the actual cleaning needs, which can effectively improve the cleaning effect and cleaning efficiency, realize the reasonable allocation of resources, and avoid waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] in:

[0033] Figure 1 It is a flow chart of a first embodiment of a drum control method of a washing and mopping robot provided by the present invention;

[0034] Figure 2 is a structural schematic diagram of a first embodiment of a washing and mopping robot provided by the present invention;

[0035] Figure 3a It is a schematic diagram when the rotation direction is the same as the movement direction of the washing and mopping robot;

[0036] Figure 3bIt is a schematic diagram when the rotation direction is opposite to the movement direction of the washing and mopping robot;

[0037] Figure 4a It is a structural schematic diagram of the waterproof cover provided by the present invention in a closed state;

[0038] Figure 4b It is a schematic structural diagram of the waterproof cover provided by the present invention in an open state;

[0039] Figure 5 is a flow chart of a second embodiment of the drum control method of the washing and mopping robot provided by the present invention;

[0040] Figure 6 It is a structural schematic diagram of an embodiment of a drum control system of a washing and mopping robot provided by the present invention;

[0041] Figure 7 is a structural schematic diagram of a second embodiment of the washing and mopping robot provided by the present invention;

[0042] Figure 8 It is a structural schematic diagram of an embodiment of the storage medium provided by the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Please refer to Figure 1 and Figure 2 , Figure 1 It is a flow chart of the first embodiment of the drum control method of the washing and mopping robot provided by the present invention. Figure 2 1 is a schematic diagram of the structure of the first embodiment of the washing and mopping robot provided by the present invention. Figure 2As shown in , the washing and mopping robot 10 includes a roller device 11, a flexible cleaning material layer 12 coated on the outer surface of the roller device, and a lifting device 13 for controlling the height of the roller device 11 relative to the ground. When the washing and mopping robot 10 cleans the target area, the flexible cleaning material layer 12 is in a wet state, and the lifting device 13 controls the height of the roller device 11, thereby controlling the contact area between the flexible cleaning material layer 12 and the ground currently being cleaned (the contact area can be 0). When the lifting device 13 raises the roller device 11, the flexible cleaning material layer 12 does not contact the ground currently being cleaned, and when the lifting device 13 lowers the roller device 11, the flexible cleaning material layer 12 contacts the ground currently being cleaned, and the size of the specific contact area is related to the position where the lifting device 13 lowers the roller device 11. When the lifting device 13 lowers the roller device 11, the flexible cleaning material layer 12 can clean the ground currently being cleaned by adjusting the rotation speed of the roller device 11.

[0045] The drum control method of the washing and mopping robot provided by the present invention comprises the following steps:

[0046] S101: Cleaning the target cleaning area according to the cleaning instruction.

[0047] In a specific implementation scenario, the washing and mopping robot 10 receives a cleaning instruction input by a target user, and the cleaning instruction may include at least one of a target cleaning area, a target cleaning time, and a target cleaning mode. Among them, the target cleaning mode includes a deep cleaning mode and a normal cleaning mode. The rotation speed of the drum device 11 corresponding to different target cleaning modes is different or the rotation law is different. The position where the lifting device 13 lowers the drum device 11 is also different. It can be understood that the lower the position of the drum device 11 is lowered, the stronger the cleaning intensity. The faster the rotation speed of the drum device 11, the stronger the cleaning intensity. When the rotation direction of the drum device 11 is the same as the forward direction of the washing and mopping robot, the cleaning intensity is low. When the rotation direction of the drum device 11 is opposite to the forward direction of the washing and mopping robot, the cleaning intensity is high. In this implementation scenario, after receiving the cleaning instruction, the washing and mopping robot 10 cleans the target cleaning area at the target cleaning time according to the cleaning instruction in the specified target cleaning mode. The target cleaning area can be divided and specified by the user, or it can be determined by the washing and mopping robot itself.

[0048] S102: Acquire current cleaning parameters, and acquire the rotation direction of the drum device according to the cleaning parameters, where the rotation direction may be the same as or opposite to the movement direction of the washing and mopping robot.

[0049] In a specific implementation scenario, the current cleaning parameters are obtained, and the cleaning parameters can be collected by the sensors, cameras, positioning modules, and communication modules on the washing and mopping robot 10. For example, the motion sensor on the washing and mopping robot 10 detects that the current motion resistance is large, or the current motion speed is slow, indicating that the current ground is dirty. Or the ground dirtiness degree parameters are obtained by performing image detection on the image of the target cleaning area collected by the camera. Cleaning parameters can also include the cleaning time or the cleaning time using the current rotation direction, or the estimated cleaning time. Cleaning parameters can also include user cleaning requirements, such as the user's need for deep cleaning. Cleaning parameters can also include cleaning modes, and cleaning modes include normal cleaning mode, deep cleaning mode, or user-customized cleaning mode. When the cleaning mode is a user-customized cleaning mode, the user sets the rotation direction and rotation speed of the drum device and the rotation time or rotation distance of each rotation direction.

[0050] The rotation direction of the drum device includes the same direction as the movement direction of the washing and mopping robot or the opposite direction. Figure 3a and Figure 3b , wherein the straight arrow indicates the movement direction of the washing and mopping robot, and the curved arrow indicates the rotation direction of the drum device. Figure 3a This is a schematic diagram when the rotation direction is the same as the movement direction of the washing and mopping robot. Figure 3b It is a schematic diagram when the rotation direction is opposite to the movement direction of the washing and mopping robot. In an implementation scenario, different rotation directions correspond to different rotation speeds, and the rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction. It is understandable that the resource consumption when the rotation direction is opposite to the movement direction is greater than the resource consumption when the rotation direction is the same as the movement direction. Therefore, if the drum device is driven to rotate in the direction opposite to the movement direction for a good cleaning effect, it may cause unnecessary waste of resources.

[0051] The rotation direction of the drum device is obtained according to the cleaning parameters. For example, when the drum device has rotated in one direction for a preset time, the rotation direction of the drum device is changed to rotate in another direction. For another example, when it is detected that the rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, and it is detected that the current rotation resistance is large, the rotation direction of the drum device is changed to the opposite direction of the rotation of the washing and mopping robot. For another example, when the ground dirtiness parameter (such as dust coverage, oil coverage, etc.) obtained by the camera is large, the rotation direction of the drum device is set to be opposite to the rotation direction of the washing and mopping robot. For another example, when the current cleaning mode is the normal cleaning mode, the rotation direction of the drum device is set to be the same as the rotation direction of the washing and mopping robot. When the current cleaning mode is the deep cleaning mode, the rotation direction of the drum device is set to be opposite to the rotation direction of the washing and mopping robot. For another example, when the preset cleaning time is less than the preset time, the rotation direction of the drum device is changed to be opposite to the current rotation direction, or the rotation direction of the drum device is set to be opposite to the rotation direction of the washing and mopping robot.

[0052] It is understandable that when the rotation direction is the same as the movement direction, a slower rotation speed can achieve a better cleaning effect. When the rotation direction is opposite to the movement direction, a faster rotation speed can achieve a better cleaning effect. Therefore, in an implementation scenario, the rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

[0053] S103: Determine whether the flexible cleaning material needs to be cleaned, if so, execute step S104.

[0054] In a specific implementation scenario, the flexible cleaning material will become dirty when cleaning the floor. The severely dirty flexible cleaning material cannot clean the floor, so the flexible cleaning material needs to be cleaned. Whether the flexible cleaning material needs to be cleaned can be determined based on parameters such as the cleaning time, the cleaned area, and the degree of dirtiness of the floor. If the cleaning time reaches a preset cleaning time and / or the cleaned area reaches a preset area and / or the floor is severely dirty, it is determined that the flexible cleaning material needs to be cleaned.

[0055] S104: driving the lifting device to raise the drum device, and driving the drum device to rotate according to a preset washing direction.

[0056] In a specific implementation scenario, when the flexible cleaning material needs to be cleaned, the washing and mopping robot can stop moving, drive the lifting device to lift the drum device, and drive the drum device to rotate in a preset washing direction. The rotation speed can be a preset high speed, so that the dirty water is thrown out, and the washing and mopping robot refills the cleaning liquid to the flexible cleaning material. When the drum device rotates at a high speed, the waterproof operation is started to prevent dirty water from flowing into the washing and mopping robot and causing the robot to malfunction. For example, the gap between the drum device and the washing and mopping robot body can be closed when the drum device rotates at a high speed. Alternatively, the drum device and the flexible cleaning material can be placed in a waterproof cover. Please refer to Figure 4a and Figure 4b , Figure 4a It is a structural schematic diagram of the waterproof cover provided by the present invention in a closed state. Figure 4b It is a structural schematic diagram of the waterproof cover provided by the present invention in an open state.

[0057] In this implementation scenario, the preset elution direction is fixed, for example, a rotation direction opposite to the motion direction. In other implementation scenarios, the preset elution direction can be set according to actual needs. The current rotation direction of the drum device can be obtained, and the direction opposite to the current rotation direction is used as the preset elution direction. For example, if the current rotation direction is opposite to the motion direction, the direction same as the motion direction is used as the preset elution direction.

[0058] From the above description, it can be seen that in this embodiment, the rotation direction of the drum device is obtained according to the current cleaning parameters. Different rotation directions correspond to different cleaning effects. The rotation direction of the drum device is set according to actual cleaning needs, which can effectively improve the cleaning effect and cleaning efficiency, realize the reasonable allocation of resources, and avoid waste of resources.

[0059] See also Figure 5 , Figure 5 1 is a flow chart of a second embodiment of the drum control method of the washing and mopping robot provided by the present invention. The drum control method of the washing and mopping robot provided by the present invention comprises the following steps:

[0060] S201: Cleaning the target cleaning area according to the cleaning instruction.

[0061] In a specific implementation scenario, step S201 is substantially consistent with step S101 in the first embodiment of the drum control method of the washing and mopping robot provided by the present invention, and will not be described in detail here.

[0062] S202: Acquire current cleaning parameters, and acquire the rotation speed of the drum device and the rotation time in the rotation direction according to the cleaning parameters.

[0063] In a specific implementation scenario, the current cleaning parameters are obtained, and the cleaning parameters include at least one of the cleaning time, the expected cleaning time, the rotation resistance, the rotation direction, the cleaning environment, the user's cleaning needs, and the cleaning mode. According to the cleaning parameters, the rotation direction of the drum device, the rotation speed of the drum device, and the rotation time of the drum device rotating in the rotation direction are obtained. For example, when the rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, when the rotation speed of the drum device can match the movement speed of the washing and mopping robot, the cleaning ability is low, when the rotation speed of the drum device is delayed from the movement speed of the washing and mopping robot, the cleaning ability is average, and the lower the rotation speed, the better the cleaning effect, when the drum device does not rotate, or rotates a preset angle and stops for several seconds before rotating, the cleaning ability is good, when the rotation direction of the drum device is opposite to the movement direction of the washing and mopping robot, the cleaning ability is better than the cleaning ability when the rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, and the higher the rotation speed, the better the cleaning effect. The washing and mopping robot can obtain the cleaning needs according to the actual cleaning parameters, so as to select the appropriate rotation direction and rotation speed.

[0064] Furthermore, the rotation time of the drum device rotating in the rotation direction can be obtained according to the cleaning parameters. For example, the drum device can be set to rotate in one rotation direction for a certain time, and then rotate in another rotation direction for a certain time. For another example, the drum device can be set to rotate in one rotation direction for a certain time, then pause for a certain time, and then rotate in another rotation direction for a certain time.

[0065] S203: Determine whether the rotation direction has changed, if so, execute step S204.

[0066] In a specific implementation scenario, the cleaning parameters are updated in real time, so the rotation direction may also change due to changes in the cleaning parameters. Therefore, each time the rotation direction is obtained according to the cleaning parameters, it is determined whether the current rotation direction is the same as the previous rotation direction. For example, if the rotation direction of the drum device currently obtained is opposite to the movement direction of the washing and mopping robot, and the previous rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, then the current rotation direction is different from the previous rotation direction.

[0067] S204: When the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the rotation speed of the drum device is increased.

[0068] In a specific implementation scenario, when the rotation direction is changed from the same as the movement direction to the opposite direction of the movement direction, the rotation speed of the drum device is increased. When the rotation direction is changed from the same as the movement direction to the opposite direction of the movement direction, it means that a stronger cleaning ability is currently required, and increasing the rotation speed of the drum device can further improve the cleaning ability and meet the cleaning needs of the user.

[0069] In one implementation scenario, in order to further improve the cleaning ability, when the rotation direction is changed from the same as the movement direction to the opposite direction of the movement direction, the roller device is lowered. The lower the position of the roller device, the greater the friction between the flexible cleaning material and the ground when the roller device rotates, and the better the cleaning effect.

[0070] In one implementation scenario, when the rotation direction changes, it may be necessary to change the rotation direction of the drum device in a very short time, which may cause the dirty water on the flexible cleaning material to be thrown out. In this case, waterproofing operations are performed between the drum device and the main body of the washing and mopping robot, such as closing the gap between the main body of the washing and mopping robot and the drum device, so as to ensure the safety of the use of the washing and mopping robot.

[0071] From the above description, it can be seen that in this embodiment, after obtaining the rotation direction of the drum device according to the cleaning parameters, when the rotation direction is changed from the same as the movement direction to the opposite to the movement direction, increasing the rotation speed of the drum device can further improve the cleaning effect and meet the user's cleaning needs.

[0072] See also Figure 6 , Figure 6 FIG. 2 is a schematic diagram of a structure of an embodiment of a drum control system of a washing and mopping robot provided by the present invention. The drum control system 20 of the washing and mopping robot is applied to Figure 2 The drum control system 20 of the washing and mopping robot includes: a rotating module 21 and a cleaning module 22.

[0073] The rotation module 21 is used to obtain the current cleaning parameters and obtain the rotation direction of the drum device according to the cleaning parameters. The rotation direction may be the same as or opposite to the movement direction of the washing and mopping robot. The cleaning module 22 is used to determine whether the flexible cleaning material needs to be cleaned. If the flexible cleaning material needs to be cleaned, the lifting device is driven to lift the drum device and drive the drum device to rotate in a preset direction.

[0074] The rotation module 21 is used to obtain the rotation speed of the drum device and the rotation time in the rotation direction according to the cleaning parameters. The cleaning parameters include at least one of the cleaning time, the expected cleaning time, the rotation resistance, the rotation direction, the cleaning environment, the user's cleaning requirements, and the cleaning mode.

[0075] The rotation module 21 is used to determine whether the rotation direction changes. If the rotation direction changes, when the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the rotation speed of the drum device is increased.

[0076] The rotating module 21 is used to perform waterproof operation between the drum device and the washing and mopping robot if the rotating direction changes.

[0077] The rotating module 21 is used to lower the drum device when the rotation direction changes from being the same as the movement direction to being opposite to the movement direction.

[0078] The rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

[0079] The cleaning module 22 is used to obtain the current rotation direction of the drum device and use the direction opposite to the current rotation direction as the preset elution direction.

[0080] From the above description, it can be seen that in this embodiment, the drum control system of the washing and mopping robot obtains the rotation direction of the drum device according to the current cleaning parameters. Different rotation directions correspond to different cleaning effects. The rotation direction of the drum device is set according to actual cleaning needs, which can effectively improve the cleaning effect and cleaning efficiency, realize the reasonable allocation of resources, and avoid waste of resources.

[0081] See also Figure 7 , Figure 7 3 is a schematic diagram of the structure of the second embodiment of the cleaning and mopping robot provided by the present invention. The cleaning and mopping robot 30 includes a processor 31 and a memory 32. The processor 31 is coupled to the memory 32. The memory 32 stores a computer program, and the processor 31 executes the computer program when working to achieve the following. Figure 1 , Figure 5 The detailed method can be found in the above, which will not be described here.

[0082] See also Figure 8 , Figure 8 The storage medium 40 stores at least one computer program 41, which is used to be executed by the processor to implement the following. Figure 1 , Figure 5 In one embodiment, the computer-readable storage medium 40 may be a storage chip, a hard disk, a mobile hard disk, a USB flash drive, an optical disk, or other readable and writable storage tools in a terminal, or a server, etc.

[0083] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0084] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A drum control method for a washing and mopping robot, characterized in that: Applicable to a washing and mopping robot, the washing and mopping robot comprises: a drum device, a flexible cleaning material layer covering the outer surface of the drum device, and a lifting device for controlling the height of the drum device relative to the ground; The drum control method of the washing and mopping robot comprises the following steps: Clean the target cleaning area according to the cleaning instructions; Acquire current cleaning parameters, and acquire the rotation direction of the drum device according to the cleaning parameters, wherein the rotation direction includes a direction that is the same as or opposite to the movement direction of the washing and mopping robot; Determining whether the flexible cleaning material needs to be cleaned, and if the flexible cleaning material needs to be cleaned, driving the lifting device to raise the roller device, and driving the roller device to rotate according to a preset elution direction; determining whether the rotation direction has changed, and if so, performing a waterproof operation between the drum device and the washing and mopping robot; Wherein, the rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

2. The drum control method of the washing and mopping robot according to claim 1, characterized in that: The step of obtaining the rotation direction of the drum device according to the cleaning parameter further includes: Acquire the rotation speed of the drum device and the rotation time of the drum device rotating in the rotation direction according to the cleaning parameter; The cleaning parameters include at least one of the cleaning time, the expected cleaning time, the rotation resistance, the rotation direction, the cleaning environment conditions, the user's cleaning requirements, and the cleaning mode.

3. The drum control method of the washing and mopping robot according to claim 2, characterized in that: The step of obtaining the rotation speed of the drum device and the rotation time of the drum device rotating in the rotation direction according to the cleaning parameter comprises: It is determined whether the rotation direction changes. If the rotation direction changes, when the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the rotation speed of the drum device is increased.

4. The drum control method of the washing and mopping robot according to claim 3, characterized in that: The step of obtaining the rotation speed of the drum device and the rotation time of the drum device rotating in the rotation direction according to the cleaning parameter comprises: When the rotation direction changes from being the same as the movement direction to being opposite to the movement direction, the roller device is lowered.

5. The drum control method of the washing and mopping robot according to claim 2, characterized in that: The step of obtaining the rotation speed of the drum device and the rotation time of the drum device rotating in the rotation direction according to the cleaning parameter comprises: The rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

6. The drum control method of the washing and mopping robot according to claim 1, characterized in that: The step of driving the drum device to rotate in a preset elution direction comprises: The current rotation direction of the drum device is obtained, and the direction opposite to the current rotation direction is used as the preset elution direction.

7. A drum control system for a washing and mopping robot, characterized in that: Applicable to a washing and mopping robot, the washing and mopping robot comprises: a drum device, a flexible cleaning material layer covering the outer surface of the drum device, and a lifting device for controlling the height of the drum device relative to the ground; The drum control system of the washing and mopping robot includes the following modules: A rotation module, used to obtain current cleaning parameters, and obtain the rotation direction of the drum device according to the cleaning parameters, wherein the rotation direction may be the same as or opposite to the movement direction of the washing and mopping robot; a cleaning module, used to determine whether the flexible cleaning material needs to be cleaned, and if so, drive the lifting device to lift the roller device and drive the roller device to rotate in a preset direction; and also used to determine whether the rotation direction changes, and if so, perform a waterproof operation between the roller device and the washing and mopping robot; Wherein, the rotation speed when the rotation direction is opposite to the movement direction is greater than the rotation speed when the rotation direction is the same as the movement direction.

8. A washing and mopping robot, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 6.

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