Control method and control device of twin cleaning system

Abstract

The present invention relates to the technical field of intelligent cleaning robots, and provides a control method and a control device for a twin cleaning system. The control method for the twin cleaning system comprises: upon determining that an instruction to operate a cleaning mode has been received, the sweeping robot cleans the target cleaning area according to a first path, and the mopping robot scrubs the target cleaning area according to a second path, and the sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to a set program. The sweeping robot and the mopping robot can work independently according to a preset path, or they can share path information. The sweeping robot and the mopping robot divide the work and cooperate to improve indoor cleaning efficiency. At the same time, the sweeping robot and the mopping robot are independently arranged, and the sweeping robot and the mopping robot are disassembled and cleaned separately, and their respective structures are relatively simple, which is conducive to user maintenance and use.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cleaning robots, and in particular to a control method and a control device for a twin cleaning system. Background Art

[0002] With the rapid development of the smart home industry, sweeping robots have become an indispensable household appliance. User demands are also becoming more diverse, placing higher demands on the intelligence and user-friendliness of sweeping robots. In related technologies, mainstream sweeping robots often adopt a sweeping and mopping all-in-one design. However, due to the need to replace and clean the sweeping and mopping components, these sweeping and mopping robots are inconvenient for users and reduce indoor cleaning efficiency. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention proposes a control method for a dual cleaning system, in which a sweeping robot and a mopping robot can operate independently along a preset path, or they can collaborate by sharing path information. The system can also replan the first and / or second paths according to a preset program to achieve sweeping and scrubbing within the target cleaning area. The sweeping robot and the mopping robot work together to improve indoor cleaning efficiency.

[0004] The present invention also provides a control device for the twin cleaning system.

[0005] According to an embodiment of the first aspect of the present invention, a control method for a twin cleaning system is provided, wherein the twin cleaning system includes a sweeping robot, a mopping robot, and a user terminal connected to the sweeping robot and the mopping robot by signals, including:

[0006] Responding to the start signal, acquiring instruction information;

[0007] If it is determined that an instruction to operate the cleaning mode has been received, the sweeping robot cleans the target cleaning area along the first path, and the mopping robot scrubs the target cleaning area along the second path. The sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to the set program to achieve cleaning and scrubbing in the target cleaning area.

[0008] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the step of replanning the first path and / or the second path according to a set program specifically includes:

[0009] The sweeping robot acquires an image of the first path, determines a dust adhesion area according to the image, and then sends the coordinates of the dust adhesion area to the mopping robot;

[0010] The mopping robot replans the second path according to the coordinates of the dust adhesion area.

[0011] According to one embodiment of the present invention, the step of the mopping robot replanning the second path according to the coordinates of the dust adhesion area specifically includes:

[0012] determining a key scrubbing area including the entire dust adhesion area according to the coordinates of the dust adhesion area;

[0013] The second path is adjusted to cover the key scrubbing area, and the winding density of the portion of the adjusted second path corresponding to the key scrubbing area is increased, and the water supply amount of the mopping robot is increased.

[0014] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the step of replanning the first path and / or the second path according to a set program specifically includes:

[0015] The sweeping robot and / or the mopping robot obtains coordinates of obstacles on the first path and the second path;

[0016] The sweeping robot and the mopping robot share the coordinates of the obstacle, and replan the first path and the second path according to the coordinates of the obstacle and the setting program.

[0017] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the step of replanning the first path and / or the second path according to a set program further includes:

[0018] The sweeping robot and / or the mopping robot obtains an area where a person moves;

[0019] If it is determined that the area where the person moves overlaps with the area that the mopping robot has already scrubbed, the sweeping robot and the mopping robot share the coordinates of the area where the person moves, and replan the second path so that the second path covers the area where the person moves again.

[0020] According to one embodiment of the present invention, the step of determining that an instruction to run the cleaning mode is received further includes:

[0021] Obtaining a target cleaning area set by a user, a current first position of the sweeping robot, and a current second position of the mopping robot;

[0022] The first path is determined according to the target cleaning area and the first position, and the second path is determined according to the target cleaning area and the second position. There is a temporal and spatial interval between the first path and the second path.

[0023] According to one embodiment of the present invention, the step of obtaining the target cleaning area set by the user, the current first position of the sweeping robot, and the current second position of the mopping robot further includes:

[0024] Obtaining the boundary coordinates of the target cleaning area;

[0025] If it is determined that the boundary coordinates are discontinuous, the target cleaning area is divided into a plurality of sub-target cleaning areas according to the boundary coordinates, and a cleaning order of the plurality of sub-target cleaning areas is determined.

[0026] According to an embodiment of the present invention, the step of dividing the target cleaning area into a plurality of sub-target cleaning areas according to the boundary coordinates further includes:

[0027] The plurality of sub-target cleaning areas are numbered, and a cleaning mode corresponding to each sub-target cleaning area is determined according to a cleaning history record or a user instruction of each sub-target cleaning area.

[0028] According to one embodiment of the present invention, the step of replanning the first path and / or the second path according to a set program further includes:

[0029] Acquire images after cleaning the first path and the second path;

[0030] The first path, the second path and the cleaned image are sent to the user terminal and integrated into an indoor map pre-stored in the user terminal for user viewing.

[0031] According to the second aspect of the present invention, a control device for a twin cleaning system is provided, comprising:

[0032] an acquisition module, configured to acquire instruction information in response to a start signal;

[0033] The control module is used to determine that upon receiving an instruction to operate a cleaning mode, the sweeping robot cleans the target cleaning area along a first path, and the mopping robot scrubs the target cleaning area along a second path, and the sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to a set program to achieve cleaning and scrubbing in the target cleaning area.

[0034] The above one or more technical solutions in the present invention have at least one of the following technical effects:

[0035] According to an embodiment of the present invention, a control method for a twin cleaning system is provided. The twin cleaning system includes a sweeping robot, a mopping robot, and a user terminal signal-connected to the sweeping and mopping robots. The control method includes the following steps: in response to a start signal, obtaining command information; upon determining receipt of a command to operate a cleaning mode, the sweeping robot cleans a target cleaning area along a first path, while the mopping robot scrubs the target cleaning area along a second path. The sweeping and mopping robots share the first and second paths, and replan the first and / or second paths according to a pre-set program to achieve sweeping and scrubbing within the target cleaning area. During operation, the sweeping and mopping robots can operate independently along a pre-set path, or they can share path information and replan the first and / or second paths according to a pre-set program to achieve sweeping and scrubbing within the target cleaning area. The sweeping and mopping robots work together to improve indoor cleaning efficiency. Furthermore, the sweeping and mopping robots are independently configured, and disassembly and cleaning of the sweeping and mopping robots are performed separately. Their respective structures are relatively simple, facilitating user maintenance and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. 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 any creative work.

[0037] Figure 1 One of the flow charts of the control method of the twin cleaning system provided by an embodiment of the present invention;

[0038] Figure 2 Flowchart 2 of the control method of the twin cleaning system provided by an embodiment of the present invention;

[0039] Figure 3Flowchart 3 of the control method of the twin cleaning system provided by an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of the dust adhesion area and the key scrubbing area in the control method of the twin cleaning system provided by an embodiment of the present invention;

[0041] Figure 5 A schematic structural diagram of a control device for a twin cleaning system provided in an embodiment of the present invention.

[0042] Reference numerals:

[0043] 101. Dust adhesion area; 102. Key scrubbing area;

[0044] 300, acquisition module; 301, control module. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the invention more clear, the technical solutions of the invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the invention, not all of them. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the invention.

[0046] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0047] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0048] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0049] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0050] In related technologies, mainstream sweeping robots mostly adopt a sweeping and mopping-in-one design concept. However, since the sweeping and mopping-in-one robots require operations such as changing and washing the sweeping and mopping parts, it is inconvenient for users to use, which reduces the efficiency of indoor cleaning.

[0051] The control method for a twin cleaning system provided in accordance with an embodiment of the first aspect of the present invention is applied to a twin cleaning system comprising a sweeping robot, a mopping robot, and a user terminal. Signal connections are established between the sweeping robot, the mopping robot, and the user terminal to enable signal transmission and information sharing. It should be noted that signal connectivity exists between the sweeping robot and the mopping robot, between the sweeping robot and the user terminal, and between the mopping robot and the user terminal.

[0052] Both the sweeping robot and the mopping robot include at least a positioning sensor, an infrared sensor and / or an ultrasonic sensor, a drive component, a camera component and a wireless communication module. The positioning sensor, the drive component and the wireless communication module work together to enable the sweeping robot and the mopping robot to work according to the planned path; the infrared sensor and / or the ultrasonic sensor are used to detect obstacles or people on the travel path and around the travel path; the camera component is used to capture image information on the travel path before or after cleaning. After the image information is sent to the control module, the control module stores image recognition programs such as neural networks, which can determine dust adhesion areas or key cleaning / scrubbing areas based on the characteristics of the image.

[0053] According to the control method of the twin cleaning system provided by the embodiment of the first aspect of the present invention, please refer to Figures 1 to 3 , the control method of the twin cleaning system includes the following steps:

[0054] S100 : Responding to a start signal, obtaining instruction information.

[0055] S200. If it is determined that an instruction to operate the cleaning mode has been received, the sweeping robot cleans the target cleaning area along the first path, and the mopping robot scrubs the target cleaning area along the second path. The sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to the set program to achieve cleaning and scrubbing in the target cleaning area.

[0056] See also Figure 1 In step S200, the sweeping robot and the mopping robot can be provided with a start switch, which is provided on the top, side or bottom of the sweeping robot and the mopping robot. Before use, the user manually turns on the sweeping robot and the mopping robot to wake up the sweeping robot and the mopping robot to start working. Of course, the sweeping robot and the mopping robot can also be remotely started through the user terminal. The user terminal can be installed on the sweeping robot and / or the mopping robot, or it can be set independently. The user terminal has a display panel and a touch interactive component for inputting and adjusting the working mode of the sweeping robot and / or the mopping robot.

[0057] When a sweeping robot or mopping robot starts working for the first time, it needs to construct indoor map information. There are three main ways to construct indoor map information. The first way is to allow the sweeping robot or mopping robot to move freely indoors and detect obstacles indoors through infrared sensors and / or ultrasonic sensors. When the sweeping robot or mopping robot encounters an obstacle, it stops moving and turns to construct indoor map information. It should be noted that constructing map information in this way requires integrating multiple running path information. After superimposing multiple running paths, the final indoor map information is determined to avoid missing indoor areas. The second way is to input complete indoor map information and store the complete indoor coordinates in the sweeping robot and / or mopping robot and / or user terminal. The third way is to place the sweeping robot or mopping robot in different corners of the room multiple times and construct indoor map information based on the coordinates of all corners.

[0058] Before the Gemini cleaning system starts working, users can specify local areas in the indoor map as target cleaning areas, such as the kitchen, living room, bedroom, etc., or specify the entire indoor area as the target cleaning area.

[0059] Both the sweeping robot and the mopping robot have programmed settings stored within them. The sweeping robot cleans the target cleaning area along a first path, removing and collecting dust and debris from the surface of the target cleaning area. The mopping robot scrubs the target cleaning area along a second path to eliminate dust adhering to the surface of the target cleaning area, achieving a deep cleaning effect. When the sweeping robot and the mopping robot are operating, they share information about the first and second paths and replan the first and / or second paths according to the programmed settings. For example, if an obstacle or a difficult-to-clean area is encountered, or if the cleaning speeds of the two robots differ, the sweeping robot's first path or the mopping robot's second path can be replanned to achieve rapid obstacle avoidance and targeted cleaning, thereby achieving sweeping and scrubbing within the target cleaning area.

[0060] The robot vacuum and mop work together to improve indoor cleaning efficiency. They are also independent devices that can be disassembled and cleaned separately, making them relatively simple for easy maintenance and use.

[0061] It should be noted that the sweeping robot and mopping robot are independently configured and work in conjunction with each other, resolving the issues of integrating sweeping and mopping functions, which would result in difficult structural layout, a larger robot size, and reduced sweeping and mopping capabilities. The embodiments of the present invention not only fully utilize the advantages of the sweeping robot and mopping robot, but also enable them to work in tandem, resulting in more efficient cleaning and a more targeted effect.

[0062] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the steps of replanning the first path and / or the second path according to the set program specifically include:

[0063] S231: The sweeping robot obtains an image of the first path, determines a dust adhesion area according to the image, and then sends the coordinates of the dust adhesion area to the mopping robot.

[0064] S232: The mopping robot replans a second path according to the coordinates of the dust adhesion area.

[0065] See also Figure 2 In step S200, the sweeping robot and the mopping robot share the first path and the second path, and re-plan the first path and / or the second path according to the set program, so as to realize the division of labor and cooperation between the sweeping robot and the mopping robot, achieving both efficient cleaning and targeted cleaning. Generally speaking, the sweeping robot is in the first stage of cleaning, and first cleans the larger particles in the target cleaning area through the sweeping robot. After the sweeping robot finishes cleaning, the sweeping robot obtains the image of the first path after cleaning through the camera component, and determines whether there is a dust adhesion area 101 based on the image features and the image analysis function in the set program. Please refer to Figure 4 If there are still dust clumps in the target cleaning area after cleaning, the mopping robot needs to be used to scrub it to ensure the cleanliness of the target cleaning area.

[0066] When the image captured by the sweeping robot includes dust adhesion area 101, the sweeping robot shares the coordinates of dust adhesion area 101 with the mopping robot. The mopping robot then replans a second path based on the coordinates of dust adhesion area 101, so that the second path focuses on the dust adhesion area, thereby achieving targeted cleaning of the dust adhesion area. As can be seen from the above, the sweeping robot and the mopping robot work together to specifically clean the dust adhesion area, achieving a better cleaning effect.

[0067] According to one embodiment of the present invention, the step of the mopping robot replanning the second path according to the coordinates of the dust adhesion area specifically includes:

[0068] S2321: Determine a key scrubbing area including the entire dust adhesion area according to the coordinates of the dust adhesion area.

[0069] S2322: Adjust the second path to cover the key scrubbing area, and the winding density of the portion of the adjusted second path corresponding to the key scrubbing area is increased, and the water supply of the mopping robot is increased.

[0070] See also Figure 3When a sweeping robot encounters a dust-adherent area that is difficult to clean, it can increase its own cleaning power, or it can send the coordinates of the dust-adherent area to the mopping robot, and achieve deep cleaning by adjusting the water supply and scrubbing process of the mopping robot.

[0071] In practice, see Figure 4 The shape of the dust adhesion area 101 is irregular, often forming a sputtering pattern. However, to avoid missing any areas, the mopping and sweeping robots follow a standardized, circuitous path. To fully clean the dust adhesion area, a new key scrubbing area 102 is defined based on the coordinates of the dust adhesion area. The key scrubbing area is a rectangular frame with one side parallel to the mopping robot's circuitous direction, and the dust adhesion area is located within the rectangular frame.

[0072] In some embodiments, in order to achieve efficient cleaning of the dust adhesion area and reduce cleaning time, the four sides of the rectangular frame of the key scrubbing area 102 are tangent to the boundary of the dust adhesion area 101. At this time, the area of the rectangular frame is the smallest and the efficiency of the key scrubbing is the highest.

[0073] At the same time, in order to improve the efficiency of scrubbing dust in the dust adhesion area, the mopping robot can increase the water supply, soak the adhered dust with clean water, and achieve deep cleaning of the ground.

[0074] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the steps of replanning the first path and / or the second path according to the set program specifically include:

[0075] S233: The sweeping robot and / or the mopping robot obtains the coordinates of obstacles on the first path and the second path.

[0076] S234: The sweeping robot and the mopping robot share the coordinates of the obstacle, and re-plan the first path and the second path according to the coordinates of the obstacle and the set program.

[0077] In step S200, upon encountering an obstacle, the robot vacuum stops and turns, replanning its first path. Because obstacles can be of varying sizes, the robot vacuum may need to stop and turn multiple times to completely avoid them. The robot vacuum and mopping robots share information about their first and second paths during operation. The mopping robot eliminates the need for obstacle avoidance and replanning, instead directly following a feasible path to plan its second path, resulting in higher cleaning efficiency.

[0078] It should be noted that the above embodiment is based on the sweeping robot being in front and the mopping robot performing related operations later. Changing the cleaning order of the mopping robot and the sweeping robot is still applicable. The first path of the sweeping robot or the second path of the mopping robot can be re-planned to achieve rapid obstacle avoidance and focused cleaning, so as to achieve cleaning and scrubbing in the target cleaning area.

[0079] According to one embodiment of the present invention, the sweeping robot and the mopping robot share the first path and the second path, and the step of replanning the first path and / or the second path according to the set program further includes:

[0080] S235: The sweeping robot and / or mopping robot obtains an area where people are moving.

[0081] S236: If it is determined that the area where the person moves overlaps with the area that the mopping robot has already cleaned, the sweeping robot and the mopping robot share the coordinates of the area where the person moves, and replan the second path so that the second path covers the area where the person moves again.

[0082] In step S235, the sweeping robot and the mopping robot use infrared sensors and / or ultrasonic sensors to detect whether there is human movement in the surrounding area. Although fans can be set to accelerate the drying of the floor in the area scrubbed by the mopping robot, some water marks may still be on the floor. Therefore, if human movement is detected during the process of scrubbing the floor, and the area where the human moved overlaps with the area that has already been scrubbed, the sweeping robot and the mopping robot share the coordinates of the area where the human moved and re-plan a second path so that the second path covers the area where the human moved again. In this process, human movement may bring new dust to the area that has just been scrubbed. Re-planning the second path allows the area where the human moved to be scrubbed again, thereby ensuring the cleanliness of the room.

[0083] According to one embodiment of the present invention, the step of determining that an instruction to run the cleaning mode is received further includes:

[0084] S211. Obtain a target cleaning area set by a user, a current first position of the sweeping robot, and a current second position of the mopping robot.

[0085] S212 : Determine a first path according to the target cleaning area and the first position, and determine a second path according to the target cleaning area and the second position, wherein there is a temporal and spatial interval between the first path and the second path.

[0086] In step S200, the indoor area is large. When the twin cleaning system is started, the target cleaning area can be set as needed, such as only cleaning the living room and kitchen. After determining the target cleaning area, it is necessary to plan a first path according to the current first position of the sweeping robot, and plan a second path according to the second position of the mopping robot. The starting parts of the first path and the second path include the route to quickly reach the target cleaning area, and also include how to make the time and space interval between the sweeping robot and the mopping robot exist. On the one hand, the sweeping robot and the mopping robot can clean and scrub the target cleaning area in an orderly manner. On the other hand, the work of the sweeping robot and the mopping robot can be connected to improve cleaning efficiency.

[0087] According to one embodiment of the present invention, after obtaining the target cleaning area set by the user, the current first position of the sweeping robot, and the current second position of the mopping robot, the following steps are further included:

[0088] S2111. Obtain the boundary coordinates of the target cleaning area.

[0089] S2112: If it is determined that the boundary coordinates are discontinuous, the target cleaning area is divided into a plurality of sub-target cleaning areas according to the boundary coordinates, and a cleaning order of the plurality of sub-target cleaning areas is determined.

[0090] It is understandable that users determine the target cleaning area based on their needs, so the target cleaning area may be multiple discontinuous parts. Scientifically planning the order of sweeping and mopping can achieve efficient cleaning of the target cleaning area and save cleaning time.

[0091] After the user determines the target cleaning area, the boundary coordinates of the target cleaning area are obtained. There are two situations: In the first case, the boundary coordinates of the target cleaning area are continuous, and the target cleaning area is a complete area. In this case, the planned first path and second path only need to cover the entire target cleaning area. In the second case, the boundary coordinates of the target cleaning area are discontinuous. In this case, the target cleaning area is divided into multiple sub-target cleaning areas based on the boundary coordinates, and the cleaning order of the multiple sub-target cleaning areas is determined. For example, the target robot and the mopping robot are located indoors, and the target cleaning area includes the living room and the bedroom. In this case, the order of cleaning the bedroom and the living room can be determined according to the user's instructions, or the living room can be automatically prioritized according to the shortest path principle, and then the area inside the bedroom can be processed.

[0092] According to one embodiment of the present invention, the step of dividing the target cleaning area into a plurality of sub-target cleaning areas according to the boundary coordinates further includes:

[0093] S2113 : Number the multiple sub-target cleaning areas, and determine a cleaning mode for each sub-target cleaning area according to a cleaning history record or a user instruction of each sub-target cleaning area.

[0094] In step S2112, the boundary coordinates of the target cleaning area are discontinuous. At this time, the target cleaning area is divided into multiple sub-target cleaning areas according to the boundary coordinates, and the cleaning order of the multiple sub-target cleaning areas is determined. In actual use, when the target cleaning area includes a kitchen and a bedroom, the kitchen is mainly water stains and grease stains, and the bedroom is mainly dust or shoe prints, etc. The types of adhesions on the ground are different, so it is also necessary to adjust the cleaning mode of the corresponding sub-target cleaning area in a targeted manner. The cleaning mode of the corresponding sub-target cleaning area can be determined according to the cleaning history records of each sub-target cleaning area or user instructions. For example, in the kitchen, it is necessary to increase detergent or increase the amount of water for flushing, and in the bedroom, it is mainly dust adsorption and scrubbing of dust on the ground. Adopting a targeted cleaning mode for each sub-target cleaning area is conducive to improving the cleaning effect.

[0095] According to one embodiment of the present invention, the step of replanning the first path and / or the second path according to the set program further includes:

[0096] S237 , obtaining images of the first path and the second path after cleaning.

[0097] S238: Send the first path, the second path, and the cleaned image to the user terminal, and integrate them into an indoor map pre-stored in the user terminal for the user to view.

[0098] In step S200, the user may be out while the robot vacuum and robot mop are operating. Therefore, the first and second paths are sent to a pre-stored indoor map in the user terminal, allowing the user to promptly check the indoor cleaning status and areas that have been cleaned. At the same time, images of the first and second paths after cleaning can be captured via a camera assembly, sent to the user terminal, and integrated into the pre-stored indoor map in the user terminal. When the user opens the indoor map, they can see not only the first and second paths, but also a real-life image of the ground, which can be viewed in real time on a user terminal (e.g., a mobile phone). If the desired cleaning effect is not achieved, a command to re-clean can be issued.

[0099] According to the control device of the twin cleaning system provided by the embodiment of the second aspect of the present invention, please refer to Figure 5 ,include:

[0100] The acquisition module 300 is configured to acquire instruction information in response to a start signal.

[0101] The control module 301 is used to determine that when an instruction to run the cleaning mode is received, the sweeping robot cleans the target cleaning area according to the first path, and the mopping robot scrubs the target cleaning area according to the second path. The sweeping robot and the mopping robot share the first path and the second path, and re-plan the first path and / or the second path according to the set program to achieve cleaning and scrubbing in the target cleaning area.

[0102] Before the Gemini cleaning system starts working, users can specify local areas in the indoor map as target cleaning areas, such as the kitchen, living room, etc., or specify the entire indoor area as the target cleaning area.

[0103] Both the sweeping robot and the mopping robot have programmed settings stored within them. The sweeping robot cleans the target cleaning area along a first path, removing and collecting dust and debris from the surface of the target cleaning area. The mopping robot scrubs the target cleaning area along a second path to eliminate dust adhering to the surface of the target cleaning area, achieving a deep cleaning effect. When the sweeping robot and the mopping robot are operating, they share information about the first and second paths and replan the first and / or second paths according to the programmed settings. For example, when encountering obstacles or difficult-to-clean areas, the sweeping robot's first path or the mopping robot's second path can be replanned to achieve rapid obstacle avoidance and targeted cleaning, thereby achieving sweeping and scrubbing within the target cleaning area.

[0104] The robot vacuum and mop work together to improve indoor cleaning efficiency. They are also independent devices that can be disassembled and cleaned separately, making them relatively simple for easy maintenance and use.

[0105] It should be noted that the above steps S200 and S210, as well as other steps, are only for the convenience of expression and do not constitute a time sequence limitation for each step in the control method of the twin cleaning system. In addition, some contents are described in detail in the control method of the twin cleaning system provided in the first aspect embodiment, and the contents of all the control methods of the twin cleaning system are also applicable to the control device of the twin cleaning system provided in the second aspect embodiment. In order to avoid repetition, the control device of the twin cleaning system provided in the second aspect embodiment is not described in detail. Similarly, the contents in the above two aspects of the embodiments can be used to explain the contents of all subsequent aspects of the embodiments, so the repeated contents will not be repeated in the subsequent embodiments. The technical effects of the control device of the twin cleaning system provided in the embodiment of the present invention correspond to the technical effects of the above-mentioned control method of the twin cleaning system, and will not be repeated here.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a twin cleaning system, the twin cleaning system comprising a sweeping robot, a mopping robot, and a user terminal connected to the sweeping robot and the mopping robot by signals, characterized in that: include: Responding to the start signal, acquiring instruction information; Upon determining that an instruction to operate in a cleaning mode has been received, the sweeping robot cleans the target cleaning area along a first path, and the mopping robot scrubs the target cleaning area along a second path, the sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to a set program to achieve sweeping and scrubbing within the target cleaning area; The sweeping robot shares the first path and the second path with the mopping robot, and the step of replanning the first path and / or the second path according to a set program further includes: The sweeping robot and / or the mopping robot obtains an area where a person moves; If it is determined that the area where the person moves overlaps with the area that the mopping robot has already scrubbed, the sweeping robot and the mopping robot share the coordinates of the area where the person moves, and replan the second path so that the second path covers the area where the person moves again.

2. The control method of the twin cleaning system according to claim 1, characterized in that: The sweeping robot shares the first path and the second path with the mopping robot, and the step of replanning the first path and / or the second path according to a set program specifically includes: The sweeping robot acquires an image of the first path, determines a dust adhesion area according to the image, and then sends the coordinates of the dust adhesion area to the mopping robot; The mopping robot replans the second path according to the coordinates of the dust adhesion area.

3. The control method of the twin cleaning system according to claim 2, characterized in that: The step of replanning the second path by the mopping robot according to the coordinates of the dust adhesion area specifically includes: determining a key scrubbing area including the entire dust adhesion area according to the coordinates of the dust adhesion area; The second path is adjusted to cover the key scrubbing area, and the winding density of the portion of the adjusted second path corresponding to the key scrubbing area is increased, and the water supply amount of the mopping robot is increased.

4. The control method of the twin cleaning system according to claim 1, characterized in that: The sweeping robot shares the first path and the second path with the mopping robot, and the step of replanning the first path and / or the second path according to a set program specifically includes: The sweeping robot and / or the mopping robot obtains coordinates of obstacles on the first path and the second path; The sweeping robot and the mopping robot share the coordinates of the obstacle, and replan the first path and the second path according to the coordinates of the obstacle and the setting program.

5. The control method of the twin cleaning system according to any one of claims 1 to 4, characterized in that: The step of determining that an instruction to run the cleaning mode has been received may further include: Obtaining a target cleaning area set by a user, a current first position of the sweeping robot, and a current second position of the mopping robot; The first path is determined according to the target cleaning area and the first position, and the second path is determined according to the target cleaning area and the second position. There is a temporal and spatial interval between the first path and the second path.

6. The control method of the twin cleaning system according to claim 5, characterized in that: The step of obtaining the target cleaning area set by the user, the current first position of the sweeping robot, and the current second position of the mopping robot further includes: Obtaining the boundary coordinates of the target cleaning area; If it is determined that the boundary coordinates are discontinuous, the target cleaning area is divided into a plurality of sub-target cleaning areas according to the boundary coordinates, and a cleaning order of the plurality of sub-target cleaning areas is determined.

7. The control method of the twin cleaning system according to claim 6, characterized in that: The step of dividing the target cleaning area into a plurality of sub-target cleaning areas according to the boundary coordinates further includes: The plurality of sub-target cleaning areas are numbered, and a cleaning mode corresponding to each sub-target cleaning area is determined according to a cleaning history record or a user instruction of each sub-target cleaning area.

8. The control method of the twin cleaning system according to any one of claims 1 to 4, characterized in that: The step of replanning the first path and / or the second path according to the set program further includes: Acquire images after cleaning the first path and the second path; The first path, the second path and the cleaned image are sent to the user terminal and integrated into an indoor map pre-stored in the user terminal for user viewing.

9. A control device for a twin cleaning system, characterized in that: include: an acquisition module, configured to acquire instruction information in response to a start signal; a control module, configured to determine, upon receiving an instruction to operate a cleaning mode, that the sweeping robot cleans a target cleaning area along a first path, and the mopping robot scrubs the target cleaning area along a second path, wherein the sweeping robot and the mopping robot share the first path and the second path, and replan the first path and / or the second path according to a set program to achieve cleaning and scrubbing within the target cleaning area; The sweeping robot shares the first path and the second path with the mopping robot, and the step of replanning the first path and / or the second path according to a set program further includes: The sweeping robot and / or the mopping robot obtains an area where a person moves; If it is determined that the area where the person moves overlaps with the area that the mopping robot has already scrubbed, the sweeping robot and the mopping robot share the coordinates of the area where the person moves, and replan the second path so that the second path covers the area where the person moves again.

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