Robot, cleaning method of robot, and readable storage medium

Abstract

The application provides a robot, a cleaning method of the robot and a readable storage medium, and the method comprises the following steps: identifying the type of stains, wherein the type of stains is dry stains or wet stains; matching a cleaning strategy according to the type of stains and a currently configured cleaning mode of the robot, and driving the robot to work according to the matched cleaning strategy; the cleaning mode comprises a first cleaning mode and a second cleaning mode which are pre-configured for the robot; the cleaning strategy comprises a dry stain cleaning strategy in the first cleaning mode, a wet stain cleaning strategy in the first cleaning mode, a dry stain cleaning strategy in the second cleaning mode and a wet stain cleaning strategy in the second cleaning mode; the application can improve the cleaning efficiency of the robot by distinguishing the type of stains and automatically matching the cleaning strategy in combination with the pre-configured cleaning mode of the robot.

Description

Technical Field

[0001] This invention relates to the field of smart device technology, and in particular to a robot, a cleaning method for the robot, and a readable storage medium. Background Technology

[0002] With the development of science and technology, intelligent self-moving robots have become widely known. Because self-moving robots can automatically execute pre-set tasks without human intervention, they are widely used in industrial applications and home products. Industrial applications include robots performing various functions, while home applications include self-moving robots such as lawnmowers, vacuum cleaners, and sweeping robots. These intelligent self-moving robots greatly save people's time and bring significant convenience to both industrial production and home life.

[0003] Typically, self-propelled robots are equipped with vision sensors. During operation, these sensors identify obstacles and actively avoid them. In existing technologies, to prevent accidents, such as avoiding getting electrical wires tangled in the robot's cleaning module, a uniform approach is usually adopted for identified obstacles: after identifying an obstacle, it is avoided. As a result, existing self-propelled robots cannot actively identify the types of obstacles and further adjust their cleaning strategies based on the identification results, thus reducing the working efficiency of self-propelled robots. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a robot, a cleaning method for the robot, and a readable storage medium.

[0005] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a cleaning method for a robot, the method comprising:

[0006] Identify the type of stain, which is either a dry stain or a wet stain;

[0007] The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration.

[0008] The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot;

[0009] The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode.

[0010] As a further improvement to one embodiment of the present invention, the method includes: configuring a first cleaning mode as a dry mopping mode;

[0011] If the identified stain type is a dry stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the dry stain cleaning strategy under the first cleaning mode.

[0012] The dry stain cleaning strategy in the first cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a dry mop before continuing to execute the next work instruction.

[0013] The instructions to continue executing the next task include:

[0014] After controlling the robot to return to the area where the dry stain was previously identified, and then dry mopping the area with a new dry mop, the robot continues to perform the first cleaning mode on its walking path.

[0015] Alternatively, you can directly control the robot to continue executing the first cleaning mode along its walking path.

[0016] As a further improvement to one embodiment of the present invention, the method includes: configuring a first cleaning mode as a dry mopping mode;

[0017] If the identified stain type is a wet stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the wet stain cleaning strategy under the first cleaning mode.

[0018] The wet stain cleaning strategy in the first cleaning mode is as follows: dry mopping is performed on the identified wet stains, and after the dry mopping is completed, the mop carried by the robot is replaced with a dry mop before continuing to execute the next work instruction.

[0019] The instructions to continue executing the next task include:

[0020] After the robot returns to the area where the wet stain was previously identified and performs a second dry mop on the area with a new dry mop, the robot continues to perform the first cleaning mode on its walking path.

[0021] Alternatively, you can directly control the robot to continue executing the first cleaning mode along its walking path.

[0022] As a further improvement of one embodiment of the present invention, the method includes: configuring the second cleaning mode as a wet mopping mode;

[0023] If the identified stain type is a dry stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the dry stain cleaning strategy under the second cleaning mode.

[0024] The dry stain cleaning strategy in the second cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a new wet mop before continuing to execute the next work instruction.

[0025] The instructions to continue executing the next task include:

[0026] The robot is controlled to return to the area where the dry stain was previously identified, and then the area is mopped a second time with a new wet mop. The robot continues to perform the second cleaning mode on its walking path.

[0027] Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

[0028] As a further improvement to one embodiment of the present invention, the wet mopping process includes:

[0029] If the robot is currently carrying a wet mop, it can directly use the wet mop to mop the identified stains, or drive the robot to replace the wet mop with a dry mop, add water to the dry mop to make it a wet mop, and then use it to mop the identified stains.

[0030] If the robot is currently carrying a dry mop, it will add water to the dry mop to create a wet mop, and then use it to wet mop the identified stains. Alternatively, the robot can be driven to replace the dry mop with a new one, add water to the new dry mop to create a wet mop, and then use it to wet mop the identified stains.

[0031] As a further improvement of one embodiment of the present invention, the method includes: configuring the second cleaning mode as a wet mopping mode;

[0032] If the identified stain type is a wet stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the wet stain cleaning strategy under the second cleaning mode.

[0033] The wet stain cleaning strategy in the second cleaning mode is as follows: dry mop the identified wet stains, and after the dry mopping is completed, replace the mop cloth carried by the robot with a wet mop cloth before continuing to execute the next work instruction.

[0034] The instructions to continue executing the next task include:

[0035] After controlling the robot to return to the area where the wet stain was previously identified, and then using a new wet mop to mop the area again, the robot continues to perform the second cleaning mode on its walking path.

[0036] Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

[0037] As a further improvement of one embodiment of the present invention, the dry mopping process includes:

[0038] If the robot is currently carrying a dry mop, it will directly use the dry mop to dry-mop the identified stains.

[0039] Alternatively, the robot can replace the current dry mop with a new dry mop and then dry mop the identified stains.

[0040] If the robot is currently carrying a wet mop, the robot will switch the wet mop to a dry mop and then dry-mop the identified stains.

[0041] As a further improvement of one embodiment of the present invention, the method further includes: identifying the properties of the stain before performing a cleaning strategy, the stain properties including: contaminated and non-contaminated;

[0042] If the stain is identified as a contamination type, after executing the corresponding cleaning strategy, the mop will be replaced according to the currently matched cleaning mode, and after the mop replacement is completed, the current cleaning mode will continue to be executed.

[0043] If the stain is identified as non-staining, the next work instruction will be executed directly with the currently matched cleaning mode after the corresponding cleaning strategy is executed.

[0044] As a further improvement to one embodiment of the present invention, the method further includes: pre-configuring a vision module for the robot.

[0045] The module captures images of the stains.

[0046] The captured images are matched against a pre-configured database to identify the type of stain.

[0047] As a further improvement of one embodiment of the present invention, before identifying the type of stain, the method further includes: identifying the cleaning category of the stain, the stain category including: sweeping type, mopping type, and marked as needing treatment;

[0048] If the stain is classified as a mopping or washing stain, then continue to identify the type of stain and perform the cleaning strategy according to the method described in claim 1;

[0049] If the stain is classified as a cleaning type, then a cleaning strategy will be implemented.

[0050] If the stain is classified as "marked for treatment", then the marking policy will be applied.

[0051] As a further improvement of one embodiment of the present invention, if the cleaning category of the stain is sweeping, then the sweeping strategy includes:

[0052] Determine the material of the area where the stain is located.

[0053] If the material of the area where the stain is located is soft, then only the stain needs to be cleaned.

[0054] If the material of the area where the stain is located is hard, the stain type is identified and saved. After cleaning the current stain, the identified stain type is retrieved and the cleaning strategy is executed according to the method described in claim 1.

[0055] As a further improvement of one embodiment of the present invention, if the cleaning category of the stain is marked as a pending treatment category, the marking strategy includes:

[0056] Determine if the stain matches the preset database.

[0057] If a match is found, the stain is avoided, and after the stain is marked on the robot's work map, the next work instruction is executed.

[0058] If there is no match, the stain is avoided, a photo of the stain is taken and transmitted, the stain is marked on the robot's work map, and then the next work instruction is executed.

[0059] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a robot, comprising: a body, a walking component, a recognition component, a cleaning component, and a processor disposed on the body;

[0060] The identification component is used to take photos of the stains and transmit them to the processor;

[0061] The processor is used to receive stain photos and process the stain photos to identify the type of stain, which is either a dry stain or a wet stain.

[0062] The robot matches a cleaning strategy based on the type of stain and the robot's current cleaning mode configuration, and drives the cleaning components to work according to the matched cleaning strategy.

[0063] The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot;

[0064] The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode.

[0065] To achieve another objective of the invention, one embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method described above.

[0066] As can be seen from the above, the robot, the robot cleaning method, and the readable storage medium provided by the present invention can automatically match cleaning strategies by distinguishing the type of stain and combining them with the robot's pre-configured cleaning mode, thereby improving the robot's cleaning efficiency. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a schematic diagram of the structure of a robot provided in one embodiment of the present invention;

[0069] Figure 2 This is a schematic flowchart of a robot cleaning method provided by an embodiment of the present invention;

[0070] Figure 3 , Figure 4 These are flowcharts illustrating preferred embodiments of the robot cleaning method provided by the present invention.

[0071] Figure 5 , Figure 6 They are Figure 4 A schematic diagram illustrating the specific implementation process of one of the steps;

[0072] Figure 7 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0073] To make the objectives, technical solutions and advantages of the present invention clearer, the present disclosure will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0074] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0075] The robot of this invention can be a service robot, a cleaning robot, a sweeping robot, etc., which automatically walks in the work area and performs work. This invention will be specifically introduced using a sweeping robot that performs cleaning work as an example.

[0076] like Figure 1 As shown, the sweeping robot of the present invention includes: a body 10, a walking component and a control unit disposed on the body 10.

[0077] The walking assembly includes: a drive wheel, a driven wheel, and a motor for driving the drive wheel; the motor can be a brushless motor with a gearbox and a Hall sensor; after the motor starts, it can drive the drive wheel to move through the gearbox, and by controlling the speed and direction of the two wheels, it can achieve forward and backward linear movement, turning on the spot, and circular movement; the driven wheel can be a swivel wheel, which is usually set to one or two, and its main function is to support and balance.

[0078] The control unit includes at least: a logic control component (not shown), a positioning component 21, and an identification component 23.

[0079] The specific physical form of the logic control component is a control board consisting of one or more processors, a memory, other related components, and corresponding peripheral circuits. The processor has a built-in control program to execute predetermined instructions, control the robot to move in the work area, and execute work instructions. The work instructions include, for example, the robot's working mode and working strategy. The memory is used to store various information obtained during the robot's operation, as well as various pre-configured information of the robot. The memory can be, for example, EPROM, Flash, or SD card.

[0080] The positioning component 21 communicates with a base station or boundary signal line based on technologies such as infrared, ultrasound, Bluetooth, ZigBee, and UWB to locate the robot; the positioning component shown in the figure is a lidar.

[0081] The identification component 23 includes at least one obstacle identification sensor. In a specific embodiment of the present invention, the obstacle identification sensor is specifically a vision module used to take pictures of stains, obstacles, etc. within its field of view. Of course, the identification component 23 may also include an ultrasonic sensor, an infrared sensor, a radar sensor, an odor sensor for assisting in the identification of the working environment, obstacles, etc.

[0082] In addition, the identification component 23 includes various sensors that sense the robot's walking status, such as tilting, lifting off the ground, and collision sensors, which will not be described in detail here.

[0083] Combination Figure 1 As shown, the vision module is located at the front end of the main body 10 and is used to capture images of the robot's working environment in the direction of travel, as well as obstacles encountered. These obstacles can be stains to be cleaned, furniture, toys, etc. The vision module can include a vision sensor, for example, a monocular camera. If depth information of the obstacles is required, the vision sensor can be a binocular camera, or a monocular camera combined with a structured light sensor, or a monocular camera combined with a TOF sensor. This invention does not limit the specific type of vision sensor.

[0084] Furthermore, the robot also includes: a cleaning component for operation, and a power supply; in this embodiment, the working mechanism may include: a mopping mechanism for mopping and sweeping, such as a mop; this mechanism is used to perform the cleaning strategy described below; and a cleaning mechanism for sweeping, such as a side brush; this mechanism is used to perform the sweeping strategy described below.

[0085] Combination Figure 2 As shown, one embodiment of the present invention provides a cleaning method for a robot, the method comprising:

[0086] S1, Identify the type of stain, which is either a dry stain or a wet stain;

[0087] S2, match a cleaning strategy based on the type of stain and the robot's current cleaning mode, and drive the robot to work according to the matched cleaning strategy;

[0088] The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot;

[0089] The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode.

[0090] In this invention, for step S1, a visual module carried by the robot can capture images of stains; the captured images are then matched with a pre-configured database to identify the stain type. It is understood that the pre-configured database categorizes common stains, for example: liquid stains such as water, coffee, and ice cream are categorized as wet stains, while paper scraps, milk powder, sunflower seed shells, and dust are also categorized as wet stains; and the types of stains can be further adjusted, added, or reduced during robot application.

[0091] Furthermore, it should be further explained that the methods of identifying stains through image comparison and adjusting stains in the database in the feasible implementation of this invention are existing technologies. For example, the robot stops moving at a preset distance from the stain, acquires a stain image through a vision module, compares the acquired image with images pre-stored in the database to determine the name of the stain, and further queries the database through the name index to determine the stain type. Furthermore, when a stain is repeatedly identified as misclassified, human assistance can be provided to make the judgment, and the stain type can be adjusted. Such details will not be elaborated further here.

[0092] It should be emphasized that in the first implementation of the present invention, the basic types of stains are only two, namely, the types of stains are dry stains or wet stains.

[0093] For step S2, the robot is pre-configured with two cleaning modes. Correspondingly, in each cleaning mode, a different cleaning strategy is executed for each type of stain. Specifically, four cleaning strategies are matched for the two stain types and the two cleaning modes, and after the cleaning strategies are matched, the robot is driven to work according to the corresponding cleaning strategies.

[0094] Specifically, for step S2, the first cleaning mode is configured as dry mopping mode;

[0095] If the identified stain type is a dry stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the dry stain cleaning strategy under the first cleaning mode.

[0096] The dry stain cleaning strategy in the first cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a dry mop before continuing to execute the next work instruction.

[0097] Here, the wet mopping process includes:

[0098] If the robot is currently carrying a wet mop, it can directly use the wet mop to mop the identified stains, or drive the robot to replace the wet mop with a dry mop, add water to the dry mop to make it a wet mop, and then use it to mop the identified stains.

[0099] If the robot is currently carrying a dry mop, it will add water to the dry mop to create a wet mop, and then use it to wet mop the identified stains. Alternatively, the robot can be driven to replace the dry mop with a new one, add water to the new dry mop to create a wet mop, and then use it to wet mop the identified stains.

[0100] For ease of understanding, let's take dry dye as an example for stains; in the current working state, the robot is operating in the first cleaning mode; during the working process, after the robot identifies the type of dry dye as dry stain; at this time, the dry stain cleaning strategy in the first cleaning mode is executed on the dry dye.

[0101] Furthermore, the robot can determine whether the mop it is carrying is wet or dry based on the water saturation of the mop. Specifically, when the water saturation of the mop is greater than a preset saturation threshold, the mop is determined to be wet; otherwise, it is determined to be dry. Here, if the mop is wet, the identified stains are directly mopped with the wet mop; if the mop is dry, it needs to be changed to a wet mop before the identified stains are mopped.

[0102] In one embodiment of the invention, the robot also carries a water spraying component. When it is necessary to change the dry mop to a wet mop, the water spraying component can be used to add water to the currently carried dry mop to form a wet mop; or the robot can be driven back to the base station to directly replace the dry mop with a wet mop. In one embodiment of the invention, if it is further determined that the currently carried wet mop does not meet the mopping requirements, the robot can also be driven back to the base station to replace the dry mop with a wet mop, and then the identified stains can be mopped. This determination of not meeting the mopping requirements includes, for example, the mop being too dirty, the mop size not meeting the mopping requirements, or a change in the odor of the mop. This determination can be made by visual recognition sensors, odor recognition sensors, and size recognition sensors. These determination methods are all existing technologies and will not be described in detail here.

[0103] Furthermore, in a preferred embodiment of the present invention, after the robot executes the corresponding cleaning strategy, it continues to execute the next work instruction in the previously executed cleaning mode.

[0104] Specifically, when executing the dry stain cleaning strategy in the first cleaning mode, and after the dry stains have been wet-mopped, the robot needs to be configured to continue executing the next work instruction in the first cleaning mode; that is, after the wet mopping is completed, the robot is replaced with a dry mop, and the robot continues to execute the next work instruction in the first cleaning mode.

[0105] Preferably, when the robot is executing the dry stain cleaning strategy in the first cleaning mode, continuing to execute the next work instruction includes: controlling the robot to return to the area where the previously identified dry stain was located, and then using a replaced dry mop to dry mop the area where the dry stain was located again, and then controlling the robot to continue executing the first cleaning mode on the walking path; or directly controlling the robot to continue executing the first cleaning mode on the walking path.

[0106] In one preferred embodiment, a newly replaced mop is used to dry-mop the previously wet-mopped stained area again. This makes the stained area cleaner and avoids the risk of the user slipping due to excessive wetness. Alternatively, various sensors can be used to re-identify the stained area and determine whether a new cleaning strategy needs to be applied after wet mopping. Another more resource-efficient embodiment is to consider the stain removal process complete after wet mopping, and then proceed to the next work instruction.

[0107] For step S2, configure the first cleaning mode as dry mopping mode;

[0108] If the identified stain type is a wet stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the wet stain cleaning strategy under the first cleaning mode.

[0109] The wet stain cleaning strategy in the first cleaning mode is as follows: dry mop the identified wet stains, and after the dry mopping is completed, replace the mop cloth carried by the robot with a dry mop cloth before continuing to execute the next work instruction.

[0110] Here, the dry mopping process includes:

[0111] If the robot is currently carrying a dry mop, it will directly dry mop the identified stains with the dry mop, or drive the robot to replace the current dry mop with a new dry mop before dry mopping the identified stains.

[0112] If the robot is currently carrying a wet mop, the robot will switch the wet mop to a dry mop and then dry-mop the identified stains.

[0113] For ease of understanding, let's take water stains as an example. In the current working state, the robot is operating in the first cleaning mode. During the working process, after the robot identifies the water stain, it confirms that the type of water stain is a wet stain. At this time, the wet stain cleaning strategy in the first cleaning mode is executed on the water stain.

[0114] Furthermore, the wetness saturation of the mop carried by the robot can also be used to determine whether the mop is wet or dry, which will not be repeated here. If the mop is dry, it will be used directly to dry-mop the identified stains, or the robot will be driven back to the base station to replace the current dry mop with a new one before dry-mopping the identified stains. Typically, this can be further aided by determining if the current dry mop does not meet mopping requirements, and then replacing it. Reasons for this include: the mop being too dirty, the mop size not meeting requirements, or a change in the mop's odor, which will not be elaborated here. If it is confirmed that the mop is wet, the robot needs to be driven to replace it with a dry mop, usually by returning to the base station to replace the mop, before dry-mopping the identified stains.

[0115] Furthermore, in a preferred embodiment of the present invention, after the robot executes the corresponding cleaning strategy, it continues to execute the next work instruction in the previously executed cleaning mode.

[0116] Specifically, when executing the wet stain cleaning strategy in the first cleaning mode, and after the wet stains have been dry-mopped, the robot needs to be configured to continue executing the next work instruction in the first cleaning mode; that is, after the dry mopping is completed, the robot is replaced with a new dry mop, and the robot continues to execute the next work instruction in the first cleaning mode.

[0117] Preferably, when the robot is executing the wet stain cleaning strategy in the first cleaning mode, it continues to execute the next work instruction, including:

[0118] After the robot returns to the area where the wet stain was previously identified and performs a second dry mop on the area with a new dry mop, the robot continues to perform the first cleaning mode on its walking path.

[0119] Alternatively, you can directly control the robot to continue executing the first cleaning mode along its walking path.

[0120] In one preferred approach, a freshly replaced mop is used to dry-mop the previously dry-mopped area again. This makes the area cleaner and prevents users from slipping due to incomplete dry-mopping of wet stains. Alternatively, various sensors can be used to re-identify the stains and determine whether a new cleaning strategy is needed after dry-mopping. Another more resource-efficient approach is to dry-mop the stains, signifying the cleaning is complete, and then proceed to the next task.

[0121] For step S2, configure the second cleaning mode as wet mopping mode;

[0122] If the identified stain type is a dry stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the dry stain cleaning strategy under the second cleaning mode.

[0123] The dry stain cleaning strategy in the second cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a new wet mop before continuing to execute the next work instruction.

[0124] The wet mopping process here can be referenced from the wet mopping process in the first cleaning mode. The replacement of the mop can also be referenced from the first cleaning mode, so it will not be repeated here.

[0125] Furthermore, in a preferred embodiment of the present invention, after the robot executes the corresponding cleaning strategy, it continues to execute the next work instruction in the previously executed cleaning mode.

[0126] Specifically, when executing the dry stain cleaning strategy in the second cleaning mode, and after the dry stains have been wet-mopped, the robot needs to be configured to continue executing the next work instruction in the second cleaning mode; that is, after the wet mopping is completed, the robot is replaced with a new wet mop, and the robot continues to execute the next work instruction in the second cleaning mode.

[0127] Preferably, when the robot is executing the dry stain cleaning strategy in the second cleaning mode, it continues to execute the next work instruction, including:

[0128] The robot is controlled to return to the area where the dry stain was previously identified, and then the area is mopped a second time with a new wet mop. The robot continues to perform the second cleaning mode on its walking path.

[0129] Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

[0130] For step S2, configure the second cleaning mode as wet mopping mode;

[0131] If the identified stain type is a wet stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the wet stain cleaning strategy under the second cleaning mode.

[0132] The wet stain cleaning strategy in the second cleaning mode is as follows: dry mop the identified wet stains, and after the dry mopping is completed, replace the mop cloth carried by the robot with a wet mop cloth before continuing to execute the next work instruction.

[0133] The dry mopping process here can be referenced from the dry mopping process in the first cleaning mode. The replacement of the mop can also be referenced from the first cleaning mode, so it will not be repeated here.

[0134] Furthermore, in a preferred embodiment of the present invention, after the robot executes the corresponding cleaning strategy, it continues to execute the next work instruction in the previously executed cleaning mode.

[0135] Specifically, when executing the wet stain cleaning strategy in the second cleaning mode, and after the wet stains have been dry-mopped, the robot needs to be configured to continue executing the next work instruction in the second cleaning mode; that is, after the dry mopping is completed, the robot is replaced with a new wet mop, and the robot continues to execute the next work instruction in the second cleaning mode.

[0136] Preferably, when the robot is executing the wet stain cleaning strategy in the second cleaning mode, it continues to execute the next work instruction, including:

[0137] After controlling the robot to return to the area where the wet stain was previously identified, and then using a new wet mop to mop the area again, the robot continues to perform the second cleaning mode on its walking path.

[0138] Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

[0139] Ideally, when the cleaning mode is dry mopping, the robot's current mop is assumed to be dry, and when the cleaning mode is wet mopping, the robot's current mop is assumed to be wet. Of course, the robot's mop can also be assumed to be wet in both dry and wet mopping modes. In this way, after matching the cleaning strategy, it is not necessary to determine whether the robot's mop is dry or wet.

[0140] In a preferred embodiment of the present invention, combined with Figure 3 As shown, before executing the cleaning strategy in step S2, the method further includes: identifying the properties of the stain, the stain properties including: contaminated and non-contaminated;

[0141] If the stain is identified as a contamination type, after executing the corresponding cleaning strategy, the mop will be replaced according to the currently matched cleaning mode, and after the mop replacement is completed, the current cleaning mode will continue to be executed.

[0142] If the stain is identified as non-staining, the next work instruction will be executed directly with the currently matched cleaning mode after the corresponding cleaning strategy is executed.

[0143] The properties of the stain can also be obtained by querying the database, which will not be elaborated here.

[0144] It should be noted that if the stain is of the contaminating type, the mop used for cleaning may become contaminated after the stain is cleaned once. Therefore, after cleaning the contaminating stain once, the mop should be replaced and the stained area cleaned a second time to optimize the robot's performance.

[0145] In a preferred embodiment of the present invention, combined with Figure 4 As shown, before performing step S1, the method further includes: identifying the cleaning category of the stain, the stain category including: sweeping type, mopping type, and marking type to be treated;

[0146] If the stain is classified as a mopping stain, continue to identify the type of stain and execute the cleaning strategy as described in steps S1 and S2.

[0147] If the stain is classified as a cleaning type, then a cleaning strategy will be implemented.

[0148] If the stain is classified as "marked for treatment", then the marking policy will be applied.

[0149] Furthermore, in combination Figure 5 As shown, if the stain is classified as a cleaning type, the cleaning strategy includes:

[0150] Determine the material of the area where the stain is located.

[0151] If the material of the area where the stain is located is soft, then only the stain needs to be cleaned.

[0152] If the material of the area where the stain is located is hard, identify the stain type and save it. After cleaning the current stain, retrieve the identified stain type and execute the cleaning strategy according to the methods described in steps S1 and S2 above.

[0153] Correspondingly, combined Figure 6 As shown, if the stain's cleaning category is "marked as pending," then the marking strategy includes:

[0154] Determine if the stain matches the preset database.

[0155] If a match is found, the stain is avoided, and after the stain is marked on the robot's work map, the next work instruction is executed.

[0156] If there is no match, the stain is avoided, a photo of the stain is taken and transmitted, the stain is marked on the robot's work map, and then the next work instruction is executed.

[0157] By classifying stains, the types of stains can be further expanded, thereby improving the cleaning effect. Correspondingly, the cleaning categories of stains are also pre-configured in the database, and the cleaning category of stains can be determined by comparing images.

[0158] In a preferred embodiment of the present invention, a priority is set for cleaning categories; for example, the priority of sweeping and marked-to-be-treated categories is higher than that of mopping, or the priority of marked-to-be-treated categories is higher than that of sweeping, and the priority of sweeping is higher than that of mopping; accordingly, stains are cleaned in order of priority from high to low, and the corresponding cleaning strategies are executed first; this avoids system confusion when the same stain has multiple attributes.

[0159] For example, sunflower seed shells are classified as sweeping and the stain type is dry stain. During the execution of the above method, since sweeping has a higher priority than mopping, after the cleaning type is determined, a sweeping strategy is executed on the sunflower seed shells, but no cleaning strategy is executed. In the subsequent execution of the method, the cleaning strategy can be further determined based on the specific judgment to decide whether to execute a cleaning strategy on the area where the sunflower seed shells are located.

[0160] In executing the cleaning strategy, the material of the area where the stain is located is determined. For example, if the floor material is carpet, it is determined to be soft, and only the current stain is cleaned to avoid contaminating the carpet during the cleaning process. If the floor material is tile, it is determined to be hard, and after cleaning the stain, a mopping operation can be selectively performed on the stained area to improve the cleaning effect. Here, the determination of the material of the stain area can be achieved by using visual sensors or similar devices.

[0161] During the stain identification process, some stains may not exist in the database. These stains include products such as new electronic products, large furniture, food, and toys. In such cases, it is necessary to photograph these stains and update them in the database, and also mark them on the robot's work map. Alternatively, these stains can be added to the database with manual assistance, and cleaning strategies for these stains can be specified.

[0162] In addition, some stains such as pet feces will be marked as pending in the database. The reason for this category is that these stains cannot be swept or mopped and require special cleaning. Since these stains match the database, it is only necessary to avoid these stains and mark them on the robot's work map.

[0163] In summary, the robot of this invention identifies stains through a vision module and determines the stain type, stain attributes, and cleaning type by comparison. It then matches different cleaning strategies with various cleaning modes. In this way, it accurately sweeps and cleans the identified items without mis-sweeping, missing, or accidentally sweeping or washing them. It can also actively avoid and mark special waste. For stains that cause secondary pollution, it performs a second cleaning after the first cleaning to avoid contaminating other clean areas and improve cleaning efficiency.

[0164] Combination Figures 1 to 6 As shown, the robot provided by the present invention includes: a body, a walking component, a recognition component, a cleaning component, and a processor disposed on the body;

[0165] The identification component is used to take photos of the stains and transmit them to the processor;

[0166] The processor is used to receive stain photos and process the stain photos to identify the type of stain, which is either a dry stain or a wet stain.

[0167] The robot matches a cleaning strategy based on the type of stain and the robot's current cleaning mode configuration, and drives the cleaning components to work according to the matched cleaning strategy.

[0168] The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot;

[0169] The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode.

[0170] Furthermore, the cleaning methods described above are all achieved through the coordinated operation of the robot's various components, and will not be elaborated further here.

[0171] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0172] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cleaning method of the robot described in any of the above embodiments.

[0173] like Figure 7 As shown in the diagram, a more specific hardware structure of an electronic device provided by the present invention may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0174] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0175] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0176] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0177] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0178] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0179] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0180] The electronic devices described above are used to implement the cleaning methods of the corresponding robots in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0181] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the cleaning method of the robot as described in any of the above embodiments.

[0182] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0183] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the cleaning method of the robot as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0184] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0185] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. Before implementing the cleaning strategy, the process also includes: identifying the properties of the stains, including: soiled and non-soiled types; If the stain is identified as a contamination type, after executing the corresponding cleaning strategy, the mop will be replaced according to the currently matched cleaning mode, and after the mop replacement is completed, the current cleaning mode will continue to be executed. If the stain is identified as non-staining, the next work instruction will be executed directly with the currently matched cleaning mode after the corresponding cleaning strategy is executed.

2. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. Before identifying the type of stain, the process also includes: identifying the cleaning category of the stain, which includes: sweeping, mopping, and marking as needing treatment; If the stain is classified as a mopping or washing stain, then continue to identify the type of stain and perform the cleaning strategy according to the method described in claim 1; If the stain is classified as a cleaning type, then a cleaning strategy will be implemented. If the stain's cleaning category is marked as pending, then the marking strategy is executed. The cleaning strategy includes: Determine the material of the area where the stain is located. If the material of the area where the stain is located is soft, then only the stain needs to be cleaned. If the material of the area where the stain is located is hard, the stain type is identified and saved. After cleaning the current stain, the identified stain type is retrieved and the cleaning strategy is executed according to the method described in claim 1. The identification strategy includes: Determine if the stain matches the preset database. If a match is found, the stain is avoided, and after the stain is marked on the robot's work map, the next work instruction is executed. If there is no match, the stain is avoided, a photo of the stain is taken and transmitted, the stain is marked on the robot's work map, and then the next work instruction is executed.

3. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. The first cleaning mode is configured as dry mopping mode; If the identified stain type is a dry stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the dry stain cleaning strategy under the first cleaning mode. The dry stain cleaning strategy in the first cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a dry mop before continuing to execute the next work instruction. The instructions to continue executing the next task include: After controlling the robot to return to the area where the dry stain was previously identified, and then dry mopping the area with a new dry mop, the robot continues to perform the first cleaning mode on its walking path. Alternatively, you can directly control the robot to continue executing the first cleaning mode along its walking path.

4. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. The first cleaning mode is configured as dry mopping mode; If the identified stain type is a wet stain, and the robot is currently configured with the first cleaning mode, then the robot will execute the wet stain cleaning strategy under the first cleaning mode. The wet stain cleaning strategy in the first cleaning mode is as follows: dry mopping is performed on the identified wet stains, and after the dry mopping is completed, the mop carried by the robot is replaced with a dry mop before continuing to execute the next work instruction. The instructions to continue executing the next task include: After the robot returns to the area where the wet stain was previously identified and performs a second dry mop on the area with a new dry mop, the robot continues to perform the first cleaning mode on its walking path. Alternatively, you can directly control the robot to continue executing the first cleaning mode along its walking path.

5. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. The second cleaning mode is configured as a wet mopping mode; If the identified stain type is a dry stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the dry stain cleaning strategy under the second cleaning mode. The dry stain cleaning strategy in the second cleaning mode is as follows: wet mopping is performed on the identified dry stains, and after the wet mopping is completed, the mop carried by the robot is replaced with a new wet mop before continuing to execute the next work instruction. The instructions to continue executing the next task include: The robot is controlled to return to the area where the dry stain was previously identified, and then the area is mopped a second time with a new wet mop. The robot continues to perform the second cleaning mode on its walking path. Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

6. A cleaning method for a robot, characterized in that, The method includes: Identify the type of stain, which is either a dry stain or a wet stain; The robot is then driven to work according to the matched cleaning strategy based on the type of stain and the robot's current cleaning mode configuration. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. The second cleaning mode is configured as a wet mopping mode; If the identified stain type is a wet stain, and the robot is currently configured with the second cleaning mode, then the robot will execute the wet stain cleaning strategy under the second cleaning mode. The wet stain cleaning strategy in the second cleaning mode is as follows: dry mop the identified wet stains, and after the dry mopping is completed, replace the mop cloth carried by the robot with a wet mop cloth before continuing to execute the next work instruction. The instructions to continue executing the next task include: After controlling the robot to return to the area where the wet stain was previously identified, and then using a new wet mop to mop the area again, the robot continues to perform the second cleaning mode on its walking path. Alternatively, the robot can be directly controlled to continue performing the second cleaning mode along its walking path.

7. The cleaning method for a robot according to any one of claims 3, 5, or 6, characterized in that, The wet mopping process includes: If the robot is currently carrying a wet mop, it can directly use the wet mop to mop the identified stains, or drive the robot to replace the wet mop with a dry mop, add water to the dry mop to make it a wet mop, and then use it to mop the identified stains. If the robot is currently carrying a dry mop, it will add water to the dry mop to create a wet mop, and then use it to wet mop the identified stains. Alternatively, the robot can be driven to replace the dry mop with a new one, add water to the new dry mop to create a wet mop, and then use it to wet mop the identified stains.

8. The cleaning method for a robot according to any one of claims 3, 4, or 6, characterized in that, The dry mopping process includes: If the robot is currently carrying a dry mop, it will directly use the dry mop to dry-mop the identified stains. Alternatively, the robot can replace the current dry mop with a new dry mop and then dry mop the identified stains. If the robot is currently carrying a wet mop, the robot will switch the wet mop to a dry mop and then dry-mop the identified stains.

9. A robot, characterized in that, include: The main body, and the walking components, identification components, cleaning components and processor set on the main body; The identification component is used to take photos of the stains and transmit them to the processor; The processor is used to receive stain photos and process the stain photos to identify the type of stain, which is either a dry stain or a wet stain. The robot matches a cleaning strategy based on the type of stain and the robot's current cleaning mode configuration, and drives the cleaning components to work according to the matched cleaning strategy. The cleaning modes include: a first cleaning mode and a second cleaning mode pre-configured for the robot; The cleaning strategies include: a dry stain cleaning strategy in a first cleaning mode, a wet stain cleaning strategy in a first cleaning mode, a dry stain cleaning strategy in a second cleaning mode, and a wet stain cleaning strategy in a second cleaning mode. Before implementing the cleaning strategy, the process also includes: identifying the properties of the stains, including: soiled and non-soiled types; If the stain is identified as a contamination type, after executing the corresponding cleaning strategy, the mop will be replaced according to the currently matched cleaning mode, and after the mop replacement is completed, the current cleaning mode will continue to be executed. If the stain is identified as non-staining, the next work instruction will be executed directly with the currently matched cleaning mode after the corresponding cleaning strategy is executed.

10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 8.

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