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

Abstract

Embodiments of the present application provide a cleaning robot and a control method, device and system thereof, and a storage medium. The method comprises: controlling the cleaning robot to clean a preset area by a brushing component and a mopping component; when the cleaning robot monitors a preset ground medium, controlling the cleaning robot to avoid the preset ground medium in a detour manner; determining an unclean area in the preset area; controlling the cleaning robot to maintain at least the mopping component of the cleaning robot; and controlling the cleaning robot to detect the preset ground medium in the unclean area and clean the detected preset ground medium. By avoiding the preset ground medium in a detour manner when the preset ground medium is monitored, and controlling the cleaning robot to clean the preset ground medium after the maintenance of the mopping component, it can be prevented that the cleaning robot goes to the preset ground medium with the relatively dirty mopping component, and the dirt on the mopping component dirties the preset ground medium.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a cleaning robot and its control method, device, system and storage medium. Background Technology

[0002] Currently, some cleaning robots have brushes (such as side brushes) and mopping components (such as mops). During cleaning, if a pre-existing floor surface, such as a carpet, is present, and the robot moves onto and cleans it, a problem arises where the robot, after mopping, carries the dirt from its mop onto the pre-existing floor surface, causing the dirt on the mop to soil it. Summary of the Invention

[0003] This application provides a cleaning robot and its control method, device, system and storage medium, which can dirt on the mopping parts soil a preset ground medium.

[0004] In a first aspect, embodiments of this application provide a control method for a cleaning robot, including: The cleaning robot is controlled to clean a preset area using its brush and mop components. When the cleaning robot detects a preset ground surface, it is controlled to avoid the preset ground surface by detouring around it. Identify the uncleaned areas within the preset area; The cleaning robot is controlled to perform maintenance on at least its mopping components; The cleaning robot is controlled to clean the preset ground medium in the uncleaned area.

[0005] Secondly, embodiments of this application provide a control device for a cleaning robot, the control device including a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement: The steps of the aforementioned control method for cleaning robots.

[0006] Thirdly, this application provides a cleaning robot, which includes a walking unit and a cleaning component. The walking unit is used to drive the cleaning robot to move, and the cleaning component is used to clean the ground. The aforementioned control device.

[0007] Fourthly, embodiments of this application provide a cleaning system, including: A cleaning robot, comprising a walking unit and a cleaning component, wherein the walking unit is used to drive the cleaning robot to move, and the cleaning component is used to clean the ground; A base station, used for maintaining the cleaning robot; and The aforementioned control device.

[0008] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the above-described method.

[0009] This application provides a cleaning robot and its control method, device, system, and storage medium. The method includes: controlling the cleaning robot to clean a preset area using a brush and a mop, wherein when the cleaning robot detects a preset ground medium, it is controlled to avoid the preset ground medium by detouring; identifying uncleaned areas within the preset area; controlling the cleaning robot to maintain at least its mop; and controlling the cleaning robot to clean the preset ground medium in the uncleaned areas. By avoiding the preset ground medium by detouring when detected, and by controlling the cleaning robot to clean the preset ground medium after maintaining the mop, it is possible to prevent the cleaning robot from carrying a dirty mop onto the preset ground medium, thus preventing dirt on the mop from soiling the preset ground medium.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application; Figure 2 This is a schematic block diagram of a cleaning robot in one implementation method; Figure 3 This is a schematic diagram of a cleaning system in one implementation method; Figure 4 This is a schematic diagram illustrating one implementation method of avoiding the carpet by going around it; Figure 5This is a schematic diagram of an embodiment in which the preset area includes the second target area; Figure 6 This is a schematic diagram of the point set corresponding to the uncleaned area in one embodiment; Figure 7 This is a schematic diagram of an implementation where there are multiple uncleaned areas; Figure 8 This is a schematic block diagram of a control device for a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0015] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0016] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. The control method can be applied to a cleaning robot or cleaning system to control the cleaning robot, enabling it to perform cleaning tasks, such as cleaning areas corresponding to a cleaning task map.

[0017] like Figure 2 As shown, this application embodiment provides a cleaning robot 100. Specifically, the cleaning robot 100 includes a walking unit 110, a cleaning component 120, and a control device 300; the walking unit 110 is used to drive the cleaning robot 100 to move, the cleaning component 120 is used to clean the ground; the control device 300 is used to implement the steps of the control method of the cleaning robot of this application embodiment.

[0018] Cleaning components include, but are not limited to, at least one of the following: mops and sweepers. For example, cleaning components include mops for mopping the floor after wetting; cleaning components may also include sweepers for sweeping the floor.

[0019] The mopping component is used to mop the floor, and there can be one or more mopping components. The mopping component includes, for example, at least one of the following: a rotary mop, a flatbed mop, a roller mop, a tracked mop, etc., but is not limited to these. The mopping component is located at the bottom of the robot body, specifically at the rear of the bottom of the robot body. A drive motor is located inside the robot body, and two rotating shafts extend from the bottom of the robot body. The mopping component is fitted onto these rotating shafts. The drive motor can drive the rotating shafts to rotate, thereby causing the rotating shafts to drive the mopping component to rotate.

[0020] The brushes include side brushes and / or center brushes. For example, when a cleaning robot uses its brushes to sweep the floor, the side brushes sweep dust and other dirt from the outside to the middle area, while the center brushes continue to sweep the dirt from the middle area to the vacuuming device.

[0021] Optionally, the cleaning robot 100 is a sweeping and mopping robot that can work together, such as simultaneously or alternately. Of course, the sweeping and mopping components can also work separately, that is, the sweeping component can perform sweeping work alone, or the mopping component can perform mopping work alone.

[0022] It should be understood that the cleaning robot 100 described in this application embodiment is merely a specific example and does not constitute a specific limitation on the cleaning robot 100 of this application embodiment. The cleaning robot 100 of this application embodiment can also be implemented in other specific ways. For example, in other implementations, the cleaning robot may have more or fewer parts.

[0023] like Figure 3 As shown in the figure, the cleaning system provided in this application embodiment includes a cleaning robot 100, a base station 200, and a control device 300. The cleaning robot 100 can be used to automatically clean the ground, and the application scenarios of the cleaning robot 100 can include home indoor cleaning, large venue cleaning, etc.

[0024] The base station 200 is used in conjunction with the cleaning robot 100. The base station 200 can be used at least for the maintenance of the cleaning components of the cleaning robot 100, such as cleaning or replacing the cleaning components. For example, the base station 200 can also charge the cleaning robot 100, and / or the base station 200 can also provide a docking location for the cleaning robot 100, etc., but it is not limited to these.

[0025] The cleaning system also includes a control device 300, which can be used to implement the steps of the control method for the cleaning robot in the embodiments of this application. Optionally, the robot controller of the cleaning robot 100 and / or the base station controller of the base station 200 can be used individually or in combination as the control device 300 to implement the steps of the control method for the cleaning robot in the embodiments of this application. In other embodiments, the cleaning system includes a separate control device 300 to implement the steps of the control method for the cleaning robot in the embodiments of this application. This control device 300 can be installed on the cleaning robot 100 or on the base station 200. Of course, it is not limited to this. For example, the control device 300 can be a device other than the cleaning robot 100 and the base station 200, such as a home smart terminal, a central control device, etc.

[0026] like Figure 1 As shown, a control method for a cleaning robot according to an embodiment of this application includes steps S110 to S130.

[0027] S110. Control the cleaning robot to clean a preset area using brushes and mops, wherein when the cleaning robot detects a preset ground medium, control the cleaning robot to avoid the preset ground medium by detouring.

[0028] For example, the preset area can be any area to be cleaned, such as a family space, a room unit of a family space, a part of a room unit, a large venue, or a part of a large venue, but it is not limited to these.

[0029] For example, the preset ground medium includes, but is not limited to, at least one of the following: carpet, floor mat, children's play mat, and mat laid on the ground, but is not limited to these; for example, the preset ground medium can also be other media laid on the ground that require special treatment when encountered by cleaning robots, which is not limited here; for ease of explanation, carpet is mainly used as an example of preset ground medium for explanation.

[0030] For example, please refer to Figure 4 The cleaning robot cleans the preset area S using its brush and mop components. When it detects a carpet, it avoids the carpet by going around it, thus preventing the mop components from wetting the carpet and the carpet from getting dirty and breeding bacteria.

[0031] In some embodiments, controlling the cleaning robot to avoid the preset ground medium by detour includes: controlling the cleaning robot to explore the outer edge of the preset ground medium; when the outer edge exploration ends, determining the boundary of a first target area based on the path of the outer edge exploration; and controlling the cleaning robot to avoid the preset ground medium and continue cleaning the preset area based on the boundary of the first target area.

[0032] like Figure 4 As shown, when exploring the outer edge of the carpet, the cleaning robot explores the carpet along its edge from the outside. During this exploration, the orthographic projection of the cleaning robot's geometric center does not fall into the orthographic projection of the carpet. This controls the robot's range of motion during the exploration, reducing the degree to which the mopping device wets or soils the carpet area. At the end of the exploration, the carpet boundary is determined based on the path taken.

[0033] Optionally, the cleaning robot can also determine the boundary of the first target area by exploring the inner edge of the preset floor medium. This can reduce the degree to which the mopping device wets or soils the carpet area. During the inner edge exploration, the cleaning robot explores the carpet along its inner edge. During this process, at least a portion of the trajectory formed by the orthographic projection of the cleaning robot's geometric center coincides with the orthographic projection of the carpet. The inner edge exploration mode provides a more complete definition of the carpet boundary. For example, when obstacles are placed around the carpet, the inner edge exploration mode prevents these obstacles from hindering the robot's exploration, allowing for a more complete understanding of the carpet boundary.

[0034] For example, when a preset ground medium is detected, an outer edge exploration is performed on the preset ground medium to determine the boundary of the first target area; when cleaning the preset area, the preset ground medium can be bypassed directly according to the boundary of the first target area to avoid the preset ground medium in the first target area; the preset ground medium in the first target area may not be monitored, or the preset ground medium may be bypassed according to the boundary of the first target area after it is detected.

[0035] Optionally, a first target area determined by exploration along the outer edge can be marked in the preset area so that when the preset area is cleaned again later, the first target area will not be mopped or cleaned. In some embodiments, the first target area marked in the preset area may also be referred to as a second target area.

[0036] In some implementations, please refer to Figure 5The preset area includes a second target area T. For example, step S110 controls the cleaning robot to clean the preset area using its brush and mop components, including: controlling the cleaning robot to clean areas within the preset area S other than the second target area T using its brush and mop components. When cleaning areas within the preset area S other than the second target area T using its brush and mop components, if a preset ground medium is detected, the cleaning robot is controlled to avoid the preset ground medium by detouring around it.

[0037] The second target area of ​​the preset area may include a target area determined by controlling the cleaning robot to explore the preset floor medium along its edges, and / or a target area determined according to the user's area settings. For example, the user can mark the second target area in the preset area based on the location of the carpet through the human-computer interaction interface, but this is not limited to this. For example, the second target area may or may not have a carpet in the actual scenario. When cleaning the preset area with the brush and mop, the second target area is not cleaned. For example, this can prevent the mop from wetting the carpet or other preset floor medium in the second target area, and prevent the wet carpet or other preset floor medium from becoming dirty and breeding bacteria.

[0038] S120. Determine the uncleaned areas in the preset area.

[0039] For example, after cleaning a preset area, such as after cleaning with a brush and a mop, or after cleaning an area other than the preset ground medium and the second target area, the uncleaned areas in the preset area are identified.

[0040] For example, the uncleaned area is determined based on the movement trajectory of the cleaning robot as it avoids the preset ground medium in a bypass manner. For instance, determining the uncleaned area within the preset area includes: determining the uncleaned area within the preset area based on the boundary of the first target area. For example, the uncleaned area at least includes the first target area determined by exploring the outer edge of the preset ground medium.

[0041] For example, when the cleaning robot cleans a preset area using its brush and mop components, it does not clean the detected preset floor surface or the second target area. For instance, when the preset area includes the second target area, when determining uncleaned areas within the preset area, the uncleaned areas also include the second target area. However, this is not a limitation. For example, when the cleaning robot cleans the preset area using its brush and mop components, it can detect carpet in the second target area. If carpet is detected in the second target area, the cleaning robot can be controlled to avoid the preset floor surface in the second target area by detouring; if carpet is not detected, the second target area can be cleaned using the brush and mop components.

[0042] S130. Control the cleaning robot to perform maintenance on at least the mopping parts of the cleaning robot.

[0043] It should be noted that step S130 can be executed after step S120, after step S110 and before step S120, or simultaneously with step S120. Specifically, after determining that there are uncleaned areas in the preset area and after the mop has been maintained, step S140 is executed.

[0044] Maintenance of mop parts includes, but is not limited to, at least one of the following: cleaning, replacement, and spin drying.

[0045] In some embodiments, the cleaning robot can maintain the mop itself. For example, the cleaning robot includes a washing device for cleaning the mop and can also control the mop to rotate rapidly to shake off water. The washing device can collect the shaken water. In some embodiments, the cleaning robot can move to a base station, where at least the base station can maintain the mop, such as by replacing or cleaning it. For example, the base station and the cleaning robot can cooperate to clean the mop. In some embodiments, the cleaning robot's control device can output prompts through a human-machine interface to remind the user to maintain the mop.

[0046] S140. Control the cleaning robot to clean the preset ground medium in the uncleaned area.

[0047] After the mop is maintained, the cleaning robot is controlled to clean the preset ground medium in the uncleaned area. Since the mop is relatively clean after maintenance, it can prevent the preset ground medium from getting wet and / or from being contaminated.

[0048] Optionally, the cleaning robot can be controlled to clean the pre-set ground medium in the uncleaned area by using the brush and sweeping components. When cleaning the pre-set ground medium in the uncleaned area by using the brush and sweeping components, the mopping components can be controlled to lift up to prevent wetting and / or contaminating the pre-set ground medium. This can also reduce friction between the mopping components and the pre-set ground medium, improve cleaning efficiency, and reduce damage to the mopping components and the pre-set ground medium.

[0049] In some embodiments, controlling the cleaning robot to clean the preset ground medium in the uncleaned area includes: when the target setting is set to require cleaning the preset ground medium, controlling the cleaning robot to clean the preset ground medium in the uncleaned area.

[0050] For example, the decision to clean a preset floor surface can be determined based on user settings or preset control logic. For instance, a cleaning robot can autonomously determine carpet cleaning decisions and execution strategies. For example, if set to clean carpets according to a preset cycle, it will determine that carpet cleaning is necessary when the current time is the carpet cleaning time corresponding to the preset cycle.

[0051] In some embodiments, controlling the cleaning robot to clean a preset floor medium in the uncleaned area includes: controlling the cleaning robot to detect the preset floor medium in the uncleaned area and cleaning the detected preset floor medium. For example, when the target setting is set to require cleaning of a preset floor medium, the cleaning robot is controlled to detect the preset floor medium in the uncleaned area and clean the detected preset floor medium. Optionally, the cleaning robot is controlled to clean the detected preset floor medium using brushes.

[0052] When the cleaning robot avoids the preset ground medium by circling around it, the outer edge of the preset ground medium can be explored, and the boundary of the first target area can be determined based on the path of the outer edge exploration. In some embodiments, the outline of the preset ground medium determined when the boundary of the first target area is determined by the outer edge exploration is not precise enough, which can be called a coarse inspection; moreover, the preset ground medium of the second target area in the uncleaned area may also move, so the position of the preset ground medium in the uncleaned area is not precise enough; by controlling the cleaning robot to detect the preset ground medium in the uncleaned area and clean the detected preset ground medium, the actual preset ground medium in the uncleaned area can be cleaned accurately.

[0053] In some embodiments, controlling the cleaning robot to detect a preset ground medium in the uncleaned area and to clean the detected preset ground medium includes the following steps S141 to S143.

[0054] S141. Obtain the point set corresponding to the uncleaned area where the preset ground medium is located, the point set including multiple contour positions on the contour of the uncleaned area.

[0055] For example, the outline of the uncleaned area can be the boundary of the first target area. Figure 6 As shown, one of the uncleaned areas is a target area determined by exploring the outer edge of a preset ground medium. The set of points corresponding to this uncleaned area is called point set a, where each black dot represents the contour position in point set a. The contour position is, for example, the position of the preset ground medium detected each time the outer edge of the preset ground medium is explored; for example, please refer to [reference needed]. Figure 6 The point set a is determined by the trajectory of the cleaning robot exploring the outer edge of the preset ground medium, such as a carpet, when the cleaning robot explores the outer edge. The point set a includes multiple contour positions on the contour of the uncleaned area.

[0056] Another uncleaned area is a predefined second target area T. The set of points corresponding to this uncleaned area is called point set b, where each black dot represents the contour position in point set b. For an example, please refer to [link to example]. Figure 6 The point set b is defined as follows: when the cleaning robot detects carpet in the second target area T, it avoids the preset floor medium of the second target area T by detouring around it, and the point set b corresponding to the uncleaned area where the preset floor medium is located is determined. Optionally, when the cleaning robot does not clean the second target area T, such as when it does not detect whether there is carpet in the second target area T, the point set b corresponding to the uncleaned area where the second target area is located can be determined based on the boundary of the second target area T; for example, the boundary of the second target area T can be discretized into multiple points with equal intervals to obtain the point set b, but it is not limited to this.

[0057] S142. Determine several target points based on the degree of aggregation of multiple contour positions in the preset area according to the point set.

[0058] When a large number of contour positions are clustered in a sub-region of the preset area, that sub-region has a high probability of being a preset floor medium, such as carpet. For example, the degree of clustering of multiple contour positions corresponding to the target point in the preset area is greater than the degree of clustering of non-target points in the preset area; that is, the location of the target point has a high probability of being a preset floor medium.

[0059] For example, determining several target points based on the degree of clustering of multiple contour positions in the point set within the preset area includes: determining multiple target points based on the degree of clustering of multiple contour positions in the point set within the preset area, and the arrangement order of the multiple target points. For instance, target points with higher clustering degrees are arranged earlier in the order, and the positions of target points arranged earlier in the order have a higher probability of being the preset ground medium.

[0060] Optionally, determining multiple target points and their arrangement order based on the degree of clustering of multiple contour positions in the preset area according to the point set includes: determining the number of neighboring contour positions for each contour position in the point set, wherein the neighboring contour positions are contour positions in the preset area whose distance from the contour position is less than or equal to a preset distance threshold; determining multiple target points from the contour positions in the point set according to the number of neighboring contour positions for each contour position; and determining the arrangement order of the multiple target points in descending order of the number. The degree of clustering corresponding to each contour position is determined based on the number of neighboring contour positions, so that the degree of clustering can indicate the probability that each contour position is a preset ground medium.

[0061] For example, the preset distance threshold is determined based on the diameter of the cleaning robot. For instance, the preset distance threshold is 0.5 to 1.5 times the diameter of the cleaning robot, such as 1 time, but it is not limited to this.

[0062] For example, determining several target points based on the degree of clustering of multiple contour positions in the preset area includes: determining multiple target points based on the degree of clustering of multiple contour positions in the preset area; and determining the arrangement order of the multiple target points based on the shortest total path traversing the multiple target points. For instance, starting from a base station or room door, a shortest path search is performed on the determined multiple target points to obtain the shortest total path, and the arrangement order of the multiple target points is determined based on the order of the multiple target points on the shortest total path. This can improve the efficiency of movement and cleaning by detecting a preset ground medium during the movement towards the multiple target points and by cleaning the detected preset ground medium.

[0063] S143. Control the cleaning robot to move towards the plurality of target points, and detect a preset ground medium during the movement towards the plurality of target points, and clean the detected preset ground medium.

[0064] The location of the target point has a high probability of being a preset ground medium. By controlling the cleaning robot to move towards the target point, the cleaning robot can quickly reach the area where the preset ground medium is located, thereby improving cleaning efficiency.

[0065] For example, controlling the cleaning robot to move towards the plurality of target points, detecting a preset ground medium during the movement towards the plurality of target points, and cleaning the detected preset ground medium includes: determining the current target point according to the arrangement order of the plurality of target points; controlling the cleaning robot to move towards the current target point, and detecting the preset ground medium during the movement towards the current target point; detecting the preset ground medium before or when the cleaning robot moves to the current target point, and cleaning the detected preset ground medium. By determining the arrangement order of the target points according to the degree of clustering of the contour positions, and controlling the movement trajectory of the cleaning robot according to the arrangement order of the plurality of target points, the cleaning robot preferentially moves to areas with a higher probability of being the preset ground medium, so that the cleaning robot can quickly reach the area where the preset ground medium is located.

[0066] For example, if the cleaning robot moves to the current target point and has not yet detected a preset floor medium, the next target point is determined as the current target point based on the order of the multiple target points; and the cleaning robot is controlled to move towards the current target point, while detecting the preset floor medium during the movement. If the cleaning robot does not find any preset floor medium such as carpet during its movement to the current target point, it continues to navigate to the next target point to prevent missing such preset floor medium. Optionally, if the preset floor medium is not detected when moving to any of the multiple target points in the point set, the robot can move and detect the preset floor medium based on the target points of other point sets.

[0067] In some embodiments, controlling the cleaning robot to clean a detected preset floor medium includes: controlling the cleaning robot to explore the inner edge of the detected preset floor medium to obtain its outline; and, based on the outline of the preset floor medium, controlling the cleaning robot to clean the preset floor medium in an arc-shaped path using the brush. In some embodiments, the inner edge exploration method can more accurately determine the outline of the preset floor medium, which can be called precision inspection, and can accurately clean the actual preset floor medium in the uncleaned area.

[0068] For example, inside-edge exploration refers to the cleaning robot exploring the carpet along its inner edge. During this exploration, the trajectory formed by the orthographic projection of the cleaning robot's geometric center coincides at least partially with the orthographic projection of the carpet. The carpet outline determined by the cleaning robot using inside-edge exploration is more complete. For instance, if obstacles are placed around the carpet, the cleaning robot using outside-edge exploration might be hindered, preventing it from obtaining a complete carpet outline.

[0069] For example, controlling the cleaning robot to clean the preset floor surface in an arc-shaped path using the brush components according to the contour of the preset floor surface includes: controlling the cleaning robot to clean the preset floor surface in a first arc-shaped path using the brush components according to the contour of the preset floor surface; and controlling the cleaning robot to clean the preset floor surface in a second arc-shaped path using the brush components according to the contour of the preset floor surface, wherein the second arc-shaped path is orthogonal to the first arc-shaped path. This ensures thorough cleaning of multiple locations on the preset floor surface, improving the cleaning effect.

[0070] Optionally, the method further includes: determining and marking a second target area within the preset area based on the contour of the preset floor medium. When the cleaning robot cleans the preset area using its brush and mop components, the second target area may not be cleaned to prevent the mop components from wetting the carpet or other preset floor medium in the second target area.

[0071] For example, the method further includes: when the cleaning robot cleans the preset area using its brush and mop components, determining the location of non-preset ground media in the preset area; and deleting the second target area from the preset area when the proportion of the area occupied by the non-preset ground media location in the second target area of ​​the preset area is greater than or equal to a preset area threshold.

[0072] In the actual scenario, the pre-marked second target area in the preset area may be removed or moved by the pre-marked floor media such as carpets. By determining the location of non-pre-marked floor media when cleaning the preset area with the brush and mop, and when the actual area occupied by the non-pre-marked floor media in the marked second target area is large, it can be determined that the pre-marked floor media such as carpets in the second target area may be removed or moved in a large area. Therefore, the second target area can be deleted to prevent the second target area from being missed when cleaning it with the brush and mop.

[0073] In some embodiments, controlling the cleaning robot to clean the preset floor medium of the uncleaned areas includes: when there are multiple uncleaned areas, determining the cleaning order of the multiple uncleaned areas based on the distance of the uncleaned area from the room door and / or the distance from the base station; and controlling the cleaning robot to clean the preset floor medium of the uncleaned areas according to the cleaning order of the multiple uncleaned areas.

[0074] For example, controlling the cleaning robot to detect a preset floor medium in the uncleaned area and to clean the detected preset floor medium includes: when there are multiple uncleaned areas, determining the detection and cleaning order of the multiple uncleaned areas based on the distance between the uncleaned area and the room door and / or the distance to the base station; controlling the cleaning robot to detect the preset floor medium in each of the multiple uncleaned areas according to the detection and cleaning order of the multiple uncleaned areas, and to clean the detected preset floor medium.

[0075] Please see Figure 7 The uncleaned areas are multiple, including target areas corresponding to carpet 1, carpet 2, and carpet 3. By determining the detection and cleaning order of the multiple uncleaned areas based on the distance of each uncleaned area from the room door and / or from the base station 200, the efficiency of cleaning the multiple uncleaned areas can be improved.

[0076] For example, determining the cleaning order of multiple uncleaned areas based on the distance between the uncleaned area and the room door and / or the distance to the base station includes: determining the cleaning order of multiple uncleaned areas in ascending order of distance from the room door; or determining the cleaning order of multiple uncleaned areas in ascending order of distance from the base station, which can improve the efficiency of cleaning multiple uncleaned areas. Please refer to [link / reference]. Figure 7 The uncleaned areas corresponding to carpets 1, 2, and 3 are arranged in ascending order of distance from the room door / base station 200, and are the uncleaned areas corresponding to carpets 2, 3, and 1, respectively. The cleaning robot can first be controlled to move towards several target points in the point set corresponding to carpet 2, and during the movement towards these target points, it can detect preset ground media and clean the detected preset ground media. Then, the robot can sequentially move towards several target points in the point set corresponding to carpets 3 and 1 and detect the preset ground media.

[0077] The control method for a cleaning robot provided in this application includes: controlling the cleaning robot to clean a preset area using its brush and mop components, wherein when the cleaning robot detects a preset ground medium, it is controlled to avoid the preset ground medium by detouring; identifying uncleaned areas within the preset area; controlling the cleaning robot to maintain at least its mop component; and controlling the cleaning robot to clean the preset ground medium in the uncleaned areas. By avoiding the preset ground medium by detouring when detected, and by controlling the cleaning robot to clean the preset ground medium after maintaining the mop component, it is possible to prevent the cleaning robot from carrying a dirty mop component onto the preset ground medium, thus preventing dirt on the mop component from soiling the preset ground medium.

[0078] Please refer to the above embodiments. Figure 8 , Figure 8 This is a schematic block diagram of a control device 300 provided in an embodiment of this application. The control device 300 includes a processor 301 and a memory 302.

[0079] For example, processor 301 and memory 302 are connected via bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0080] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0081] Specifically, the memory 302 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0082] The processor 301 is configured to run a computer program stored in the memory 302, and to implement the steps of the method in any of the foregoing embodiments when executing the computer program.

[0083] For example, the processor 301 is configured to run a computer program stored in the memory 302, and when executing the computer program, perform the following steps: The cleaning robot is controlled to clean a preset area using its brush and mop components. When the cleaning robot detects a preset ground surface, it is controlled to avoid the preset ground surface by detouring around it. Identify the uncleaned areas within the preset area; The cleaning robot is controlled to perform maintenance on at least its mopping components; The cleaning robot is controlled to clean the preset ground medium in the uncleaned area.

[0084] The specific principles and implementation methods of the control device provided in this application embodiment are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0085] It is understood that this application embodiment also provides a cleaning robot 100, which includes the aforementioned control device 300, such as a robot controller, and is used to implement the steps of the method of this application embodiment.

[0086] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the method described in any of the above embodiments.

[0087] The computer-readable storage medium can be an internal storage unit of the control device described in any of the foregoing embodiments, such as the hard disk or memory of the control device. The computer-readable storage medium can also be an external storage device of the control device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the control device.

[0088] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0089] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0090] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, include: S110: Control the cleaning robot to clean a preset area using brush and mop components, wherein when the cleaning robot detects a preset ground medium, control the cleaning robot to avoid the preset ground medium by detouring. S120: Identify uncleaned areas within the preset area; S130: Control the cleaning robot to perform maintenance on at least the mopping parts of the cleaning robot; S140: Control the cleaning robot to clean the preset ground medium in the uncleaned area.

2. The control method according to claim 1, characterized in that, The process of controlling the cleaning robot to clean the preset ground medium in the uncleaned area includes: When the target setting is set to require cleaning a preset ground medium, the cleaning robot is controlled to clean the preset ground medium in the uncleaned area.

3. The control method according to claim 1, characterized in that, Controlling the cleaning robot to avoid the preset ground medium by detour includes: The cleaning robot is controlled to explore the outer edge of the preset ground medium; When the outer edge exploration ends, the boundary of the first target region is determined based on the path of the outer edge exploration; Based on the boundary of the first target area, the cleaning robot is controlled to avoid the preset ground medium and continue cleaning the preset area.

4. The control method according to claim 3, characterized in that, The step of determining the uncleaned areas in the preset area includes: The uncleaned areas in the preset area are determined based on the boundary of the first target area.

5. The control method according to claim 1, characterized in that, The preset area includes a second target area. The control of the cleaning robot to clean the preset area using brushes and mops includes: controlling the cleaning robot to clean areas in the preset area other than the second target area using brushes and mops. When determining the uncleaned areas in the preset area, the uncleaned areas include the second target area.

6. The control method according to any one of claims 1-5, characterized in that, The process of controlling the cleaning robot to clean the preset ground medium in the uncleaned area includes: The cleaning robot is controlled to detect a preset ground medium in the uncleaned area and to clean the detected preset ground medium.

7. The control method according to claim 6, characterized in that, The control of the cleaning robot to detect a preset ground medium in the uncleaned area and to clean the detected preset ground medium includes: Obtain a set of points corresponding to the uncleaned area where the preset ground medium is located, the set of points including multiple contour positions on the contour of the uncleaned area; Based on the degree of aggregation of multiple contour positions in the preset area, several target points are determined; The cleaning robot is controlled to move towards the target points, and during the movement towards the target points, a preset ground medium is detected, and the detected preset ground medium is cleaned.

8. The control method according to claim 7, characterized by, The step of determining several target points based on the degree of clustering of multiple contour positions in the preset area from the point set includes: Based on the degree of clustering of multiple contour positions in the preset area, multiple target points and the arrangement order of the multiple target points are determined; The process of controlling the cleaning robot to move towards the plurality of target points, detecting a preset ground medium during the movement towards the plurality of target points, and cleaning the detected preset ground medium includes: The current target point is determined based on the arrangement order of the multiple target points; Control the cleaning robot to move towards the current target point, and detect a preset ground medium during the movement towards the current target point; The cleaning robot detects a preset ground medium before moving to the current target point or when moving to the current target point, and cleans the detected preset ground medium.

9. The control method according to claim 8, characterized in that, The method of controlling the cleaning robot to move towards the plurality of target points, and detecting a preset ground medium during the movement towards the plurality of target points, further includes: When the cleaning robot moves to the current target point and no preset ground medium has been detected, the next target point of the current target point is determined according to the arrangement order of the multiple target points; and the cleaning robot is controlled to move towards the current target point, and the preset ground medium is detected during the movement towards the current target point.

10. The control method according to claim 8, characterized in that, The step of determining multiple target points and their arrangement order based on the degree of clustering of multiple contour positions in the preset area according to the point set includes: Determine the number of neighboring contour positions for each contour position in the point set, wherein the neighboring contour positions are contour positions in the preset region whose distance from the contour position is less than or equal to a preset distance threshold; Based on the number of neighboring contour positions of each contour position in the point set, multiple target points are determined in the contour positions of the point set, and the arrangement order of the multiple target points is determined in descending order of the number.

11. The control method according to claim 10, characterized in that, The preset distance threshold is determined based on the diameter of the cleaning robot.

12. The control method according to claim 6, characterized in that, When controlling the cleaning robot to clean a preset ground medium detected, the following are included: The cleaning robot is controlled to explore the inner edge of the detected preset ground medium in order to obtain the outline of the preset ground medium. Based on the outline of the preset ground surface, the cleaning robot is controlled to clean the preset ground surface in an arc-shaped path using the brush and sweeping components.

13. The control method according to claim 12, characterized in that, The method further includes: Based on the outline of the preset ground medium, a second target area is determined and marked within the preset area.

14. The control method according to claim 13, characterized in that, The method further includes: When the cleaning robot cleans a preset area using its brush and mop components, it determines the location of non-preset ground media within the preset area. When the proportion of the area occupied by non-preset ground medium locations in the second target area of ​​the preset area is greater than or equal to the preset area threshold, the second target area in the preset area is deleted.

15. The control method according to any one of claims 1-5, characterized in that, The process of controlling the cleaning robot to clean the preset ground medium in the uncleaned area includes: When there are multiple uncleaned areas, the cleaning order of the multiple uncleaned areas is determined according to the distance of the uncleaned area from the room door and / or the distance from the base station; The cleaning robot is controlled to clean the preset ground medium in the uncleaned areas according to the cleaning sequence of the multiple uncleaned areas.

16. The control method according to claim 15, characterized in that, The step of determining the cleaning order of multiple uncleaned areas based on the distance between the uncleaned area and the room doorway and / or the distance to the base station includes: The cleaning order of the uncleaned areas is determined according to their distance from the room doorway, from smallest to largest; or... The cleaning order of the uncleaned areas is determined according to the increasing distance between the uncleaned areas and the base station.

17. The control method according to claim 1, characterized in that, The process of controlling the cleaning robot to clean the preset ground medium in the uncleaned area includes: The cleaning robot is controlled to clean the preset ground medium in the uncleaned area using the brush and sweeping components.

18. The control method according to claim 17, characterized in that, When the brush and sweep components clean the preset ground medium in the uncleaned area, the mopping components are controlled to lift up.

19. A control device for a cleaning robot, characterized in that, The control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement: The steps of the control method for the cleaning robot as described in any one of claims 1-18.

20. A cleaning robot, characterized in that, The cleaning robot includes a walking unit and a cleaning component. The walking unit is used to drive the cleaning robot to move, and the cleaning component is used to clean the ground. The cleaning robot also includes the control device as described in claim 19.

21. A cleaning robot system, characterized in that, include: A cleaning robot, comprising a walking unit and a cleaning component, wherein the walking unit is used to drive the cleaning robot to move, and the cleaning component is used to clean the ground; A base station, which is used at least for maintaining the cleaning components of the cleaning robot; as well as The control device as described in claim 19.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement: The steps of the control method for the cleaning robot as described in any one of claims 1-18.

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