Cleaning liquid spraying control method, self-moving cleaning device, and storage medium
By defining specific cleaning areas and controlling the cleaning liquid spraying strategy within the self-propelled cleaning device, the problem of cleaning liquid being sprayed outside the designated cleaning areas is solved, ensuring that the cleaning liquid is sprayed within the designated areas, avoiding water stains and improving the cleaning effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING HUTT INTELLIGENT TECH CO LTD
- Filing Date
- 2021-11-22
- Publication Date
- 2026-05-19
AI Technical Summary
In the fixed-point cleaning mode, the cleaning liquid spraying unit sprays the cleaning liquid outside the fixed-point cleaning area, resulting in water stains remaining outside the fixed-point cleaning area and affecting the cleaning effect.
By defining specific cleaning areas and controlling the spray range of cleaning fluid according to a preset spraying strategy, including adjusting the nozzle position, angle, and spray pressure, prohibiting spraying in certain locations, and performing or stopping spraying operations in specific directions, the cleaning fluid is ensured to be sprayed within the designated cleaning areas.
It effectively avoids water stains remaining outside the designated cleaning area, thus improving the cleaning effect.
Smart Images
Figure CN116138646B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning technology, and in particular to a cleaning liquid spraying control method, a self-moving cleaning device, and a storage medium. Background Technology
[0002] Self-cleaning devices (such as window cleaning robots) are a type of smart home appliance. They use a built-in vacuum pump or fan to create negative pressure, allowing them to firmly adhere to the glass. They automatically detect the distance to the window's corners and plan their cleaning path. Window cleaning robots typically have a cloth holder at the bottom, with a cloth attached to the bottom of the holder. As the robot moves across the glass, the pressure from its adhesion drives the cloth to wipe away dirt and grime.
[0003] To improve cleaning effectiveness, some self-propelled cleaning devices are equipped with a cleaning liquid spraying unit (the cleaning liquid can be water or an aqueous solution containing detergent, etc.). The cleaning liquid spraying unit includes modules such as a cleaning liquid container and a nozzle. When the self-propelled cleaning device performs cleaning operations in the cleaning area, it can wet the cleaning area through the cleaning liquid spraying unit to improve the wiping effect of the cloth.
[0004] In addition, some self-moving cleaning devices are also equipped with a fixed-point cleaning function. In the fixed-point cleaning mode, the self-moving cleaning device can repeatedly clean a certain location or area to improve the cleaning effect of that specific location or area.
[0005] However, in the fixed-point cleaning mode, if the cleaning liquid spraying unit sprays the cleaning liquid outside the fixed-point cleaning area, and the self-moving cleaning device cannot wipe the area outside the fixed-point cleaning area, water stains will remain outside the fixed-point cleaning area, affecting the cleaning effect. Summary of the Invention
[0006] This application provides a method for controlling the spraying of cleaning fluid in a self-moving cleaning device, a self-moving cleaning device, and a storage medium, in order to solve the problem in the prior art where, in the fixed-point cleaning mode, if the cleaning fluid spraying unit sprays the cleaning fluid outside the fixed-point cleaning area, water stains will remain outside the fixed-point cleaning area, affecting the cleaning effect.
[0007] In a first aspect, embodiments of this application provide a cleaning liquid spraying control method, including:
[0008] Identify designated cleaning areas;
[0009] Within the designated cleaning area, a cleaning fluid spraying operation is performed according to a preset cleaning fluid spraying strategy, wherein the cleaning fluid spraying area corresponding to the cleaning fluid spraying operation is less than or equal to the designated cleaning area.
[0010] In one possible implementation, the cleaning fluid spraying strategy includes:
[0011] If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it stops the cleaning liquid spraying operation.
[0012] In one possible implementation, the cleaning fluid spraying strategy includes:
[0013] If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it adjusts the spraying range so that the spraying range of the self-moving cleaning device at the current position is within the fixed-point cleaning area.
[0014] In one possible implementation, adjusting the spray range includes:
[0015] The spray range can be adjusted by adjusting the position, angle, and / or spray pressure of the nozzle.
[0016] In one possible implementation, the cleaning fluid spraying strategy includes a prohibited spraying position, which indicates a position where the self-moving cleaning device is prohibited from performing the cleaning fluid spraying operation.
[0017] In one possible implementation, the cleaning fluid spraying strategy further includes:
[0018] When the self-moving cleaning device moves in the first direction, it performs the cleaning liquid spraying operation along the first direction.
[0019] When the self-moving cleaning device moves in the second direction, it does not perform the cleaning liquid spraying operation, and the first direction and the second direction are opposite.
[0020] In one possible implementation, the fixed-point cleaning area is a non-horizontal surface cleaning area, the first direction is above the fixed-point cleaning area, and the second direction is below the fixed-point cleaning area.
[0021] In one possible implementation, the cleaning fluid spraying strategy further includes:
[0022] Within the designated cleaning area, cleaning fluid is sprayed at preset intervals.
[0023] In one possible implementation, the cleaning fluid spraying interval is a cleaning fluid spraying time interval and / or a cleaning fluid spraying distance interval.
[0024] In one possible implementation, determining the fixed-point cleaning area includes:
[0025] Receive designated cleaning instructions;
[0026] The designated cleaning area is determined according to the designated cleaning instruction.
[0027] Secondly, embodiments of this application provide a self-moving cleaning device, comprising:
[0028] One or more cleaning fluid spraying units;
[0029] One or more processors;
[0030] One or more memory units;
[0031] And one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions that, when executed by the one or more processors, cause the self-moving cleaning device to perform the method described in any of the first aspects above.
[0032] Thirdly, embodiments of this application provide a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method described in any of the first aspects above.
[0033] By adopting the technical solution provided in the embodiments of this application, it can be ensured that if the cleaning liquid spraying unit sprays the cleaning liquid in the fixed cleaning area in the fixed cleaning mode, water stains are avoided outside the fixed cleaning area, which would affect the cleaning effect. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 This is a structural schematic diagram of a square window cleaning robot provided in an embodiment of this application;
[0036] Figure 2 This is a schematic diagram of the structure of a circular window cleaning robot provided in an embodiment of this application;
[0037] Figure 3 This is a schematic diagram of a cleaning fluid spraying scenario provided in an embodiment of this application;
[0038] Figure 4 This is a schematic diagram of another cleaning fluid spraying scenario provided in an embodiment of this application;
[0039] Figure 5 This is a schematic diagram of another cleaning fluid spraying scenario provided in an embodiment of this application;
[0040] Figure 6 This is a schematic diagram of a fixed-point cleaning scenario provided in an embodiment of this application;
[0041] Figure 7 This is a schematic diagram of another fixed-point cleaning scenario provided in an embodiment of this application;
[0042] Figure 8 This is a schematic diagram of a cleaning liquid spraying control method provided in an embodiment of this application;
[0043] Figure 9 This is a schematic diagram of another fixed-point cleaning scenario provided in an embodiment of this application;
[0044] Figure 10 This is a schematic diagram of another fixed-point cleaning scenario provided in an embodiment of this application. Detailed Implementation
[0045] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in 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, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.
[0046] The self-moving cleaning device involved in the embodiments of this application may be a square window cleaning robot (such as...). Figure 1 As shown), circular window cleaning robot (such as...) Figure 2 (as described above) or other product forms. Figure 1 The specific structure and working principle of the square window cleaning robot shown can be found in the description of Chinese Patent CN201580024976.5; Figure 2 The specific structure and working principle of the circular window cleaning robot shown can be found in the description of Chinese Patent CN201210185869.9. It should be noted that this application focuses on the cleaning liquid spraying control method of the self-moving cleaning device and does not limit its product form or movement method.
[0047] It is understood that, in order to achieve the spraying of cleaning fluid, the self-moving cleaning device involved in this application embodiment should be equipped with a cleaning fluid spraying unit. Specifically, the cleaning fluid spraying unit may include modules such as a cleaning fluid container and a nozzle, so as to spray cleaning fluid during the cleaning process of the self-moving cleaning device. The cleaning fluid may be water or an aqueous solution containing cleaning agent, etc., and this application embodiment does not impose specific limitations on it.
[0048] See Figure 3 This is a schematic diagram of a cleaning liquid spraying scenario provided in an embodiment of this application. Figure 3 As shown, the self-propelled cleaning device can spray cleaning fluid in a certain direction (e.g., the direction of travel). The spray range of the cleaning fluid can be determined by the installation position, angle, and spray pressure of the nozzle on the cleaning fluid spraying unit. It is understood that the "spray range" involved in the embodiments of this application refers to the range within which the cleaning fluid can be sprayed when the self-propelled cleaning device is in a fixed position, such as... Figure 3 The area indicated by the dotted line is shown in the image. Of course, the self-propelled cleaning device can also spray cleaning fluid in multiple directions simultaneously. When the self-propelled cleaning device sprays cleaning fluid in multiple directions simultaneously, the "spray range" refers to the range of cleaning fluid sprayed simultaneously in those multiple directions when the self-propelled cleaning device is in a fixed position.
[0049] In one possible implementation, the self-moving cleaning device maintains a constant spray range for the cleaning fluid during the spraying operation; that is, the position, angle, and spray pressure of the nozzles on the cleaning fluid spraying unit are not adjustable. For example, the self-moving cleaning device can always maintain a constant spray range during the cleaning fluid spraying operation. Figure 3 The cleaning solution is sprayed within the indicated "spray range". Figure 3 In this embodiment, the self-propelled cleaning device sprays cleaning fluid along the direction of travel. The spraying distance of the cleaning fluid in the direction of travel is L, which is equal to the length of the self-propelled cleaning device's body in the direction of travel. Of course, those skilled in the art can set other "spraying ranges" according to their needs, and this application embodiment does not impose specific limitations on this.
[0050] In another possible implementation, the self-moving cleaning device can adjust the spraying range of the cleaning fluid as needed during the cleaning fluid spraying operation. That is, the position, angle and spray pressure of the nozzle on the cleaning fluid spraying unit are adjustable, and the spraying range of the cleaning fluid can be adjusted by adjusting the position, angle and spray pressure of the nozzle.
[0051] See Figure 4 This is a schematic diagram of another cleaning fluid spraying scenario provided in an embodiment of this application. In the initial state, the self-moving cleaning device can spray cleaning fluid according to the spraying range shown in 4A, that is, the spraying distance of the cleaning fluid in the direction of travel is L1. During the cleaning fluid spraying operation, the spraying range can be adjusted as needed, for example, adjusted to the spraying range shown in 4B, that is, the spraying distance of the cleaning fluid in the direction of travel is L2. It can be understood that, in addition to adjusting the spraying distance, the spraying angle can also be adjusted, such as... Figure 5 As shown in 5A and 5B. That is to say, adjusting the spray range includes adjusting the spray distance and / or spray angle.
[0052] See Figure 6 This is a schematic diagram of a fixed-point cleaning scenario provided in an embodiment of this application. Figure 6 As shown, when the self-propelled cleaning device performs a cleaning operation on the surface to be cleaned, a fixed-point cleaning operation needs to be performed on point A. For example, if point A has a lot of stains, it needs to be wiped repeatedly.
[0053] The designated cleaning area is defined with point A as the reference position. Within this area, the self-moving cleaning device typically needs to wipe repeatedly multiple times, such as 3 or 5 times, which can be set according to requirements. In some possible implementations, the designated cleaning area can be determined with the reference position as the center point. Of course, those skilled in the art can use a position at a certain distance away from the reference position as the center point as needed. In addition, the designated cleaning area includes... Figure 6 Besides the rectangle shown, other shapes such as circles and pentagons can also be used, and this application does not limit this.
[0054] To improve cleaning effectiveness, self-propelled cleaning devices can wet the designated cleaning area using a cleaning fluid spraying unit when performing cleaning operations, thereby enhancing the wiping effect of the cloth. However, because the self-propelled cleaning device has a limited spraying distance when performing the cleaning fluid spraying operation, it is easy to spray cleaning fluid outside the designated cleaning area when the self-propelled cleaning device approaches the edge of the designated cleaning area, such as... Figure 7 As shown. It is understandable that if the cleaning liquid spraying unit sprays the cleaning liquid outside the designated cleaning area, and in the designated cleaning mode, the self-moving cleaning device will not wipe the area outside the designated cleaning area, water stains will remain outside the designated cleaning area, affecting the cleaning effect.
[0055] To address the aforementioned issues, this application provides a cleaning liquid spraying control method suitable for fixed-point cleaning modes.
[0056] See Figure 8 This is a schematic flowchart of a cleaning liquid spraying control method provided in an embodiment of this application. Figure 8 As shown, the method mainly includes the following steps.
[0057] Step S801: Determine the designated cleaning area.
[0058] In one possible implementation, when targeted cleaning is required, the user can send a targeted cleaning command to the self-propelled cleaning device via a remote control or other control device. Upon receiving the command, the self-propelled cleaning device determines the targeted cleaning area based on the command. Specifically, a reference location for targeted cleaning (e.g., ...) can be determined first. Figure 6Point A in the diagram is used as the reference point for fixed-point cleaning, and then the fixed-point cleaning area is determined based on this reference position. This reference position can be understood as the starting position for fixed-point cleaning.
[0059] In another possible implementation, point A can be the location where the self-moving cleaning device receives the fixed-point cleaning instruction. For example, a user can control the self-moving cleaning device to move to point A via a remote control or other control device, and then send a fixed-point cleaning instruction to the self-moving cleaning device.
[0060] In another possible implementation, point A can be a pre-defined target point. When the user sends a fixed-point cleaning command, the command can carry reference location information, specifically the coordinates of point A. After receiving the fixed-point cleaning command, the mobile cleaning device moves to point A based on the reference location in the command and then begins the fixed-point cleaning process.
[0061] In another possible implementation, the self-moving cleaning device can automatically determine the cleaning area. For example, the self-moving cleaning device can use sensors to detect the degree of dirt on the surface to be cleaned, and when the degree of dirt at a certain location is greater than a preset threshold, it will perform targeted cleaning on the area corresponding to that location.
[0062] Step S802: Perform a cleaning fluid spraying operation within the fixed-point cleaning area according to a preset cleaning fluid spraying strategy, wherein the cleaning fluid spraying area corresponding to the cleaning fluid spraying operation is less than or equal to the fixed-point cleaning area.
[0063] Specifically, the self-propelled cleaning device can perform cleaning fluid spraying during fixed-point cleaning. For example, within a fixed-point cleaning area, the self-propelled cleaning device performs cleaning fluid spraying according to a set spraying interval. This spraying interval can be a time interval or a distance interval. For example, the self-propelled cleaning device performs a cleaning fluid spraying operation once every certain period of time; or, the self-propelled cleaning device performs a cleaning fluid spraying operation once every certain distance traveled.
[0064] It should be noted that when the self-propelled cleaning device approaches the edge of the designated cleaning area, it is easy to spray the cleaning fluid outside the designated cleaning area. This application embodiment ensures that the cleaning fluid is sprayed within the designated cleaning area through a preset cleaning fluid spraying strategy. In specific implementations, there may be multiple methods, which will be described below.
[0065] Implementation Method 1:
[0066] If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it stops the cleaning liquid spraying operation.
[0067] In other words, the self-propelled cleaning device determines, either in real-time or before spraying cleaning fluid within a designated cleaning area, whether the spray range at its current position will exceed the edge of the designated cleaning area. If the determination is made that the spray range at the current position will exceed the edge of the designated cleaning area, the cleaning fluid spraying operation is stopped. The determination of whether the spray range will exceed the edge of the designated cleaning area can be based on the distance between the self-propelled cleaning device and the edge of the designated cleaning area in the direction of cleaning fluid spraying. For example, in... Figure 7 In this diagram, the distance X between the self-moving cleaning device and the edge of the designated cleaning area in the direction of cleaning fluid spraying is defined as X. The spraying distance of the self-moving cleaning device in the direction of cleaning fluid spraying is defined as Y. Since X is less than Y, it indicates that if the cleaning fluid spraying operation is performed at this location, the cleaning fluid will be sprayed outside the designated cleaning area. In this case, the self-moving cleaning device is controlled to stop spraying the cleaning fluid.
[0068] It should be pointed out that, in Figure 7 In the scenario shown, the cleaning fluid is sprayed perpendicular to the edge of the designated cleaning area. When the cleaning fluid spray direction is not perpendicular to the edge of the designated cleaning area, the angle between the cleaning fluid spray direction and the edge of the designated cleaning area can be used to determine whether the cleaning fluid will be sprayed outside the designated cleaning area. This will not be elaborated further in this embodiment.
[0069] In addition, the determination of whether the spraying range exceeds the edge of the cleaning area can also be based on the position and orientation of the self-moving cleaning device within the cleaning area. Orientation refers to the location of the self-moving cleaning device within the cleaning area; for example, the self-moving cleaning device may be facing upwards or downwards, and different orientations may correspond to different spraying ranges.
[0070] Once the self-propelled cleaning device completes the mapping of the cleaning area, it can determine the edges of the cleaning area and then identify the locations and poses within the map where the spraying range will extend beyond the edges. When the self-propelled cleaning device determines that it has reached the corresponding location and that the pose matches a preset setting, it confirms that the spraying range will extend beyond the edges of the cleaning area.
[0071] Implementation Method Two:
[0072] If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it adjusts the spraying range so that the spraying range of the self-moving cleaning device at the current position is within the fixed-point cleaning area.
[0073] In other words, in this implementation, the "spray range" of the cleaning fluid can be adjusted. When it is determined that the spray range at the current position exceeds the edge of the designated cleaning area, the cleaning fluid can be adjusted to prevent it from spraying outside the designated cleaning area. This spray range can be achieved by adjusting the position, angle, and / or spray pressure of the nozzle.
[0074] For example, in Figure 7 In the application scenario shown, the self-propelled cleaning device determines that the cleaning fluid will be sprayed outside the designated cleaning area. At this point, the spray range of the cleaning fluid is adjusted, and the spray distance of the self-propelled cleaning device is adjusted to X to prevent the cleaning fluid from being sprayed outside the cleaning area, such as... Figure 9 As shown.
[0075] It should be pointed out that, in Figure 9 In the scenario shown, the cleaning fluid is sprayed perpendicular to the edge of the designated cleaning area. Only the spray distance is adjusted, not the spray angle. In some possible implementations, the spray angle can also be adjusted simultaneously, but this embodiment will not be elaborated upon here.
[0076] Implementation method three:
[0077] In the above implementation, the self-moving cleaning device needs to determine, either in real time or before spraying the cleaning solution, whether the spray range at the current position will exceed the edge of the designated cleaning area. This determination method may require angle data calculations, increasing the performance overhead of the self-moving cleaning device.
[0078] In this implementation, a prohibited spraying position can be set within the designated cleaning area. When the self-propelled cleaning device reaches this prohibited spraying position, the cleaning fluid spraying operation stops. Specifically, this prohibited spraying position is the relative position of the designated cleaning reference position. In other words, the prohibited spraying position can be determined based on the designated cleaning reference position.
[0079] For example, in Figure 10 In the application scenario shown, the self-propelled cleaning device has a body length of L and a spraying distance of L (equal to the length of the body). The reference point for fixed-point cleaning is point B. After determining the reference point, the self-propelled cleaning device needs to travel upwards by 3 body lengths and downwards by 2 body lengths. That is, the cleaning area is a rectangular area with a length of 5 body lengths and a width of 1 body width. During fixed-point cleaning within this area, the cleaning fluid spray direction is always... Figure 10 As shown above, this means the self-propelled cleaning device does not need to turn around. In this application scenario, the prohibited spraying location is above point B, in areas more than 2L away from point B, such as... Figure 10 The shaded area in the image.
[0080] It should be pointed out that, Figure 10 This is merely an illustrative example of an application scenario. Those skilled in the art can set corresponding prohibited spraying locations according to different application scenarios, and this application embodiment does not impose any specific limitations on this.
[0081] In one possible implementation, the cleaning fluid spraying strategy further includes: when the self-moving cleaning device moves in a first direction, performing the cleaning fluid spraying operation along the first direction; and when the self-moving cleaning device moves in a second direction, not performing the cleaning fluid spraying operation, wherein the first direction and the second direction are opposite.
[0082] Specifically, when the designated cleaning area is a non-horizontal surface, such as a vertical or inclined surface, the first direction is above the designated cleaning area, and the second direction is below the designated cleaning area. In other words, the cleaning fluid spraying operation is only performed when the self-propelled cleaning device moves upwards. This control method prevents the cleaning fluid from flowing below the designated cleaning area under the influence of gravity.
[0083] It should be noted that the different cleaning fluid spraying strategies shown above can be combined into one solution. That is, the same cleaning fluid spraying control method may include two or more of the above-mentioned cleaning fluid spraying strategies. This application embodiment does not impose specific limitations on this.
[0084] By adopting the technical solution provided in the embodiments of this application, it can be ensured that if the cleaning liquid spraying unit sprays the cleaning liquid in the fixed cleaning area in the fixed cleaning mode, water stains are avoided outside the fixed cleaning area, which would affect the cleaning effect.
[0085] Corresponding to the above method embodiments, this application also provides a self-moving cleaning device, which includes one or more cleaning liquid spraying units; one or more processors; one or more memories; and one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, and the one or more computer programs include instructions that, when executed by the self-moving cleaning device, cause the self-moving cleaning device to perform some or all of the steps in the above method embodiments.
[0086] In a specific implementation, this application also provides a computer storage medium, wherein the computer storage medium may store a program, and the program, when executed, may include some or all of the steps provided in the various embodiments of this application. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.
[0087] In a specific implementation, this application also provides a computer program product, which includes executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.
[0088] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.
[0089] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0090] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0091] In several embodiments provided by this invention, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0092] The above description is merely a specific embodiment of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this invention should be included within the protection scope of this invention. The protection scope of this invention should be determined by the scope of the claims.
Claims
1. A method for controlling the spraying of cleaning fluid in a self-moving cleaning device, characterized in that, include: Identify designated cleaning areas; Within the designated cleaning area, a cleaning fluid spraying operation is performed according to a preset cleaning fluid spraying strategy, wherein the cleaning fluid spraying area corresponding to the cleaning fluid spraying operation is less than or equal to the designated cleaning area. The cleaning fluid spraying strategy also includes: When the self-moving cleaning device moves in the first direction, it performs the cleaning liquid spraying operation along the first direction. When the self-moving cleaning device moves in the second direction, it does not perform the cleaning liquid spraying operation, and the first direction and the second direction are opposite.
2. The method according to claim 1, characterized in that, The cleaning fluid spraying strategy includes: If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it stops the cleaning liquid spraying operation.
3. The method according to claim 1, characterized in that, The cleaning fluid spraying strategy includes: If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, it adjusts the spraying range so that the spraying range of the self-moving cleaning device at the current position is within the fixed-point cleaning area.
4. The method according to claim 3, characterized in that, The adjustment of the spraying range includes: The spray range is adjusted by adjusting the position, angle, and / or spray pressure of the nozzle.
5. The method according to claim 1, characterized in that, The cleaning fluid spraying strategy includes prohibited spraying positions, which are used to indicate the positions where the self-moving cleaning device is prohibited from performing the cleaning fluid spraying operation.
6. The method according to claim 1, characterized in that, The fixed-point cleaning area is a non-horizontal surface cleaning area, the first direction is above the fixed-point cleaning area, and the second direction is below the fixed-point cleaning area.
7. The method according to any one of claims 1-6, characterized in that, The cleaning fluid spraying strategy also includes: Within the designated cleaning area, cleaning fluid is sprayed at preset intervals.
8. The method according to claim 7, characterized in that, The cleaning fluid spraying interval is the time interval between cleaning fluid spraying and / or the distance interval between cleaning fluid spraying.
9. The method according to claim 1, characterized in that, The determination of the fixed-point cleaning area includes: Receive designated cleaning instructions; The designated cleaning area is determined according to the designated cleaning instruction.
10. A self-moving cleaning device, characterized in that, include: One or more cleaning fluid spraying units; One or more processors; One or more memory units; And one or more computer programs, wherein the one or more computer programs are stored in the one or more memories, the one or more computer programs including instructions that, when executed by the one or more processors, cause the self-moving cleaning device to perform the method of any one of claims 1 to 9.
11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 9.