Cleaning liquid spraying control method, self-moving cleaning device, and storage medium

Abstract

This application discloses a cleaning fluid spraying control method, a self-propelled cleaning device, and a storage medium. The method includes: if the cleaning distance of the self-propelled cleaning device in the direction of travel is less than or equal to a preset cleaning distance threshold, then cleaning fluid spraying control is performed according to a first cleaning fluid spraying strategy; if the cleaning distance of the self-propelled cleaning device in the direction of travel is greater than the preset cleaning distance threshold, then cleaning fluid spraying control is performed according to a second cleaning fluid spraying strategy; wherein, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy is less than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy. In this application embodiment, different cleaning fluid spraying strategies are adopted according to different application scenarios, which can improve the cleaning effect of the self-propelled cleaning device in various application scenarios.

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] Existing technologies employ a single cleaning fluid spray control mode, meaning the same mode is used for all application scenarios. However, in practice, different application scenarios may have different requirements for cleaning fluid spray control, leading to poor cleaning results in some situations. Summary of the Invention

[0005] This application provides a cleaning liquid spraying control method, a self-moving cleaning device, and a storage medium to solve the problem that the existing cleaning liquid spraying control mode is singular, resulting in poor cleaning effect in some scenarios.

[0006] In a first aspect, embodiments of this application provide a method for controlling the spraying of cleaning fluid in a self-moving cleaning device, comprising:

[0007] If the cleaning distance of the self-moving cleaning device in the direction of travel is less than or equal to a preset cleaning distance threshold, then the cleaning liquid spraying is controlled according to the first cleaning liquid spraying strategy.

[0008] If the cleaning distance of the self-moving cleaning device in the direction of travel is greater than the preset cleaning distance threshold, the cleaning liquid spraying control shall be performed in accordance with the second cleaning liquid spraying strategy.

[0009] Wherein, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy is shorter than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy.

[0010] Preferably, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy is shorter than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy, specifically including:

[0011] In the first cleaning fluid spraying strategy, the interval between any two adjacent cleaning fluid sprays is less than the interval between any two adjacent cleaning fluid sprays in the second cleaning fluid spraying strategy.

[0012] Preferably, in the first cleaning fluid spraying strategy, the interval between any two adjacent cleaning fluid sprays is the same; and / or,

[0013] In the second cleaning fluid spraying strategy, the interval between any two adjacent cleaning fluid sprays is the same.

[0014] Preferably, the cleaning fluid spraying interval is a cleaning fluid spraying time interval and / or a cleaning fluid spraying distance interval.

[0015] Preferably, it further includes:

[0016] If the distance between the self-moving cleaning device and the edge of the cleaning area in the direction of travel is less than or equal to a preset boundary distance threshold, the spraying of cleaning liquid will stop.

[0017] Preferably, the direction of travel includes a first direction of travel and a second direction of travel.

[0018] Preferably, the first direction of travel and the second direction of travel are perpendicular to each other.

[0019] Preferably, it further includes:

[0020] The self-moving cleaning device moves to the first edge of the cleaning area;

[0021] The self-moving cleaning device travels along the first direction of travel to the second edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the first direction of travel is determined.

[0022] The first edge and the second edge are located on opposite sides of the cleaning area.

[0023] Preferably, the self-moving cleaning device travels to the second edge of the cleaning area in the first direction of travel, specifically including:

[0024] The self-moving cleaning device travels to the second edge of the cleaning area in the first direction of travel, according to a first default cleaning liquid spraying strategy.

[0025] Preferably, it further includes:

[0026] The self-moving cleaning device moves to the third edge of the cleaning area;

[0027] The self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the second direction of travel is determined.

[0028] The third edge and the fourth edge are located on both sides of the cleaning area.

[0029] Preferably, the self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area, comprising:

[0030] The self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area according to the second default cleaning liquid spraying strategy.

[0031] Preferably, it further includes:

[0032] The self-moving cleaning device responds to the cleaning liquid spraying command sent by the control terminal and performs the cleaning liquid spraying action.

[0033] Secondly, embodiments of this application provide a self-moving cleaning device, comprising:

[0034] One or more cleaning fluid spraying units;

[0035] One or more processors;

[0036] One or more memory units;

[0037] 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 the first aspects.

[0038] 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 one of the first aspects.

[0039] In the embodiments of this application, different cleaning liquid spraying strategies are adopted according to different application scenarios, which can improve the cleaning effect of the self-moving cleaning device in various application scenarios. Attached Figure Description

[0040] 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.

[0041] Figure 1 This is a structural schematic diagram of a square window cleaning robot provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of the structure of a circular window cleaning robot provided in an embodiment of this application;

[0043] Figure 3 This application provides a schematic diagram of a cleaning scenario.

[0044] Figure 4 In order to be in Figure 3 The diagram shows the distribution of cleaning fluid spray points in the cleaning scenario.

[0045] Figure 5 This is a schematic diagram of another cleaning scenario provided in an embodiment of this application;

[0046] Figure 6 This application provides a schematic flowchart of a cleaning liquid spraying control method for a self-moving cleaning device.

[0047] Figure 7 In order to be in Figure 5 The diagram shows the distribution of cleaning fluid spray points in the cleaning scenario.

[0048] Figure 8 This is a schematic diagram illustrating another application scenario provided by an embodiment of this application;

[0049] Figure 9 In order to be in Figure 8 The diagram shows the distribution of cleaning fluid spray points after edge detection in the application scenario shown. Detailed Implementation

[0050] 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.

[0051] The self-moving cleaning device involved in the embodiments of this application may be a square window cleaning robot (such as...). Figure 1As 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.

[0052] 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.

[0053] See Figure 3 This is a schematic diagram of a cleaning scenario provided in an embodiment of this application. Figure 3 The cleaning path of the self-moving cleaning device is shown in the diagram. Specifically, in Figure 3 In the indicated orientation, the self-moving cleaning device cleans row by row from top to bottom until it reaches the bottom, covering the entire cleaning area.

[0054] See Figure 4 , for in Figure 3 The diagram illustrates the distribution of cleaning fluid spray points in a cleaning scenario. In one possible implementation, the self-propelled cleaning device performs a cleaning fluid spraying operation once every distance X it travels along the direction of travel. Here, the travel distance X in this embodiment refers to the distance traveled in the same direction of travel; that is, the travel distance is recalculated after the self-propelled cleaning device turns. Furthermore, the cleaning fluid spraying operation is not performed at the starting point of the direction of travel, for example... Figure 4 Points A and B in the diagram.

[0055] exist Figure 4 In the application scenario shown, the width (horizontal direction) L1 of the cleaning area satisfies the condition: 2X < L1 < 3X. Therefore, two cleaning fluid spraying operations are performed in each row of the cleaning area.

[0056] See Figure 5 This is a schematic diagram of another cleaning scenario provided in an embodiment of this application. Figure 5 In the application scenario shown, the width (horizontal direction) L2 of the cleaning area satisfies the condition: L2 < X. It can be understood that, according to... Figure 4 The cleaning fluid spray control method shown is in Figure 5 In each row, the cleaning fluid spraying operation could not be performed (the walking distance X was not reached). That is to say, in... Figure 5 In the application scenario shown, the cleaning fluid spraying operation cannot be performed.

[0057] To address the aforementioned problems, this application provides a method for controlling the spraying of cleaning fluid in a self-moving cleaning device, which can employ different cleaning fluid spraying strategies according to different application scenarios. The following is a detailed description in conjunction with the accompanying drawings.

[0058] See Figure 6 This is a schematic flowchart illustrating a cleaning fluid spraying control method for a self-moving cleaning device provided in an embodiment of this application. This method can be applied to... Figure 1 or Figure 2 The self-moving cleaning device shown, such as Figure 6 As shown, it mainly includes the following steps.

[0059] Step S601: If the cleaning distance of the self-moving cleaning device in the direction of travel is less than or equal to a preset cleaning distance threshold, then the cleaning liquid spraying is controlled according to the first cleaning liquid spraying strategy.

[0060] The cleaning distance involved in the embodiments of this application refers to the cleaning distance in the same direction of travel, that is, the maximum cleaning distance in the direction of travel without the self-moving cleaning device turning. For example, in Figure 4 In the application scenario shown, the direction of travel is lateral, and the cleaning distance in the direction of travel is L1; Figure 5 In the application scenario shown, the direction of travel is horizontal, and the cleaning distance in that direction is L2. Of course, in some possible implementations, the direction of travel might also be... Figure 4 and Figure 5 The longitudinal direction in the application scenario shown. Alternatively, the direction of travel can be the direction of its angle, for example, the direction of travel forms an angle of 30° or 45° with the lateral direction. This application embodiment does not impose specific limitations on this.

[0061] Typically, the two ends of the direction of travel are the edges of the cleaning area, such as the frame of a window. However, in some possible applications, users can define a separate cleaning area inside the window using an application or other physical means, with the two ends of the direction of travel forming the edges of the user-defined cleaning area.

[0062] This application embodiment sets a cleaning distance threshold for a self-propelled cleaning device. For ease of explanation, this cleaning distance threshold is defined as P. The cleaning distance in the direction of travel is compared with the cleaning distance threshold P, and a corresponding cleaning liquid spraying strategy is adopted to spray cleaning liquid based on the comparison result.

[0063] Specifically, if the cleaning distance of the self-propelled cleaning device in the direction of travel is less than or equal to a preset cleaning distance threshold P, then the cleaning liquid spraying is controlled according to the first cleaning liquid spraying strategy. For example, in Figure 5 In the application scenario shown, if L2 < P, then the cleaning fluid spraying is controlled according to the first cleaning fluid spraying strategy. Specifically, this first cleaning fluid spraying strategy can have a small cleaning fluid spraying interval so that cleaning fluid spraying can be performed when the cleaning distance is small (the cleaning area is narrow). For example, according to the first cleaning fluid spraying strategy, the mobile cleaning device performs one cleaning fluid spraying operation for every distance Y traveled along the traveling direction. Figure 5 The distribution of cleaning fluid spray points in the cleaning scenario shown is as follows: Figure 7 As shown.

[0064] Step S602: If the cleaning distance of the self-moving cleaning device in the direction of travel is greater than the preset cleaning distance threshold, then the cleaning liquid spraying control is performed according to the second cleaning liquid spraying strategy.

[0065] For example, in Figure 4 In the application scenario shown, L1 > P, so the cleaning fluid spraying is controlled according to the second cleaning fluid spraying strategy. This second cleaning fluid spraying strategy can have a larger cleaning fluid spraying interval, so that when the cleaning distance is large (the cleaning area is wide), the cleaning fluid spraying operation can be performed at a larger interval to avoid spraying too much cleaning fluid in the cleaning area. For example, according to the second cleaning fluid spraying strategy, the self-propelled cleaning device performs one cleaning fluid spraying operation every X distance traveled along the direction of travel, and the distribution of cleaning fluid spraying points is as follows: Figure 4 As shown.

[0066] In the embodiments of this application, different cleaning liquid spraying strategies are adopted according to different application scenarios, which can improve the cleaning effect of the self-moving cleaning device in various application scenarios.

[0067] It should be noted that the above embodiments are merely an exemplary description of this application and should not be construed as limiting the scope of protection of this application.

[0068] For example, this application does not limit the specific form of the first cleaning liquid spraying strategy and the second cleaning liquid spraying strategy, as long as the following condition is met: the cleaning liquid spraying interval of the first cleaning liquid spraying strategy is less than the cleaning liquid spraying interval of the second cleaning liquid spraying strategy.

[0069] In one possible implementation, the cleaning fluid spraying interval between any two adjacent cleaning fluid sprays in the first cleaning fluid spraying strategy may be different; the cleaning fluid spraying interval between any two adjacent cleaning fluid sprays in the second cleaning fluid spraying strategy may also be different. Specifically, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy being less than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy includes: the cleaning fluid spraying interval between any two adjacent cleaning fluid sprays in the first cleaning fluid spraying strategy being less than the cleaning fluid spraying interval between any two adjacent cleaning fluid sprays in the second cleaning fluid spraying strategy. Alternatively, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy being less than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy specifically includes: the average value of the cleaning fluid spraying intervals in the first cleaning fluid spraying strategy being equal to the average value of the cleaning fluid spraying intervals in the second cleaning fluid spraying strategy.

[0070] In one possible implementation, the interval between any two adjacent cleaning fluid sprays in the first cleaning fluid spraying strategy is the same; and / or, the interval between any two adjacent cleaning fluid sprays in the second cleaning fluid spraying strategy is the same. For example Figure 4 and Figure 7 The application scenarios shown will not be elaborated upon here.

[0071] Furthermore, the cleaning fluid spraying interval involved in the embodiments of this application can be a cleaning fluid spraying time interval and / or a cleaning fluid spraying distance interval. That is to say, the cleaning fluid spraying interval can be controlled by time or by walking distance, and the embodiments of this application do not impose specific limitations on this.

[0072] See Figure 8 This diagram illustrates another application scenario provided by an embodiment of this application. It is understood that the self-propelled cleaning device has a certain spray range when performing the cleaning liquid spraying operation. The spray range can be determined by the installation position, angle, and spray pressure of the nozzle on the cleaning liquid spraying unit. It is understood that the "spray range" involved in this embodiment refers to the range where the cleaning liquid can be sprayed when the self-propelled cleaning device is in a fixed position. Of course, the self-propelled cleaning device can also spray cleaning liquid in multiple directions simultaneously. When the self-propelled cleaning device sprays cleaning liquid in multiple directions simultaneously, the "spray range" refers to the range of cleaning liquid sprayed simultaneously in those multiple directions when the self-propelled cleaning device is in a fixed position.

[0073] In one possible implementation, the self-moving cleaning device maintains a constant spray range of 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 sprays cleaning fluid along the direction of travel, and the spray distance in the direction of travel is L, which is equal to the length of the self-moving cleaning device's body in the direction of travel. Of course, those skilled in the art can set other "spray ranges" according to their needs, and this application embodiment does not impose specific limitations on this.

[0074] 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.

[0075] It is understandable that if the self-propelled cleaning device performs the cleaning liquid spraying operation when it is close to the edge of the cleaning area (e.g., the frame), it is easy to spray the cleaning liquid outside the cleaning area, causing contamination of the frame or the area outside the frame.

[0076] To address the aforementioned issues, the cleaning fluid spraying control method provided in this application further includes the following step: if the self-moving cleaning device determines that the spraying range at its current position exceeds the edge of the cleaning area, then the cleaning fluid spraying is stopped. In specific implementations, there may be multiple ways to implement this method, which will be described below.

[0077] 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.

[0078] In other words, the self-moving cleaning device determines, either in real time or before performing the cleaning liquid spraying operation, whether the spraying range at its current position will exceed the edge of the cleaning area. If it determines that the spraying range at its current position will exceed the edge of the cleaning area, it stops the cleaning liquid spraying operation. The determination of whether the spraying range will exceed the edge of the cleaning area can be based on the distance between the self-moving cleaning device and the edge of the cleaning area in the direction of the cleaning liquid spraying; this will not be elaborated further in this embodiment.

[0079] 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.

[0080] Once the self-propelled cleaning device completes the map construction of the cleaning area, the edges of the cleaning area can be determined. This allows for the identification of 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 value, it confirms that the spraying range will extend beyond the edges of the cleaning area. Application scenarios using this method include... Figure 9 As shown.

[0081] In another implementation, if the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the fixed-point cleaning area, the spraying range is adjusted so that the spraying range of the self-moving cleaning device at the current position is within the fixed-point cleaning area.

[0082] 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.

[0083] In one possible implementation, when the user first places the self-moving cleaning device in the cleaning area, the self-moving cleaning device does not know the cleaning distance in the direction of travel, nor is it certain of the distance from the edge of the cleaning area in the direction of travel.

[0084] Therefore, when a user places a self-moving cleaning device in a cleaning area for the first time, the self-moving cleaning device first needs to determine the extent of the cleaning area.

[0085] Specifically, the direction of travel is defined as a first direction of travel and a second direction of travel that are perpendicular to each other (e.g., the lateral and longitudinal directions in the above embodiments).

[0086] First, the cleaning distance of the self-moving cleaning device in the first direction of travel is determined, specifically: the self-moving cleaning device travels to the first edge of the cleaning area; then, it travels along the first direction of travel to the second edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the first direction of travel is determined; wherein, the first edge and the second edge are located on both sides of the cleaning area.

[0087] Next, the cleaning distance of the self-moving cleaning device in the second direction of travel is determined, specifically: the self-moving cleaning device travels to the third edge of the cleaning area; then, it travels along the second direction of travel to the fourth edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the second direction of travel is determined; wherein, the third edge and the fourth edge are located on both sides of the cleaning area.

[0088] Understandably, once the cleaning distance in the first direction of travel is determined, it can be proceeded according to... Figure 6 The method determines the corresponding cleaning fluid spraying strategy and the position of the edge of the cleaning area in the first travel direction to prevent the cleaning fluid from being sprayed outside the cleaning area. Similarly, after determining the cleaning distance in the second travel direction, the method can proceed according to... Figure 6 The method determines the corresponding cleaning fluid spraying strategy; and determines the position of the edge of the cleaning area in the second travel direction to avoid spraying the cleaning fluid outside the cleaning area.

[0089] However, when the self-propelled cleaning device first travels in the first and / or second directions, the cleaning distance in the first and / or second directions is unknown, and therefore the appropriate cleaning liquid spraying strategy cannot be determined.

[0090] Based on this, in one possible implementation, when the self-moving cleaning device first travels in the first direction, a cleaning fluid spraying operation is performed according to a first default cleaning fluid spraying strategy; when the self-moving cleaning device first travels in the second direction, a cleaning fluid spraying operation is performed according to a second default cleaning fluid spraying strategy. The first default cleaning fluid spraying strategy and the second default cleaning fluid spraying strategy can be the same or different, and this application embodiment does not impose any limitations on this.

[0091] Furthermore, when the self-propelled cleaning device first travels in the first and / or second directions, the edges of the cleaning area in the first and / or second directions cannot be determined. In this case, according to Figure 6 The method described herein performs the cleaning fluid spraying operation. That is, when moving for the first time in the first and / or second direction of travel, edge detection is not performed, allowing the self-moving cleaning device to make one mistake. When moving in the first and / or second direction of travel subsequently, edge detection is performed to prevent the cleaning fluid from being sprayed outside the cleaning area.

[0092] In one possible implementation, the cleaning fluid spraying operation may not be performed during the initial movement in the first and / or second travel directions to avoid spraying the cleaning fluid outside the cleaning area. This application does not limit this aspect.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] In the 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.

[0100] 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: If the cleaning distance of the self-moving cleaning device in the direction of travel is less than or equal to a preset cleaning distance threshold, then the cleaning liquid spraying is controlled according to the first cleaning liquid spraying strategy. If the cleaning distance of the self-moving cleaning device in the direction of travel is greater than the preset cleaning distance threshold, the cleaning liquid spraying control shall be performed in accordance with the second cleaning liquid spraying strategy. Wherein, the cleaning fluid spraying interval of the first cleaning fluid spraying strategy is shorter than the cleaning fluid spraying interval of the second cleaning fluid spraying strategy.

2. The method according to claim 1, characterized in that, The first cleaning fluid spraying strategy has a shorter spraying interval than the second cleaning fluid spraying strategy, specifically including: In the first cleaning fluid spraying strategy, the interval between any two adjacent cleaning fluid sprays is less than the interval between any two adjacent cleaning fluid sprays in the second cleaning fluid spraying strategy.

3. The method according to claim 2, characterized in that, In the first cleaning fluid spraying strategy, the spray interval between any two adjacent cleaning fluid sprays is the same; and / or, In the second cleaning fluid spraying strategy, the interval between any two adjacent cleaning fluid sprays is the same.

4. The method according to claim 1, 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.

5. The method according to claim 1, characterized in that, Also includes: If the self-moving cleaning device determines that the spraying range at the current position exceeds the edge of the cleaning area, it stops spraying the cleaning liquid.

6. The method according to claim 1, characterized in that, The direction of travel includes a first direction of travel and a second direction of travel.

7. The method according to claim 6, characterized in that, The first direction of travel and the second direction of travel are perpendicular to each other.

8. The method according to claim 6 or 7, characterized in that, Also includes: The self-moving cleaning device moves to the first edge of the cleaning area; The self-moving cleaning device travels along the first direction of travel to the second edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the first direction of travel is determined. The first edge and the second edge are located on opposite sides of the cleaning area.

9. The method according to claim 8, characterized in that, The self-moving cleaning device travels in the first direction of travel to the second edge of the cleaning area, specifically including: The self-moving cleaning device travels to the second edge of the cleaning area in the first direction of travel, according to a first default cleaning liquid spraying strategy.

10. The method according to claim 6 or 7, characterized in that, Also includes: The self-moving cleaning device moves to the third edge of the cleaning area; The self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area, and the cleaning distance of the self-moving cleaning device in the second direction of travel is determined. The third edge and the fourth edge are located on both sides of the cleaning area.

11. The method according to claim 10, characterized in that, The self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area, including: The self-moving cleaning device travels along the second direction of travel to the fourth edge of the cleaning area according to the second default cleaning liquid spraying strategy.

12. The method according to claim 1, characterized in that, Also includes: The self-moving cleaning device responds to the cleaning liquid spraying command sent by the control terminal and performs the cleaning liquid spraying action.

13. 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 12.

14. 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 12.

Images