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: when the cleaning robot is cleaning a preset cleaning area, determining a position dirt degree of a cleaned position according to a cleaning element dirt degree detected by a dirt detection device; and when the position dirt degrees of at least two cleaned positions meet a preset condition, controlling the cleaning robot to repeatedly clean a target sub-area. The target sub-area comprises the at least two cleaned positions meeting the preset condition. By detecting the cleaning element dirt degree and determining the position dirt degree of the cleaned position through the dirt detection device, and identifying the sub-area where the cleaned position meeting the preset condition is located as the target sub-area needing to be repeatedly cleaned according to the position dirt degree of the cleaned position, the cleaning robot can not need to repeatedly clean all areas of the preset cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

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] Cleaning robots can be used to automatically clean floors, and applications include home cleaning and cleaning of large venues. In some technologies, cleaning robots can clean floors through multiple passes, such as multiple mopping operations to ensure cleaning effectiveness. However, since each cleaning pass involves mopping the entire floor, the cleaning efficiency is relatively low. Summary of the Invention

[0003] This application provides a cleaning robot and its control method, device, system and storage medium, aiming to improve the efficiency of the cleaning robot in cleaning the ground.

[0004] In a first aspect, embodiments of this application provide a control method for a cleaning robot, the cleaning robot including a cleaning component and a dirt detection device, the dirt detection device being used to detect the degree of dirt on the cleaning component; the method includes:

[0005] When the cleaning robot cleans the preset cleaning area, the degree of dirt on the cleaned position is determined according to the degree of dirt on the cleaning parts detected by the dirt detection device.

[0006] When the level of dirt in at least two cleaned locations meets a preset condition, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset condition.

[0007] Secondly, embodiments of this application provide a control device for a cleaning robot, the control device including a memory and a processor;

[0008] The memory is used to store computer programs;

[0009] The processor is configured to execute the computer program and, when executing the computer program, implement:

[0010] The steps of the aforementioned control method for cleaning robots.

[0011] Thirdly, this application provides a cleaning robot, which includes a walking unit, a cleaning component, and a dirt detection device. The walking unit is used to drive the cleaning robot to move, the cleaning component is used to clean the ground, and the dirt detection device is used to detect the degree of dirt on the cleaning component.

[0012] The aforementioned control device.

[0013] Fourthly, embodiments of this application provide a cleaning system, including:

[0014] A cleaning robot, comprising a walking unit, a cleaning component, and a dirt detection device, wherein the walking unit is used to drive the cleaning robot to move, the cleaning component is used to clean the ground, and the dirt detection device is used to detect the degree of dirt on the cleaning component.

[0015] A base station, the base station being used at least for maintaining the cleaning components of the cleaning robot; and

[0016] The aforementioned control device.

[0017] 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.

[0018] This application provides a cleaning robot and its control method, apparatus, system, and storage medium. The method includes: when the cleaning robot cleans a preset cleaning area, determining the degree of soiling at cleaned locations based on the degree of soiling detected by a soiling detection device; when the soiling levels at at least two cleaned locations meet preset conditions, controlling the cleaning robot to repeatedly clean a target sub-area; the target sub-area includes at least two cleaned locations that meet the preset conditions. By detecting the degree of soiling on the cleaned parts and determining the soiling levels at cleaned locations using a soiling detection device, and identifying the sub-area containing the cleaned locations that meet preset conditions as the target sub-area requiring repeated cleaning, it is not necessary to repeatedly clean all areas of the preset cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

[0019] 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

[0020] 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.

[0021] Figure 1 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0022] Figure 2 A schematic diagram of a cleaning robot in one embodiment;

[0023] Figure 3 This is a schematic diagram of a cleaning system in one implementation method;

[0024] Figure 4 This is a schematic diagram of a roller mop cleaning process in one embodiment;

[0025] Figure 5 This is a schematic diagram of a dirt detection device detecting a clean part in one embodiment;

[0026] Figure 6 This is a schematic diagram of the dirt detection device detecting clean parts in another embodiment;

[0027] Figure 7 This is a schematic diagram of a dirt detection device detecting a clean part in another embodiment;

[0028] Figure 8 This is a schematic diagram of the dirt detection device detecting clean parts in another embodiment;

[0029] Figures 9 to 14 These are schematic diagrams illustrating the determination of target sub-regions in some implementation methods;

[0030] Figure 15 This is a schematic diagram illustrating repeated cleaning of a target sub-region in one implementation method;

[0031] Figure 16 This is a schematic diagram illustrating the overall level of dirt on the cleaning robot in one implementation method;

[0032] Figure 17 This is a schematic block diagram of a control device for a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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, a dirt detection device 130, a self-cleaning device 140, 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.

[0038] 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 floors after wetting; cleaning components may also include sweepers for sweeping floors; of course, they are not limited to these, for example, some types of cleaning components can both mop and sweep floors.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The dirt detection device 130 is used to detect the degree of dirt on the cleaning component 120. For example, the dirt detection device 130 of the cleaning robot 100 is used to detect the degree of dirt on the mopping component.

[0043] The self-cleaning device 140 is used to clean the cleaning components while the cleaning robot is cleaning a preset cleaning area; for example, when the cleaning robot is cleaning the floor, the self-cleaning device 140 continuously cleans the cleaning components, or cleans them intermittently. Optionally, when the cleaning components are heavily soiled, the cleaning robot can be controlled to briefly stop moving to temporarily stop cleaning the floor, and to continue cleaning the cleaning components during the brief stop to clean them thoroughly; for example, when the soiling level of the cleaning components decreases to a lower value, the cleaning robot can be controlled to continue moving and cleaning the floor.

[0044] For example, the self-cleaning device 140 includes a water washing device for cleaning the mop. Optionally, the water tank of the water washing device can be replenished manually by the user, or by a cleaning robot and / or a base station.

[0045] 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.

[0046] like Figure 3 As shown, the cleaning system provided in this application embodiment includes a cleaning robot 101, a base station 200, and a control device 300. The cleaning robot 101 can be used to automatically clean the ground, and its application scenarios include home cleaning, large venue cleaning, etc.

[0047] This application provides a cleaning robot 101. Specifically, the cleaning robot 101 includes a walking unit 110, a cleaning component 120, and a dirt detection device 130; the walking unit 110 is used to drive the cleaning robot 101 to move, and 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.

[0048] The base station 200 is used in conjunction with the cleaning robot 101. The base station 200 can be used at least for the maintenance of the cleaning components of the cleaning robot 101, such as cleaning or replacing the cleaning components of the cleaning robot 101. For example, the base station 200 can also charge the cleaning robot 101, and / or the base station 200 can also provide a docking position for the cleaning robot 101, etc., but it is not limited to these.

[0049] 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 101 and / or the base station controller of the base station 200 can be used alone 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. The control device 300 can be installed on the cleaning robot 101 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 101 and the base station 200, such as a home smart terminal, a central control device, etc.

[0050] In some embodiments, the cleaning robot 101 further includes a self-cleaning device, which is used to clean the cleaning component while the cleaning robot is cleaning a preset cleaning area; for example, when the cleaning robot is cleaning the floor, the self-cleaning device continuously cleans the cleaning component, or cleans the cleaning component intermittently.

[0051] For example, the self-cleaning device includes a water washing device for cleaning the mop. Optionally, the water tank of the water washing device can be replenished manually by the user, or by a cleaning robot and / or a base station.

[0052] like Figure 1 As shown, a control method for a cleaning robot according to an embodiment of this application includes steps S110 to S120. For example, the control method can be used to control... Figure 2 100 and / or cleaning robots Figure 3 The cleaning robot 101 in the picture is an example, but it is not limited to this.

[0053] S110. When the cleaning robot cleans the preset cleaning area, the degree of dirtiness of the cleaned position is determined according to the degree of dirtiness of the cleaning parts detected by the dirt detection device.

[0054] The preset cleaning area refers to the area to be cleaned corresponding to the cleaning task of the cleaning robot. This could be the entire area of ​​one or more rooms, a portion of a room, or a portion of a room plus a portion or all of another room, and is not limited to these examples. For instance, the preset cleaning area could be a portion or the entirety of a cleaning task map; a cleaning task map might include one or more of these preset cleaning areas.

[0055] For ease of explanation, this application primarily uses the example of a cleaning component including a mopping component for illustration. Correspondingly, the degree of soiling of the cleaning component includes the degree of soiling of the mopping component. For example, the mopping component may include at least one of the following: a rotary mop, a flat mop, a roller mop, a tracked mop, etc., but is not limited to these. When the cleaning component includes a brushing component, the description of the mopping component can be referenced. For example, the brushing component may also include a rotary brushing component, a flat brushing component, a roller brushing component (such as a roller brush), a tracked brushing component, etc., but is not limited to these.

[0056] The mop absorbs dirt from the floor while cleaning, thus cleaning the floor. At the same time, the degree of dirt changes after the mop absorbs dirt, and the degree of dirt on the mop can reflect the degree of dirt on the cleaned floor. Therefore, the degree of dirt on the cleaned area can be determined based on the degree of dirt on the mop.

[0057] like Figure 4 As shown, the mopping component includes a roller mop 11, and the cleaning robot's washing device includes a clean water supply component (such as a water spraying device) 21, a scraper 22, and a wastewater recovery component 23. The clean water supply component 21 includes, for example, a clean water tank for supplying clean water to the roller mop 11 to wet it. When the roller mop 11 rotates, the wetted roller mop 11 absorbs dirt S0 from the ground. Under the scraping action of the scraper 22, the roller mop 11, which has absorbed dirt S0, squeezes out wastewater S1 containing dirt. The wastewater recovery component 23 can recover the squeezed-out wastewater S1. The cleaning of the roller mop 11 is achieved by squeezing out the wastewater S1 containing dirt by the scraper 22. Optionally, the dirt detection device includes a wastewater detection sensor 31, which is used to detect the degree of dirt on the cleaning component, such as the roller mop 11, after the washing device has washed it.

[0058] The step of determining the degree of soiling of the cleaned location based on the degree of soiling of the cleaning component detected by the soiling detection device includes: acquiring the degree of soiling of the cleaning component detected by the soiling detection device when the washing device washes the mop; and determining the degree of soiling of the cleaned location based on the degree of soiling of the cleaning component.

[0059] For example, a dirt detection device detects substances, such as wastewater, generated after cleaning the mop. The device includes a wastewater detection sensor installed on the wastewater pipe of a wastewater recovery assembly. Optionally, the wastewater detection sensor can output a value indicating the degree of dirtiness of the wastewater during the cleaning process. Optionally, the degree of dirtiness can be determined based on the difference between wastewater and distilled water (pure water), but is not limited to this. The degree of dirtiness can include at least one of the following: density, surface tension, transmission spectrum, transmittance, color, turbidity, conductivity (soluble substances), refractive index, and oxygen content. For example, the wastewater detection sensor includes at least one of the following: a visible light sensor, an infrared sensor, and a total dissolved solids (TDS) sensor. For example, the infrared sensor collects turbidity information of the wastewater, the visible light sensor collects color information of the wastewater, and the TDS sensor collects water conductivity information of the wastewater. The degree of dirtiness of the mop can be determined based on one or more of the turbidity, color, and water conductivity information. For example, the higher the turbidity and the higher the water conductivity of the wastewater, the greater the degree of dirtiness of the mop.

[0060] In some implementations, the dirt detection device can directly detect the cleaned part to obtain the degree of dirtiness. For example... Figure 5 As shown, the mopping component includes a roller mop 11, and the dirt detection device includes a vision sensor 32. The vision sensor 32 is positioned above the roller mop 11 and is used to detect the upper side of the roller mop 11, reducing the influence of floor material and color and improving detection accuracy. Optionally, the dirt detection device may include multiple vision sensors 32, arranged parallel to the rotation axis of the roller mop 11, i.e., multiple vision sensors 32 are positioned above the roller mop 11 along its axial direction. The dirt detection device determines the degree of dirt on the cleaning component based on at least one of the average, maximum, and minimum values ​​of the detection results from the multiple vision sensors 32, which can improve the accuracy of detecting the degree of dirt on the cleaning component. However, this is not the only possibility; for example, the mopping component may include a rotating mop, where the vision sensor 32 can detect the degree of dirt on the rotating mop after it is lifted.

[0061] The vision sensor is used to acquire image or color information of the mop component, and to determine the degree of dirtiness of the mop component based on the image or color information. For example, the darker the grayscale of the mop component's surface, the greater the degree of dirtiness. In some embodiments, the vision sensor can also acquire image or color information of the brush component, and determine the degree of dirtiness of the brush component based on the image or color information. For example, the darker the grayscale of the brush component's surface, the greater the degree of dirtiness.

[0062] like Figure 6As shown, the mopping component includes a roller mop 11 or a rotary mop; the dirt detection device includes a conductivity sensor 33, which includes multiple electrodes 331 and a conductivity detection circuit 332. Taking the roller mop 11 as an example, the multiple electrodes 331 of the conductivity sensor 33 abut against different positions of the roller mop 11. For example, the multiple electrodes 331 are arranged above the roller mop 11 along its axial direction to detect the conductivity between different positions of the roller mop 11. Specifically, the conductivity detection circuit 332 detects the conductivity between different positions of the roller mop 11 based on the signals between the multiple electrodes 331. Since the roller mop 11 can rub against the electrodes 331, the electrodes 331 do not suffer from rusting or calcification.

[0063] Conductivity sensors can detect the content of soluble substances (such as salt) in wastewater. For example, the higher the conductivity between different locations on a roller mop, the more soiled the mop is. However, this is not the only possibility; for example, for flat mops, multiple electrodes of the conductivity sensor can be embedded on both sides of the mop.

[0064] In some implementations, such as Figure 7 and Figure 8 As shown, the mopping device includes two rotating mop heads 12, arranged side by side. The washing device includes a clean water supply component, a washing tray 24, and a wastewater recovery component; the clean water supply component is used to supply clean water to the rotating mop heads 12; when the rotating mop heads 12 rotate, they throw out water and adsorbed dirt (i.e., wastewater), thereby cleaning the rotating mop heads 12; the washing tray 24 is used to collect the wastewater thrown out by the rotating mop heads 12, and the wastewater recovery component can recover the squeezed-out wastewater.

[0065] like Figure 7 As shown, the dirt detection device includes a vision sensor 32, which is positioned below the mopping component, such as the rotating mop 12, and is used to detect the underside of the mopping component to reduce the influence of floor material and color, thus improving detection accuracy; for example, such as Figure 7 As shown, the rotating mop 12 and the vision sensor 32 are arranged on different sides of the cleaning mop 24. The cleaning mop 24 is transparent or has a light-transmitting area so that the vision sensor 32 can perform visual detection of the rotating mop 12 through the cleaning mop 24.

[0066] like Figure 8 As shown, the dirt detection device includes a conductivity sensor 33. Multiple electrodes 331 of the conductivity sensor 33 abut against different positions of the rotating mop 12 to detect the conductivity between different positions of the rotating mop 12. For example, the greater the conductivity between different positions of the rotating mop 12, the greater the degree of dirtiness of the rotating mop 12.

[0067] For example, when the cleaning robot lacks a self-cleaning device, it can be controlled to move to a base station when the level of dirt on the cleaning component is detected to reach a certain level. The base station then maintains the cleaning component, such as by replacing or cleaning it. For instance, when the level of dirt on the cleaning component is determined by a vision sensor or conductivity sensor, if the cleaning robot detects that the level of dirt on the cleaning component has reached a certain level at a certain location, it can be controlled to move to the base station for maintenance, such as replacement or cleaning. Afterward, the cleaning robot can be controlled to return to that location and continue cleaning along the path to determine the level of dirt at subsequent locations. Alternatively, when the cleaning robot includes a self-cleaning device, the self-cleaning device can also be controlled to clean the cleaning component.

[0068] In some embodiments, the method further includes: controlling the self-cleaning device to adjust the cleaning force on the cleaning component based on the degree of dirtiness of the cleaning component and / or the degree of dirtiness of the cleaned location, and / or controlling the moving speed of the cleaning robot during repeated mopping.

[0069] For example, the more soiled the cleaning component, the greater the cleaning force applied to it, ensuring effective cleaning and reducing residual dirt. After the cleaning component has been used to clean the floor, a second inspection of its soiling level can more accurately reflect the soiling level of the cleaned area. For instance, when controlling the cleaning force of the self-cleaning device, the water supply of the washing device is positively correlated with the soiling level of the component or the location, and / or the operating speed of the washing device (e.g., the water flow rate of the spray device) is positively correlated with the soiling level of the component or the location, and / or the operating speed of the mop during washing is positively correlated with the soiling level of the component or the location. However, this is not the only possibility; the method of adjusting the cleaning force can be determined based on the structure of the component and / or the cleaning principle of the self-cleaning device. By adjusting the cleaning force of the cleaning component based on its degree of dirtiness or the degree of dirtiness at the location, the cleaning force can be increased when the component is heavily soiled to ensure effective cleaning. Conversely, when the component is lightly soiled, the cleaning robot's power and water consumption can be reduced, ensuring longer battery life.

[0070] For example, when the cleaning items are more soiled, controlling the cleaning robot to reduce its movement speed during repeated mopping can improve the cleaning effect and reduce the number of repeated mopping operations, such as avoiding multiple back-and-forth mopping operations.

[0071] In some embodiments, the dirt detection device is also used to detect the type of dirt on the cleaning component, and the method further includes: acquiring the type of dirt detected by the dirt detection device while the washing device is washing the mop component. Types of dirt on the cleaning component include, but are not limited to, oil stains.

[0072] For example, when the type of dirt on the cleaning component includes oil, controlling the movement speed of the cleaning robot can prevent the cleaning robot from slipping on oily surfaces.

[0073] S120. When the degree of dirtiness at at least two cleaned locations meets a preset condition, control the cleaning robot to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset condition.

[0074] In some implementations, when the cleaning robot cleans a preset cleaning area, the degree of dirtiness of the cleaning component is periodically determined based on the detection signal of the dirt detection device; between two consecutive determinations of the degree of dirtiness of the cleaning component, the cleaning robot moves and cleans a portion of the preset cleaning area, which can be referred to as the cleaned area.

[0075] For example, the degree of dirtiness of the cleaning part determined in the nth time reflects the degree of dirtiness of the area cleaned by the cleaning robot from the (n-1)th determination of the degree of dirtiness of the cleaning part to the nth determination of the degree of dirtiness of the cleaning part. This part of the area can be called the degree of dirtiness of the nth cleaned position. The degree of dirtiness of the cleaning part determined in the (n+1)th time reflects the degree of dirtiness of the area cleaned by the cleaning robot from the nth determination of the degree of dirtiness of the cleaning part to the (n+1)th determination of the degree of dirtiness of the cleaning part. This part of the area can be called the degree of dirtiness of the (n+1)th cleaned position.

[0076] In some implementations, the degree of soiling at the at least two cleaned locations can be accumulated, and the accumulation result can be used to determine whether the degree of soiling at the at least two cleaned locations meets the preset condition. Accumulating the degree of soiling at multiple cleaned locations can yield the degree of soiling in a sub-region, which includes the multiple cleaned locations; for example, when determining the degree of soiling at the (n+1)th cleaned location, the degree of soiling at the nth and (n+1)th cleaned locations can be accumulated to obtain the degree of soiling in the sub-region containing the nth and (n+1)th cleaned locations. The degree of soiling in this sub-region can then be used to determine whether the sub-region needs to be cleaned repeatedly; if it is determined that the sub-region needs to be cleaned repeatedly, this sub-region is designated as the target sub-region, and the cleaning robot is controlled to perform repeated cleaning on the target sub-region.

[0077] For example, controlling the cleaning robot to repeatedly clean the target sub-area when the soiling levels of at least two cleaned locations meet a preset condition includes: accumulating the soiling levels of the at least two cleaned locations to obtain the soiling level of a sub-area, where the sub-area includes the at least two cleaned locations; determining the sub-area as a target sub-area when the soiling level of the sub-area is greater than or equal to a preset accumulation threshold; and controlling the cleaning robot to repeatedly clean the target sub-area. When the soiling level of a sub-area is greater than or equal to the preset accumulation threshold, it can be determined that the total amount of soil in the sub-area is high, and repeated cleaning of the sub-area can improve the cleaning effect of the sub-area.

[0078] An area containing at least two cleaned locations is called a sub-region. The degree of dirtiness at these at least two cleaned locations is accumulated (e.g., integrated) to obtain the sub-region dirtiness level. As the dirtiness levels of more cleaned locations are accumulated, the accumulated sub-region dirtiness level gradually increases. When the sub-region dirtiness level is greater than or equal to a preset accumulation threshold, the sub-region can be determined as a target sub-region. Figure 9 As shown, each dashed line depicting a dot represents the degree of dirtiness of a cleaned item, that is, the degree of dirtiness of a cleaned location. Figure 9 When the dirt level of 10 cleaned locations is accumulated, the accumulated dirt level of the sub-region is greater than or equal to the preset accumulation threshold.

[0079] Optional, please refer to Figure 10 When the level of dirt in a cleaned area is greater than or equal to a preset dirt threshold, the dirt levels of at least two cleaned areas that meet this condition are accumulated (e.g., integrated) to obtain the dirt level of a sub-region. When the dirt level of a cleaned area is greater than or equal to the preset dirt threshold, it can be determined that the amount of dirt in that cleaned area is large, requiring repeated cleaning to improve the cleaning effect of the preset cleaning area. Therefore, by accumulating the dirt levels of cleaned areas that meet the preset dirt threshold, and only when the preset accumulation threshold is met is it determined as a target sub-region, and repeated cleaning is controlled, the cleaning efficiency is improved while ensuring cleaning effectiveness and avoiding frequent repeated mopping after dirt is detected in a cleaned area.

[0080] Optionally, when the degree of dirt in a sub-area is less than a preset cumulative threshold, it can be determined that the total amount of dirt in the sub-area is small, and the sub-area does not need to be cleaned repeatedly, thereby improving the cleaning efficiency of the preset cleaning area.

[0081] In some implementations, the trend of soiling levels at different locations can be determined based on the soiling levels at the at least two cleaned locations, and the degree of soiling at the at least two cleaned locations can be used to determine whether the soiling levels at the at least two cleaned locations meet the preset conditions. The distribution of soiling at different locations can be determined based on the trend of soiling levels, and areas requiring repeated cleaning can be identified based on the distribution of soiling at different locations.

[0082] For example, a cleaning robot cleans a first location first, then a second location, with the first location being dirtier than the second. If the cleaning robot doesn't clean the cleaning parts, after cleaning the first location, the parts are quite dirty. When cleaning the second location, some of the dirt absorbed by the cleaning parts is carried away by the ground there, reducing the dirt level of the cleaning parts. Therefore, as the dirt level of the cleaning parts decreases, it can be determined that the dirt level decreases from the first location to the second location, with the first location being dirtier. If the cleaning robot does clean the cleaning parts, after cleaning the first location, it absorbs a lot of dirt. The self-cleaning device cannot clean the dirt absorbed by the cleaning parts in a short time, so the first location will show a higher level of dirt. When the cleaning robot cleans the relatively clean second location, the self-cleaning device continues to clean the cleaning parts, reducing the dirt level of the cleaning parts. Therefore, as the dirt level of the cleaning parts decreases, it can be determined that the dirt level decreases from the first location to the second location, with the first location being dirtier.

[0083] For example, controlling the cleaning robot to repeatedly clean the target sub-area when the soiling levels of at least two cleaned locations meet preset conditions includes: determining the changing trend of the soiling levels of the at least two cleaned locations based on their soiling levels; controlling the cleaning robot to repeatedly clean the target sub-area when the soiling levels of at least one of the at least two cleaned locations are greater than or equal to a preset soiling threshold and the soiling level of the last cleaned location is less than or equal to a preset soiling threshold, or when the soiling levels of at least one of the at least two cleaned locations are within a preset range and the soiling level of the last cleaned location shows a decreasing trend, and the magnitude of the decrease is greater than or equal to a decrease magnitude threshold and / or the slope is less than or equal to a slope threshold, i.e., the soiling level shows a rapid decreasing trend and / or the soiling level suddenly decreases or decreases below a certain threshold.

[0084] For example, the degree of soiling at the at least two cleaned locations refers to the degree of soiling at the at least three cleaned locations. The statement that at least one of the at least two cleaned locations is within a preset range and the degree of soiling at the last cleaned location shows a decreasing trend, with the decrease being greater than or equal to a decrease threshold and / or the slope being less than or equal to a slope threshold, includes: the degree of soiling at the at least two locations within the preset range and at least the last cleaned location showing a decreasing trend, with the decrease being greater than or equal to a decrease threshold and / or the slope being less than or equal to a slope threshold. Figure 11 As shown, if the level of dirt at at least two cleaned locations P remains within a preset range, and the level of dirt at the subsequent cleaned location Q shows a decreasing trend, and the magnitude of the decrease is greater than or equal to the magnitude threshold and / or the slope is less than or equal to the slope threshold, then the sub-regions where the at least two cleaned locations P and the cleaned location Q are located can be determined as the target sub-region.

[0085] For example, the degree of soiling of the at least two cleaned locations is the degree of soiling of the at least three cleaned locations, wherein the degree of soiling of at least one of the cleaned locations is greater than or equal to a preset soiling threshold and the degree of soiling of the last cleaned location is less than or equal to a preset soiling threshold, including: wherein the degree of soiling of at least two cleaned locations is greater than or equal to a preset soiling threshold and the degree of soiling of at least the last cleaned location is less than or equal to a preset soiling threshold.

[0086] Optional, please refer to Figure 12 During the cleaning process, the system continuously records the degree of dirtiness at cleaned locations and monitors the trend of these changes. For example, if the dirtiness at a cleaned location changes from below a preset dirt threshold to above or equal to that threshold, and then decreases back to below the threshold after reaching that threshold, the cleaned location that at least meets the threshold can be identified as a target sub-region. Therefore, by identifying at least two cleaned locations that meet the preset dirt threshold during two periods of dirtiness change as target sub-regions, and controlling repeated cleaning, the system can more clearly pinpoint the location of dirt and initiate repeated mopping only after a completely cleaned area, thus improving cleaning efficiency.

[0087] For example, when the level of dirt at at least two cleaned locations is detected to be rapidly decreasing or falling below a certain threshold, it can be determined that there is a dirtier area among the cleaned locations, and the sub-region where the at least two cleaned locations are located can be identified as the target sub-region. When the level of dirt at at least two cleaned locations is detected to be rapidly decreasing or falling below a certain threshold, it can be determined that at least one of the earlier cleaned locations is dirtier, and the cleaning effect can be improved by repeatedly cleaning this at least one cleaned location. Since returning to repeatedly clean this at least one cleaned location requires passing through the cleaned locations where the level of dirt has decreased, the area where the cleaned locations where the level of dirt has decreased and the dirtier cleaned locations are located can be identified as the target sub-region, and the cleaning robot can be controlled to repeatedly clean the target sub-region.

[0088] In some implementations, please refer to Figure 13 The degree of dirtiness 1 in sub-region 1 gradually increases as more cleaned locations accumulate dirtiness. When the degree of dirtiness 1 in sub-region 1 is greater than or equal to a preset accumulation threshold, sub-region 1 can be identified as a target sub-region. The target sub-region is then repeatedly cleaned. If the degree of dirtiness (e.g., degree 2) in a sub-region (e.g., sub-region 2) is less than a preset accumulation threshold, and the degree of dirtiness at at least two cleaned locations in the sub-region shows a decreasing trend, with the decrease being greater than or equal to a decrease magnitude threshold and / or the slope being less than or equal to a slope threshold (i.e., a rapid decreasing trend), the sub-region (e.g., sub-region 2) is identified as a target sub-region. And / or if the degree of dirtiness at the at least two cleaned locations suddenly drops below a certain threshold, the sub-region (e.g., sub-region 2) is identified as a target sub-region. The cleaning robot is then controlled to repeatedly clean the target sub-region. By repeatedly cleaning the target sub-area corresponding to at least two cleaned locations when the level of dirt in these locations shows a rapid decreasing trend, the cleaning robot can return to the dirtier sub-area 2 for repeated cleaning as soon as it moves from a dirtier sub-area 2 to a cleaner surface, resulting in higher cleaning efficiency. This prevents the cleaning robot from cleaning a long distance of relatively clean ground after sub-area 2 before returning to repeat cleaning the sub-area 2 and the long distance of ground according to a preset accumulation threshold, or it can prevent the cleaning robot from cleaning a long distance of relatively clean ground after sub-area 2 and the level of dirt in the accumulated location from not reaching the preset accumulation threshold, thus preventing the dirtier sub-area 2 from not being repeated cleaned.

[0089] In some implementations, please refer to Figure 14When the level of dirt at at least two cleaned locations corresponding to sub-region 3 shows a decreasing trend, and the decrease is greater than or equal to a decrease threshold and / or the slope is less than or equal to a slope threshold, sub-region 3 is determined to be a target sub-region; and the cleaning robot is controlled to repeatedly clean the target sub-region. Then, the level of dirt at the cleaned locations of the next sub-region 4 is accumulated to obtain the level of dirt in a new sub-region 4, where sub-region 4 includes the next cleaned locations; when the level of dirt in the new sub-region 4 is greater than or equal to a preset accumulation threshold, the new sub-region 4 is determined to be a target sub-region, and the cleaning robot is controlled to repeatedly clean the target sub-region.

[0090] For example, when the cleaning robot cleans the preset cleaning area, it moves along a first direction of its movement path. Figure 15 As shown, the movement path for cleaning the preset cleaning area includes path AB, with the first direction being the same as the AB direction.

[0091] In some embodiments, controlling the cleaning robot to repeatedly clean the target sub-area includes: controlling the cleaning robot to move along a second direction of the movement path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the second direction, the second direction being opposite to the first direction. See also... Figure 15The cleaning robot moves from point A to point B along a first direction. When the cleaning robot moves to point P1 along path 1 in the first direction, it determines that the dirt level of at least two cleaned locations meets a preset condition. For example, the area P0-P1 where the at least two cleaned locations are located is determined as a target sub-area. When controlling the cleaning robot to repeatedly clean the target sub-area, the cleaning robot can be controlled to move towards point P0 along path 2 in a second direction to repeatedly clean the area P0-P1. Afterward, the cleaning robot can move to point P1 along path 3 in the first direction. When the cleaning robot moves along path 3, it can lift the cleaning component to quickly move to point P1. It can also continue to move towards point B along path 4 in the first direction when the cleaning component is put down to clean the areas that have not yet been cleaned. For example, when the cleaning robot repeatedly cleans the P0-P1 area up to position P0, the level of dirt at position P0 is obtained. At this time, the level of dirt at position P0 will be less than before the repeated cleaning. Furthermore, the level of dirt in a sub-area obtained by accumulating the level of dirt during repeated cleaning of the P0-P1 area can be determined to be greater than or equal to a preset cumulative threshold. If it is greater than or equal to the preset cumulative threshold, it is determined that the P0-P1 area is not clean and needs to be cleaned again. In this case, the cleaning robot can be controlled to move along path 3 in the first direction to position P1, and then again controlled to move along path 2 in the second direction towards P0 to repeat the cleaning of the P0-P1 area. When the level of dirt in a sub-area of ​​the P0-P1 area is less than the preset cumulative threshold, the cleaning robot is controlled to move along path 3 in the first direction to position P1, and then continues to move along path 4 in the first direction towards position B when the cleaning component is placed down.

[0092] In some embodiments, controlling the cleaning robot to repeatedly clean the target sub-area includes: after controlling the cleaning robot to move along a second direction of the movement path, controlling the cleaning robot to move along a first direction of the movement path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the first direction. See also... Figure 15The cleaning robot moves from point A to point B along a first direction. When the cleaning robot moves to point P1 along path 1 in the first direction, it determines that the dirt level of at least two cleaned locations meets a preset condition. For example, the area P0-P1 where the at least two cleaned locations are located is determined as a target sub-area. The cleaning robot can be controlled to move to point P0 along path 2 in a second direction, and then controlled to move to point P1 along path 3 in the first direction to repeat cleaning of the P0-P1 area. Optionally, when the cleaning robot moves to point P0 along path 2 in the second direction, it can lift the cleaning component to move quickly to point P0. Afterward, the cleaning robot can continue to move to point B along path 4 in the first direction to clean the areas that have not yet been cleaned. For example, the degree of dirt in a sub-region, obtained by repeatedly cleaning the P0-P1 area, can be determined based on whether it is greater than or equal to a preset cumulative threshold. If it is greater than or equal to the preset cumulative threshold, it is determined that the P0-P1 area is not clean and needs to be cleaned again. In this case, the cleaning robot can be controlled to move along path 2 in the second direction to P0, and then again controlled to move along path 3 in the first direction to P1 to repeat the cleaning of the P0-P1 area. When the degree of dirt in a sub-region of the P0-P1 area is less than the preset cumulative threshold, the cleaning robot is controlled to continue moving along path 4 in the first direction towards point B.

[0093] Optionally, the cleaning robot may repeat cleaning the target sub-area while moving along the second direction, and after moving along the second direction of the movement path, the cleaning robot may also repeat cleaning the target sub-area while moving along the first direction. See also... Figure 15When controlling the cleaning robot to repeatedly clean the target sub-area, the cleaning robot can be controlled to move along path 2 in the second direction towards point P0 to repeatedly clean the P0-P1 area; then, the cleaning robot can be controlled to move along path 3 in the first direction to point P1 to repeat the cleaning of the P0-P1 area again; afterwards, the cleaning robot can continue to move along path 4 in the first direction towards point B to clean areas that have not yet been cleaned. For example, when controlling the cleaning robot to repeatedly clean the target sub-area, the cleaning robot is controlled to move along path 2 in the second direction towards point P0 to repeatedly clean the P0-P1 area; during repeated cleaning of the P0-P1 area, the degree of dirt at each cleaned location in the P0-P1 area is accumulated to obtain the degree of dirt in the sub-area of ​​the P0-P1 area during this repeated cleaning; when the degree of dirt in the sub-area of ​​the P0-P1 area is greater than or equal to a preset cumulative threshold, the cleaning robot can be controlled to move along path 3 in the first direction to point P1 when the cleaning item is placed down. If the P0-P1 area is cleaned again, and if the dirt level of the sub-area of ​​the P0-P1 area is still greater than or equal to a preset cumulative threshold when the local repeated cleaning is performed, the cleaning robot is controlled to move along path 2 in the second direction to P0 again to clean the P0-P1 area again; until the dirt level of the sub-area of ​​the P0-P1 area is less than the preset cumulative threshold when the P0-P1 area is determined to not need to be cleaned again, the cleaning robot can be controlled to return to P1 and move along path 4 in the first direction to B to clean the areas that have not yet been cleaned.

[0094] In some embodiments, the method further includes: when the degree of soiling at at least two cleaned locations meets a preset condition, determining the cleaning duration corresponding to the target sub-region based on the difference between the time when the degree of soiling at the last cleaned location among the at least two cleaned locations was determined and the time when cleaning began at the earliest cleaned location among the at least two cleaned locations. For example, cleaning begins at time t0 for the (n+1)th location, the degree of soiling at the (n+1)th location is determined at time t1, and the degree of soiling at the (n+2)th location is determined at time ts; when the degree of soiling at the cleaned locations from the (n+1)th to the (n+2)th location meets a preset condition, such as when the cumulative result of the degree of soiling at the cleaned locations from the (n+1)th to the (n+2)th location is greater than or equal to a preset cumulative threshold, determining the cleaning duration corresponding to the target sub-region based on the difference between the time ts when the degree of soiling at the (n+2)th location was determined and the time t0 when cleaning began at the (n+1)th location.

[0095] Optionally, when controlling the cleaning robot to move along the second direction of the motion path, the duration of the cleaning robot's movement along the second direction of the motion path is greater than or equal to the cleaning duration. See also... Figure 15 At time t0, the cleaning robot starts cleaning from point P0 towards point B. When cleaning to point P1, it is determined that the degree of dirtiness of the cleaned position between P0 and P1 meets the preset conditions. The cleaning time corresponding to P0 to P1 can be determined as, for example, t1-t0. When cleaning the P0-P1 area repeatedly, the cleaning robot is controlled to move at least ts-t0 in the second direction to return to at least P0. This allows for repeated cleaning of the target sub-area between P0 and P1, ensuring coverage of the target sub-area.

[0096] In some embodiments, the method further includes: when the degree of soiling at at least two cleaned locations meets a preset condition, determining a cleaning distance corresponding to the target sub-region based on the at least two cleaned locations. Please refer to [link / reference]. Figure 15 When the degree of dirtiness of the cleaned positions from position n+1 to position n+s meets the preset conditions, the cleaning distance corresponding to the target sub-area is determined based on the end position of the cleaned position at position n+s and the start position of the cleaned position at position n+1. For example, the distance between position P0 and position P1.

[0097] Optionally, when controlling the cleaning robot to move along the second direction of the motion path, the distance the cleaning robot moves along the second direction of the motion path is greater than or equal to the cleaning distance. See also... Figure 15 When repeatedly cleaning the P0-P1 area, the cleaning robot is controlled to move at least the cleaning distance in the second direction to at least return to P0, so that the target sub-area from P0 to P1 can be repeatedly cleaned to ensure coverage of the target sub-area.

[0098] In some embodiments, determining the degree of soiling at cleaned locations based on the degree of soiling detected by the soiling detection device when the cleaning robot cleans the preset cleaning area includes: acquiring the degree of soiling detected by the soiling detection device at least twice within a preset time period when the cleaning robot cleans the preset cleaning area, and determining the degree of soiling at least two cleaned locations based on the soiling degree of soiling detected by the soiling detection device at least twice.

[0099] For example, please refer to Figure 15Starting from time t0, the cleaning robot begins cleaning from point P0 towards point B. Within a preset time period from time t0 to time ts, it repeatedly acquires the degree of dirtiness of the cleaned parts detected by the dirt detection device and determines the degree of dirtiness of multiple cleaned locations within the P0-P1 area.

[0100] It can be determined whether the degree of soiling at the cleaned locations within the preset time period meets the preset conditions. For example, the degree of soiling at at least two cleaned locations meeting the preset conditions includes: the degree of soiling at least two cleaned locations corresponding to the degree of soiling of the cleaned parts obtained at least twice within the preset time period meets the preset conditions.

[0101] For example, the degree of soiling of all cleaned locations determined within the preset time period is accumulated, and it is determined whether the degree of soiling of the sub-region of P0-P1 is greater than or equal to a preset accumulation threshold. When the degree of soiling of the sub-region of P0-P1 is greater than or equal to the preset accumulation threshold, P0-P1 is determined as the target sub-region; or it is determined whether the degree of soiling of multiple cleaned locations within P0-P1 shows a rapid decreasing trend. When it shows a rapid decreasing trend, P0-P1 is determined as the target sub-region.

[0102] Optionally, when controlling the cleaning robot to repeatedly clean the target sub-area, when controlling the cleaning robot to move along the second direction of the movement path, the duration of the cleaning robot moving along the second direction of the movement path is greater than or equal to the preset duration. For example, it can at least retreat to P0, and can at least repeatedly clean the target sub-area from P0 to P1 to ensure coverage of the target sub-area.

[0103] Optionally, when the degree of soiling at a cleaned location within the preset time period does not meet the preset condition, it can be determined that the sub-area corresponding to the cleaned location within the preset time period is relatively clean and does not need to be cleaned repeatedly. Optionally, when it is determined that the sub-area corresponding to the preset time period does not need to be cleaned repeatedly, the determined degree of soiling can be deleted after the preset time period ends, and a new preset time period can begin; and within the new preset time period, the degree of soiling at the most recently cleaned location can be determined, and it can be determined whether the degree of soiling at the most recently cleaned location meets the preset condition. In other words, when the degree of soiling at a cleaned location within the preset time period does not meet the preset condition, the current identification cycle of the target sub-area can be ended, and a new identification cycle can begin in the next preset time period.

[0104] In some embodiments, determining the degree of soiling at cleaned locations based on the degree of soiling detected by the soiling detection device when the cleaning robot cleans the preset cleaning area includes: acquiring the degree of soiling detected by the soiling detection device at least twice within a preset moving distance when the cleaning robot cleans the preset cleaning area, and determining the degree of soiling at least two cleaned locations based on the soiling degree of soiling detected by the soiling detection device at least twice.

[0105] For example, please refer to Figure 15 Within a preset moving distance from P0 to P1, the degree of dirtiness of the cleaned parts detected by the dirt detection device is acquired multiple times, and the degree of dirtiness of multiple cleaned locations within the P0-P1 area is determined.

[0106] It can be determined whether the degree of soiling at the cleaned locations within the preset moving distance meets the preset conditions. For example, the degree of soiling at at least two cleaned locations meeting the preset conditions includes: the degree of soiling at at least two cleaned locations corresponding to the degree of soiling of the cleaned item obtained at least twice within the preset moving distance meets the preset conditions.

[0107] For example, the degree of soiling at all cleaned locations within a preset travel distance of P0-P1 is accumulated, and it is determined whether the degree of soiling in a sub-region of P0-P1 is greater than or equal to a preset accumulation threshold. If the degree of soiling in a sub-region of P0-P1 is greater than or equal to the preset accumulation threshold, then P0-P1 is determined as the target sub-region. Alternatively, it is determined whether the degree of soiling at multiple cleaned locations within a preset travel distance of P0-P1 shows a rapid decreasing trend. If a rapid decreasing trend is observed, then P0-P1 is determined as the target sub-region.

[0108] Optionally, when controlling the cleaning robot to move along the second direction of the movement path, the distance the cleaning robot moves along the second direction of the movement path is greater than or equal to the preset movement distance. For example, it can at least retreat to P0 and repeatedly clean the target sub-area from P0 to P1 to ensure coverage of the target sub-area.

[0109] Optionally, when the degree of soiling at a cleaned location within the preset moving distance does not meet the preset condition, it can be determined that the sub-area corresponding to the cleaned location within the preset moving distance is relatively clean and does not need to be cleaned again. Optionally, when it is determined that the sub-area corresponding to the preset moving distance does not need to be cleaned again, the determined degree of soiling can be deleted after the preset moving distance ends, and a new preset moving distance can begin; and within the new preset moving distance, the degree of soiling at the most recently cleaned location can be determined, and it can be determined whether the degree of soiling at the most recently cleaned location meets the preset condition. In other words, when the degree of soiling at a cleaned location within the preset moving distance does not meet the preset condition, the current identification cycle of the target sub-area can be ended, and a new identification cycle can begin at the next preset moving distance.

[0110] In some implementations, each recognition cycle can be determined based on factors such as the type of area cleaned by the cleaning robot and the time elapsed. For example, a new recognition cycle begins when the level of dirt at at least two cleaned locations meets a preset condition, requiring repeated cleaning of the target sub-area containing those at least two cleaned locations. Optionally, at the beginning of each recognition cycle, previously determined levels of dirt and accumulated results can be deleted.

[0111] For example, when the degree of soiling at at least two cleaned locations meets a preset condition, the determined degree of soiling is deleted; for instance, when the degree of soiling at at least two cleaned locations meets the preset condition, the current identification cycle of the target sub-region can be ended; when the target sub-region is to be cleaned repeatedly, a new identification cycle can be started, and in the new identification cycle, the degree of soiling at the most recently cleaned location is determined based on the degree of soiling of the cleaned item detected by the soiling detection device, and it is determined whether the degree of soiling at the most recently cleaned location meets the preset condition.

[0112] For example, at the beginning of each identification cycle, the degree of soiling of the first cleaned location in the sub-region corresponding to the identification cycle is determined, and then the degree of soiling of each subsequent cleaned location is determined, and it is determined whether the degree of soiling of the location determined in the identification cycle meets the preset condition; for example, when the cumulative degree of soiling is greater than or equal to a preset cumulative threshold, multiple cleaned locations corresponding to the cumulative degree of soiling are determined as new target sub-regions.

[0113] For example, when the soiling levels of at least two cleaned locations meet a preset condition, and it is necessary to repeatedly clean the target sub-area containing the at least two cleaned locations, the determined soiling levels can be deleted; and when the cleaning robot repeatedly cleans the target sub-area, the soiling levels of the cleaned locations are determined based on the soiling level of the cleaning components detected by the soiling detection device, and it is determined whether the soiling levels of the at least two cleaned locations meet the preset condition; when the soiling levels of multiple cleaned locations corresponding to the target sub-area meet the preset condition, the sub-area corresponding to the multiple cleaned locations is... The area is determined as a new target sub-area; or when the degree of soiling of multiple cleaned locations corresponding to the target sub-area and some cleaned locations outside the target sub-area meets the preset conditions, the sub-area corresponding to the multiple cleaned locations corresponding to the target sub-area and some cleaned locations outside the target sub-area are determined as new target sub-areas; when determining a new target sub-area, the degree of soiling of the determined locations can also be deleted so that when the new target sub-area is cleaned repeatedly, the degree of soiling of the cleaned locations that are cleaned repeatedly can be determined and it can be judged whether the degree of soiling of the cleaned locations that are cleaned repeatedly meets the preset conditions.

[0114] For example, the self-cleaning device is used to clean the cleaning component before the start of each identification cycle of the target sub-region, so that the dirt level of the cleaning component detected subsequently can more accurately reflect the dirt level of the already cleaned locations, thereby improving the identification accuracy of the target sub-region. For instance, the self-cleaning device is used to clean the cleaning component before the cleaning robot repeatedly cleans the target sub-region, so that the dirt level of the cleaning component detected subsequently can more accurately reflect the dirt level of the already cleaned locations in the target sub-region.

[0115] In some implementations, please refer to Figure 16 The method further includes: when the cleaning robot cleans the preset cleaning area, accumulating (e.g., integrating) the degree of dirt at the cleaned locations within the preset cleaning area to obtain the total degree of dirt on the cleaning robot. When the total degree of dirt on the cleaning robot is greater than or equal to a total dirt threshold, the cleaning robot is controlled to move towards the base station so that the base station can maintain the cleaning components of the cleaning robot, such as replacing or cleaning the cleaning components.

[0116] The total amount of dirt that a cleaning robot's cleaning components can remove is limited. For example, the water tank capacity of the robot's self-cleaning device may be limited, or the cleaning effect of the self-cleaning device on the cleaning components may be limited. As the total dirt level of the cleaning robot increases, its cleaning effect on the floor will deteriorate. It can also sometimes affect the accuracy of dirt level detection for the cleaning components. For instance, the accumulation of highly stained or greasy dirt on the mop components can affect the accuracy of dirt level detection. By having the base station maintain the cleaning components when the total dirt level of the cleaning robot exceeds or equals a total dirt threshold, the cleaning effect on the floor can be improved, and the accuracy of dirt level detection can be prevented from decreasing.

[0117] Optionally, after the base station maintains the cleaning components of the cleaning robot, the cleaning robot can be controlled to continue cleaning the preset cleaning area, and the accumulation of dirt at the cleaning location can be restarted, and it can be determined whether the base station needs to maintain the cleaning components of the cleaning robot.

[0118] The control method for a cleaning robot provided in this application includes: when the cleaning robot is cleaning a preset cleaning area, determining the degree of soiling at cleaned locations based on the degree of soiling detected by a soiling detection device; and controlling the cleaning robot to repeatedly clean a target sub-area when the degree of soiling at at least two cleaned locations meets a preset condition. The target sub-area includes at least two cleaned locations that meet the preset condition. By detecting the degree of soiling on the cleaned parts and determining the degree of soiling at cleaned locations using a soiling detection device, and identifying the sub-area containing the cleaned locations that meet the preset condition as the target sub-area requiring repeated cleaning based on the degree of soiling at the cleaned locations, it is not necessary to repeatedly clean all areas of the preset cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

[0119] Please refer to the above embodiments. Figure 17 , Figure 17 This is a schematic block diagram of a control device 300 for a cleaning robot provided in an embodiment of this application. The control device 300 includes a processor 301 and a memory 302.

[0120] For example, processor 301 and memory 302 are connected via bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0121] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0122] 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.

[0123] 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.

[0124] 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:

[0125] When the cleaning robot cleans the preset cleaning area, the degree of dirt on the cleaned position is determined according to the degree of dirt on the cleaning parts detected by the dirt detection device.

[0126] When the level of dirt in at least two cleaned locations meets a preset condition, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset condition.

[0127] 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.

[0128] It is understood that this application embodiment also provides a cleaning robot 101, 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.

[0129] 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.

[0130] 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.

[0131] The specific principles and implementation methods of the cleaning robot and cleaning system provided in this application embodiment are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0132] 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.

[0133] 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.

[0134] 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, The cleaning robot includes a cleaning component and a dirt detection device, the dirt detection device being used to detect the degree of dirt on the cleaning component; the method includes: When the cleaning robot cleans the preset cleaning area, the degree of dirt on the cleaned position is determined according to the degree of dirt on the cleaning parts detected by the dirt detection device. When the level of dirt in at least two cleaned locations meets a preset condition, the cleaning robot is controlled to repeatedly clean the target sub-area; the target sub-area includes at least two cleaned locations that meet the preset condition.

2. The control method according to claim 1, characterized in that, When the level of dirt in at least two cleaned locations meets a preset condition, the cleaning robot is controlled to repeatedly clean the target sub-area, including: The degree of dirtiness at the at least two cleaned locations is accumulated to obtain the degree of dirtiness in a sub-region, wherein the sub-region includes the at least two cleaned locations; When the degree of dirtiness of the sub-region is greater than or equal to a preset cumulative threshold, the sub-region is determined to be the target sub-region; The cleaning robot is controlled to repeatedly clean the target sub-area.

3. The control method according to claim 2, characterized in that, The step of controlling the cleaning robot to repeatedly clean the target sub-area when the degree of dirtiness at at least two cleaned locations meets a preset condition further includes: If the degree of dirt in the sub-region is less than the preset cumulative threshold, and the degree of dirt in the at least two cleaned locations shows a decreasing trend, and the magnitude of the decrease is greater than or equal to the magnitude threshold and / or the slope is less than or equal to the slope threshold, then the sub-region is determined to be the target sub-region.

4. The control method according to claim 1, characterized in that, When the level of dirt in at least two cleaned locations meets a preset condition, the cleaning robot is controlled to repeatedly clean the target sub-area, including: The trend of change in the degree of dirtiness at the at least two cleaned locations is determined based on the degree of dirtiness at those locations. When the degree of soiling at least one of the at least two cleaned locations is greater than or equal to a preset soiling threshold and the degree of soiling at the last cleaned location is less than or equal to a preset soiling threshold, or when the degree of soiling at least one of the at least two cleaned locations is within a preset range and the degree of soiling at the last cleaned location shows a decreasing trend, and the magnitude of the decrease is greater than or equal to a decrease magnitude threshold and / or the slope is less than or equal to a slope threshold, the cleaning robot is controlled to repeatedly clean the target sub-area.

5. The control method according to claim 4, characterized in that, The degree of dirtiness of the at least two cleaned locations is the degree of dirtiness of the at least three cleaned locations. The degree of dirtiness of at least one of the cleaned locations is greater than or equal to a preset dirtiness threshold and the degree of dirtiness of the last cleaned location is less than or equal to a preset dirtiness threshold, including: the degree of dirtiness of at least two cleaned locations is greater than or equal to a preset dirtiness threshold and the degree of dirtiness of at least the last cleaned location is less than or equal to a preset dirtiness threshold. The degree of soiling at the at least two cleaned locations refers to the degree of soiling at the at least three cleaned locations. The degree of soiling at the at least two cleaned locations is within a preset range, and the degree of soiling at the last cleaned location shows a decreasing trend, with the decrease being greater than or equal to a decrease threshold and / or the slope being less than or equal to a slope threshold. This includes situations where the degree of soiling at the at least two cleaned locations is within a preset range, and the degree of soiling at the last cleaned location shows a decreasing trend, with the decrease being greater than or equal to a decrease threshold and / or the slope being less than or equal to a slope threshold.

6. The control method according to any one of claims 1-5, characterized in that, When the cleaning robot cleans the preset cleaning area, it moves along the first direction of the movement path; The control of the cleaning robot to repeatedly clean the target sub-area includes: Controlling the cleaning robot to move along a second direction of the motion path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the second direction, the second direction being opposite to the first direction; and / or After controlling the cleaning robot to move along the second direction of the movement path, the cleaning robot is then controlled to move along the first direction of the movement path, so that the cleaning robot repeatedly cleans the target sub-area while moving along the first direction.

7. The control method according to claim 6, characterized in that, The method further includes: When the degree of dirtiness of at least two cleaned locations meets the preset conditions, the cleaning duration corresponding to the target sub-area is determined based on the difference between the time when the degree of dirtiness of the last cleaned location among the at least two cleaned locations is determined and the time when the cleaning of the earliest cleaned location among the at least two cleaned locations begins. When the cleaning robot is controlled to move along the second direction of the motion path, the duration of the cleaning robot moving along the second direction of the motion path is greater than or equal to the cleaning duration.

8. The control method according to claim 6, characterized in that, The method further includes: When the degree of dirtiness at at least two cleaned locations meets a preset condition, the cleaning distance corresponding to the target sub-area is determined based on the at least two cleaned locations. When the cleaning robot is controlled to move along the second direction of the motion path, the distance the cleaning robot moves along the second direction of the motion path is greater than or equal to the cleaning distance.

9. The control method according to claim 6, characterized in that, When the cleaning robot cleans the preset cleaning area, determining the degree of dirtiness of the cleaned location based on the degree of dirtiness detected by the dirt detection device includes: When the cleaning robot cleans the preset cleaning area, the degree of dirt on the cleaning parts detected by the dirt detection device is acquired at least twice within a preset time period, and the degree of dirt on at least two cleaned locations is determined based on the degree of dirt on the cleaning parts acquired at least twice. The degree of dirtiness at the at least two cleaned locations meets the preset conditions, including: the degree of dirtiness of the at least two cleaned locations corresponding to the degree of dirtiness of the cleaned parts obtained at least twice within the preset time period meets the preset conditions; Specifically, when controlling the cleaning robot to move along the second direction of the motion path, the duration of the cleaning robot moving along the second direction of the motion path is greater than or equal to the preset duration.

10. The control method according to claim 6, characterized in that, When the cleaning robot cleans the preset cleaning area, determining the degree of dirtiness of the cleaned location based on the degree of dirtiness detected by the dirt detection device includes: When the cleaning robot cleans the preset cleaning area, the degree of dirt on the cleaning parts detected by the dirt detection device is acquired at least twice within a preset moving distance, and the degree of dirt on at least two cleaned locations is determined based on the degree of dirt on the cleaning parts acquired at least twice. The degree of dirtiness at the at least two cleaned locations meets the preset conditions, including: the degree of dirtiness of the at least two cleaned locations corresponding to the degree of dirtiness of the cleaned parts obtained at least twice within the preset moving distance meets the preset conditions; Specifically, when controlling the cleaning robot to move along the second direction of the movement path, the distance the cleaning robot moves along the second direction of the movement path is greater than or equal to the preset movement distance.

11. The control method according to any one of claims 1-5, characterized in that, The method further includes: when the degree of soiling at at least two cleaned locations meets a preset condition, deleting the determined degree of soiling at those locations; and When the cleaning robot repeatedly cleans the target sub-area, the degree of soiling of the cleaned location is determined based on the degree of soiling of the cleaned parts detected by the soiling detection device, and it is determined whether the degree of soiling of at least two cleaned locations meets the preset conditions.

12. The control method according to any one of claims 1-5, characterized in that, The cleaning robot also includes a self-cleaning device, which is used to clean the cleaning components while the cleaning robot is cleaning a preset cleaning area.

13. The control method according to claim 12, characterized in that, The self-cleaning device is used to clean the cleaning component before the cleaning robot performs repeated cleaning on the target sub-area.

14. The control method according to claim 12, characterized in that, The cleaning component includes a mop, the self-cleaning device includes a water washing device, and the dirt detection device is used to detect the wastewater after the water washing device washes the mop to obtain the degree of dirt of the cleaning component. The step of determining the degree of dirtiness of the cleaned location based on the degree of dirtiness detected by the dirt detection device includes: When the washing device washes the mop, the degree of dirt on the cleaned part is obtained as detected by the dirt detection device. as well as The degree of soiling of the cleaned location is determined based on the degree of soiling of the cleaning component.

15. The control method according to claim 14, characterized in that, The method further includes: Based on the degree of dirt on the cleaning component and / or the degree of dirt on the cleaned area, the self-cleaning device adjusts the cleaning force on the cleaning component and / or controls the movement speed of the cleaning robot during repeated mopping.

16. The control method according to claim 15, characterized in that, When controlling the cleaning force of the self-cleaning device on the cleaning component, the water supply of the washing device is positively correlated with the degree of dirtiness of the cleaning component or the degree of dirtiness at the location, and / or the operating speed of the washing device is positively correlated with the degree of dirtiness of the cleaning component or the degree of dirtiness at the location, and / or the operating speed of the mopping component during washing is positively correlated with the degree of dirtiness of the cleaning component or the degree of dirtiness at the location.

17. The control method according to claim 14, characterized in that, The dirt detection device is also used to detect the type of dirt on the cleaned part; the method further includes: When the washing device washes the mop, the type of dirt on the cleaned part detected by the dirt detection device is obtained. When the type of dirt on the cleaning component includes oil stains, the cleaning robot is controlled to reduce its movement speed.

18. The control method according to any one of claims 1-5, characterized in that, The method further includes: When the cleaning robot cleans the preset cleaning area, the degree of dirt at the cleaned locations in the preset cleaning area is accumulated to obtain the total degree of dirt of the cleaning robot; When the total dirt level of the cleaning robot is greater than or equal to the total dirt threshold, the cleaning robot is controlled to move towards the base station so that the base station can maintain the cleaning parts of the cleaning robot.

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, a cleaning component, and a dirt detection device. The walking unit is used to drive the cleaning robot to move, the cleaning component is used to clean the ground, and the dirt detection device is used to detect the degree of dirt on the cleaning component. The cleaning robot also includes the control device as described in claim 19.

21. A cleaning system, characterized in that, include: A cleaning robot, comprising a walking unit, a cleaning component, and a dirt detection device, wherein the walking unit is used to drive the cleaning robot to move, the cleaning component is used to clean the ground, and the dirt detection device is used to detect the degree of dirt on the cleaning component. 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 perform: The steps of the control method for the cleaning robot as described in any one of claims 1-18.

Images