Cleaning robot mopping methods and cleaning robots

Abstract

This application provides a mopping method for a cleaning robot and a cleaning robot itself. The cleaning robot is equipped with mopping components for mopping the floor. The method includes: employing a zoned mopping strategy to mop the target environment in zones; after completing the mopping of the current zone, returning to a base station so that the base station can clean the mopping components; detecting the degree of dirtiness of the wastewater after cleaning the mopping components; and adjusting the zoned mopping strategy after the mopping components leave the base station based on the degree of dirtiness. This solution improves the level of intelligence, eliminates the need for manual assistance, and increases cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of smart home appliance technology, and in particular to a mopping method for a cleaning robot and the cleaning robot itself. Background Technology

[0002] Currently, intelligent mopping robots are increasingly being used by more and more families because they solve the problem of robot vacuums being unable to clean dirty floors. Mopping performance is the core function of a mopping robot, and the main mopping mechanisms currently available include:

[0003] (1) The robot returns to the workstation to clean the mop after mopping for a certain period of time each time before mopping the next area or ending the mopping process.

[0004] (2) The robot calculates the area of ​​the floor to be cleaned each time based on the walking path, then returns to the workstation to clean the mop before proceeding to the next area or ending the mopping process.

[0005] The mop is cleaned based on the time or area of ​​each mopping session. Both of these methods have the drawback that when mopping a particularly dirty floor, the user needs to control the robot again to mop a second time because one pass is not enough, which affects the user experience and cleaning efficiency. Summary of the Invention

[0006] This application provides a mopping method for a cleaning robot to improve cleaning efficiency.

[0007] This application provides a mopping method for a cleaning robot, wherein the cleaning robot is equipped with a mopping component for mopping the floor, and the method includes:

[0008] A partitioned cleaning and mopping strategy is adopted to clean and mop the target environment in partitions.

[0009] After cleaning the current zone, return to the base station so that the base station can clean the cleaning device;

[0010] The degree of dirtiness of the wastewater after cleaning the mop and wiper components was detected;

[0011] Based on the degree of dirtiness, adjust the zoned mopping strategy after the cleaning and mopping device leaves the base station.

[0012] In one embodiment, adjusting the zoned mopping strategy after the cleaning and mopping device leaves the base station based on the degree of dirt includes:

[0013] If the level of dirt reaches a first preset level, the current partition will be wiped again after the cleaning and mopping device leaves the base station.

[0014] In one embodiment, the step of wiping the current partition again includes:

[0015] Divide the current partition into multiple sub-partitions;

[0016] Each sub-zone is wiped and cleaned, and after the wiping and cleaning of the sub-zone is completed, it is returned to the base station so that the base station can clean the wiping and cleaning device.

[0017] In one embodiment, the step of wiping the current partition again includes:

[0018] The current partition is then wiping and mopping according to the degree of dirtiness, and the current partition is then wiping and mopping again according to the determined wiping and mopping pattern.

[0019] In one embodiment, determining the mopping pattern of the current partition based on the degree of dirt includes:

[0020] If the degree of dirtiness is the first degree of dirtiness, the wiping mode of the current partition is determined to be silent mode;

[0021] If the level of dirt is the second level of dirt, then the mopping mode of the current partition is determined to be the standard mode;

[0022] If the level of dirt is level 3, then the mopping mode for the current partition is determined to be the strong mode;

[0023] The third degree of dirtiness is greater than the second degree of dirtiness, which in turn is greater than the first degree of dirtiness.

[0024] In one embodiment, adjusting the zoned mopping strategy after the cleaning and mopping device leaves the base station based on the degree of dirt includes:

[0025] After the cleaning and mopping device leaves the base station, it cleans the next section and adjusts the size of the next section based on the degree of dirtiness.

[0026] In one embodiment, adjusting the size of the next partition based on the degree of soiling includes:

[0027] If the level of dirtiness is level four, increase the size of the next partition;

[0028] If the level of dirtiness is the fifth level, the partition size of the next partition remains unchanged;

[0029] If the level of dirtiness is the sixth level, reduce the size of the next partition; wherein the sixth level of dirtiness is greater than the fifth level of dirtiness, which is greater than the fourth level of dirtiness.

[0030] In one embodiment, the step of returning to the base station to allow the base station to clean the mopping device includes:

[0031] Select the first water volume mode to perform the initial cleaning of the mop and wiper;

[0032] The degree of dirtiness of the wastewater after the initial cleaning of the mop determines whether the mop needs to be cleaned again and the amount of water used for the second cleaning.

[0033] In one embodiment, detecting the degree of dirtiness of the wastewater after cleaning the mop includes:

[0034] The degree of dirtiness of the wastewater after cleaning the mop is detected by a liquid transmittance detection system and / or a liquid turbidity detection system.

[0035] This application embodiment also provides a cleaning robot, the cleaning robot comprising:

[0036] processor;

[0037] Memory used to store processor-executable instructions;

[0038] The processor is configured to execute the mopping method of the cleaning robot described above.

[0039] The technical solution provided in the above embodiments of this application cleans the mopping components after the current zone mopping is completed. By detecting the degree of dirtiness of the wastewater after cleaning the mopping components, the zone mopping strategy is adjusted after the mopping components leave the base station. This achieves the purpose of adaptively adjusting the zone mopping strategy based on the degree of dirtiness of the target environment, improving the level of intelligence, eliminating the need for manual assistance, and improving cleaning efficiency.

[0040] In one embodiment, the current zone is cleaned again when the sewage reaches a first preset level of dirtiness, eliminating the need for manual control and improving the user experience. When the dirtiness reaches the first preset level, the current zone is further subdivided into multiple sub-zones for separate cleaning, improving the cleaning effect. Based on the degree of dirtiness of the sewage, different mopping modes are used to clean the current zone again, further enhancing the cleaning effect.

[0041] In one embodiment, after the current partition is cleaned, the size of the next partition is adjusted based on the degree of dirtiness of the current partition to avoid the partition being too large, causing secondary pollution and improving the cleaning effect.

[0042] In one embodiment, a first water volume mode is selected to perform an initial cleaning of the mop. Based on the degree of dirtiness of the wastewater after the initial cleaning of the mop, it is determined whether to clean the mop again and the amount of water to use for the second cleaning. This avoids waste caused by excessive water use and poor cleaning effect caused by insufficient water use, thereby improving the cleaning effect of the mop.

[0043] In one embodiment, the degree of dirtiness of the wastewater after cleaning the mop is detected by a liquid transmittance detection system and / or a liquid turbidity detection system, thereby improving the accuracy of the detection of the degree of dirtiness of the wastewater. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0045] Figure 1 A flowchart illustrating a mopping method using a cleaning robot provided in an embodiment of this application;

[0046] Figure 2 A schematic diagram illustrating the principle of dividing the space into multiple partitions, as provided in the embodiments of this application;

[0047] Figure 3 A schematic diagram illustrating the principle of dividing the current partition into multiple sub-partitions, provided for an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the principle of a liquid transmittance detection system;

[0049] Figure 5 This is a schematic diagram of the principle of a liquid turbidity detection system;

[0050] Figure 6 This is a schematic diagram illustrating the principle of combining a liquid transmittance detection system and a liquid turbidity detection system.

[0051] Figure 7 This is a detailed flowchart illustrating a mopping method using a cleaning robot according to an embodiment of this application.

[0052] Figure 8 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0053] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0054] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0055] Figure 1 This is a flowchart illustrating a mopping method using a cleaning robot, as provided in an embodiment of this application. The cleaning robot is equipped with a mopping component for mopping the floor. The mopping component can be understood as the mop cloth at the bottom of the cleaning robot. Figure 1As shown, the mopping method includes the following steps S110-S140.

[0056] Step S110: Use a partitioned wiping strategy to perform partitioned wiping on the target environment.

[0057] Zoned mopping strategies can be used to indicate information such as zone size, cleaning mode (silent mode, standard mode, powerful mode), or number of cleaning cycles. The target environment can be the environment to be cleaned. Zoned mopping means dividing the target environment into multiple zones, and mopping the next zone after cleaning one zone is completed. Each zone can be called a zone.

[0058] In one embodiment, before cleaning the target environment, a zone-based mopping strategy can be determined based on historical data of the degree of dirtiness in each zone, and the target environment can be mopped by zone. Specifically, zones with historically severe dirtiness are split, while adjacent zones with historically lighter dirtiness are merged, thus obtaining the zone-based mopping strategy. For example, such as... Figure 2 As shown, the target environment can be divided into four zones: P1, P2, P3, and P4. The cleaning robot can clean the dirtiest zone first based on the historical level of dirtiness, or it can clean each zone one by one according to the optimal path planning.

[0059] Step S120: After cleaning the current partition, return to the base station to allow the base station to clean the cleaning device.

[0060] For example, the current partition could be any of the four partitions mentioned above. After the cleaning robot finishes cleaning the current partition, it returns to the base station, where the base station automatically cleans the cleaning components.

[0061] Step S130: Detect the degree of dirtiness of the wastewater after cleaning the mop.

[0062] The base station can clean the mop and wiper once or multiple times. The degree of dirtiness of the wastewater can be the degree of dirtiness of the wastewater after the first cleaning of the mop and wiper, or the sum or average of the degree of dirtiness of the wastewater after multiple cleanings. To simplify operation, the degree of dirtiness of the wastewater after the first cleaning of the mop and wiper can be used to represent the degree of dirtiness of the current zone. In one embodiment, the degree of dirtiness of the wastewater after cleaning the mop and wiper can be detected by a liquid transmittance detection system and / or a liquid turbidity detection system, as detailed below, and will not be repeated here.

[0063] Step S140: Based on the degree of dirtiness, adjust the partitioned mopping strategy after the cleaning and mopping device leaves the base station.

[0064] Adjusting the partition cleaning strategy can include adjusting the partition size, cleaning mode (silent mode, standard mode, powerful mode), or cleaning frequency.

[0065] Based on the degree of dirtiness of the wastewater, it can be determined whether to clean the current partition again, whether to divide the current partition into multiple sub-partitions for cleaning again, and the cleaning mode for cleaning again.

[0066] For example, the level of soiling in wastewater can be categorized into four levels: relatively clean, lightly soiled, moderately soiled, and heavily soiled. When the wastewater is relatively clean, you can proceed directly to cleaning the next area. When the wastewater is lightly soiled, use the silent mode to mop the current area again. When the wastewater is moderately soiled, use the standard mode to mop the current area again. When the wastewater is heavily soiled, divide the current area into multiple sub-areas and use the powerful mode to mop each sub-area individually.

[0067] The technical solution provided in the above embodiments of this application cleans the mopping components after the current zone mopping is completed. By detecting the degree of dirtiness of the wastewater after cleaning the mopping components, the zone mopping strategy is adjusted after the mopping components leave the base station. This achieves the purpose of adaptively adjusting the zone mopping strategy based on the degree of dirtiness of the target environment, improving the level of intelligence, eliminating the need for manual assistance, and improving cleaning efficiency.

[0068] In one embodiment, if the level of dirt reaches a first preset level, the current partition is wiped again after the wiping and mopping device leaves the base station after cleaning.

[0069] The first preset level can include light pollution, moderate pollution, and heavy pollution. When the sewage is at any of these three levels, the current zone needs to be wiped again after the wiping and mopping device leaves the base station after cleaning.

[0070] In one embodiment, when the first preset level is heavy pollution, wiping the current partition again may specifically include: dividing the current partition into multiple sub-partitions; wiping and cleaning each sub-partition; and returning the wiping and cleaning device to the base station after the sub-partition has been wiped and cleaned so that the base station can clean the wiping device.

[0071] Combination Figure 2 and Figure 3 As shown, assuming the current partition is P1, it can be divided into four sub-partitions (P1.1 / P1.2 / P1.3 / P1.4). The cleaning robot wipes and mops each sub-partition. After cleaning one sub-partition, it returns to the base station cleaning unit. Based on the degree of dirtiness of the wastewater after cleaning, it determines whether to clean the sub-partition again, whether to further refine the sub-partition, and the cleaning mode for the second cleaning, until all sub-partitions of the current partition are cleaned, and then continues cleaning the next partition.

[0072] In one embodiment, wiping the current partition again may include: determining a wiping pattern for the current partition based on the degree of dirtiness, and wiping the current partition again based on the determined wiping pattern.

[0073] Different mopping modes can have different mopping intensities. Mopping modes can include silent mode, standard mode, and powerful mode. The powerful mode has a greater mopping intensity than the standard mode, which in turn has a greater mopping intensity than the silent mode. The greater the mopping intensity, the better the cleaning effect.

[0074] In one embodiment, if the degree of dirtiness is a first degree of dirtiness, the mopping mode for the current partition is determined to be silent mode; if the degree of dirtiness is a second degree of dirtiness, the mopping mode for the current partition is determined to be standard mode; if the degree of dirtiness is a third degree of dirtiness, the mopping mode for the current partition is determined to be powerful mode. The third degree of dirtiness is greater than the second degree of dirtiness, which in turn is greater than the first degree of dirtiness. Therefore, the first degree of dirtiness can be considered as light pollution, the second degree of dirtiness as moderate pollution, and the third degree of dirtiness as heavy pollution. The first preset degree mentioned above can be any one of the first, second, and third degrees of dirtiness, or it can be different from the above three degrees of dirtiness.

[0075] It should be noted that, depending on the degree of dirtiness, when cleaning the current zone again, you can adjust only the mopping mode; you can divide it into multiple sub-zones and clean them one by one; or you can divide it into multiple sub-zones and adjust the mopping mode at the same time. For example, when the sewage is heavily polluted, the current zone can be divided into multiple sub-zones, and the strong mode can be used to mop each sub-zone one by one.

[0076] The technical solution provided in the above embodiments can clean the current zone again when the degree of dirtiness of the sewage reaches a first preset level, without manual control, thus improving the user experience. When the degree of dirtiness reaches the first preset level, the current zone is further subdivided into multiple sub-zones for cleaning, improving the cleaning effect. Based on the degree of dirtiness of the sewage, different mopping modes are used to clean the current zone again, further improving the cleaning effect.

[0077] In one embodiment, step S140 may include the following steps: after cleaning the mop and leaving the base station, cleaning the next partition and adjusting the size of the next partition based on the degree of dirtiness.

[0078] Specifically, after cleaning the current zone, the next zone is mopped and cleaned. The size of the next zone is adjusted based on the level of dirtiness of the wastewater used to clean the current zone. The cleaning strategy for the current zone can be found above, including cleaning it again, dividing it into sub-zones for cleaning, and adjusting the mopping mode.

[0079] In one embodiment, if the level of dirtiness is fourth level, the size of the next partition is increased; if the level of dirtiness is fifth level, the size of the next partition remains unchanged; if the level of dirtiness is sixth level, the size of the next partition is decreased. Wherein, the sixth level of dirtiness is greater than the fifth level of dirtiness, which is greater than the fourth level of dirtiness.

[0080] For example, the fourth level of dirtiness can be considered relatively clean, the fifth level of dirtiness can be considered lightly or moderately dirty, and the sixth level of dirtiness can be considered heavily dirty. The fifth level of dirtiness can be either the first or second level of dirtiness mentioned above, or it can be different. The sixth level of dirtiness can be either the third level of dirtiness mentioned above, or it can be different. The first presupposed level of dirtiness mentioned above can be either the fifth or sixth level of dirtiness, or it can be different.

[0081] Increasing the size of the next partition can be achieved by merging adjacent partitions; for example, two adjacent partitions can be combined into one. Decreasing the size of the next partition can be achieved by dividing it into multiple subpartitions.

[0082] The solution provided in the above embodiments adjusts the size of the next partition based on the degree of dirtiness of the current partition after the current partition is cleaned, so as to avoid the partition being too large and causing secondary pollution, thereby improving the cleaning effect.

[0083] In one embodiment, step S120, in which the cleaning robot returns to the base station to allow the base station to clean the mop, may specifically include: selecting a first water volume mode to perform an initial cleaning of the mop; wherein, the degree of dirtiness of the wastewater after the initial cleaning of the mop determines whether to perform a second cleaning of the mop and the amount of water for the second cleaning.

[0084] In one embodiment, the first water volume mode can be a low water volume mode. Since the degree of dirtiness of the mopping device is uncertain at the beginning, in order to reduce water waste, the low water volume mode can be selected to perform the first cleaning of the mopping device.

[0085] In another embodiment, the water volume for the initial cleaning of the mop can be determined based on the historical level of soiling in the current partition. Therefore, the first water volume mode can correspond to the historical level of soiling; for example, a low water volume mode is used for relatively clean and lightly soiled areas, a medium water volume mode for moderately soiled areas, and a high water volume mode for heavily soiled areas.

[0086] After the initial cleaning is completed, the level of dirt in the wastewater is tested to determine whether the mop and wiper parts need to be cleaned again and the amount of water to use for the second cleaning.

[0087] In one embodiment, the degree of contamination of wastewater can be determined by detecting the light transmittance T of the wastewater. For example, if the light transmittance T > 90%, the wastewater is relatively clean; if 90% ≥ light transmittance T > 70%, it is lightly contaminated; if 70% ≥ light transmittance T > 50%, it is moderately contaminated; and if the light transmittance T ≤ 50%, it is heavily contaminated.

[0088] In one embodiment, the mop cleaning process ends when the wastewater is relatively clean; when the wastewater is slightly dirty, a low water volume mode is selected for another mop cleaning; when the wastewater is moderately dirty, a medium water volume mode is selected for another mop cleaning; and when the wastewater is heavily dirty, a high water volume mode is selected for another mop cleaning. The mop can be cleaned repeatedly as needed until the light transmittance of the wastewater is greater than 90%.

[0089] In the above embodiments, the first water volume mode is selected to perform the first cleaning of the mop. Based on the degree of dirtiness of the wastewater after the first cleaning of the mop, it is determined whether to clean the mop again and the amount of water to use for the second cleaning. This avoids waste caused by excessive water use and poor cleaning effect caused by insufficient water use, thereby improving the cleaning effect of the mop.

[0090] In one embodiment, the degree of dirtiness of the wastewater after cleaning the mop can be detected by a liquid transmittance detection system and / or a liquid turbidity detection system.

[0091] The liquid transmittance detection system and the liquid turbidity detection system can be installed in a cleaning robot, a base station, or some components can be installed in the cleaning robot and others in the base station. The liquid transmittance detection system can be used to detect the transmittance of wastewater. In one embodiment, the degree of contamination of the wastewater can be determined based on a preset mapping relationship between transmittance and the degree of contamination.

[0092] Figure 4 This is a schematic diagram of the principle of a liquid transmittance detection system. (Example:) Figure 4 As shown, the liquid transmittance detection system includes two main components: a light source 41 and a photoelectric sensor 42. The light source consists of white LED beads, an emitting optical path structure, and a lens. The light emitted by the LED beads passes through the emitting optical path structure and the lens to emit a circular parallel beam of fixed diameter. The parallel beam illuminates one side of the sewage pipe 44 being tested and exits from the other side. The photoelectric sensor 42 consists of a silicon photodiode, an optical path structure, and a lens. The transmitted light 43 emitted from the sewage pipe 44 is converged by the lens and the receiving optical path and illuminates the photosensitive surface of the silicon photodiode. The silicon photodiode converts the light flux illuminating the photosensitive surface into a current signal. The acquired current signal is processed through amplification and other methods and finally collected by the processor to calculate the transmittance value.

[0093] Figure 5This is a schematic diagram of a liquid turbidity detection system. The liquid turbidity detection system can be used to detect the turbidity of wastewater. In one embodiment, the degree of contamination of the wastewater can be determined based on a preset mapping relationship between turbidity and the degree of soiling. Unlike a liquid transmittance detection system, which collects the luminous flux of scattered light 51 emitted by the light source after passing through the wastewater, the liquid turbidity detection system collects the luminous flux of transmitted light 45 emitted by the light source after passing through the wastewater. The liquid turbidity measurement system has higher accuracy and resolution than the liquid transmittance measurement system when the wastewater has a low degree of soiling, and can accurately distinguish between lightly soiled mops.

[0094] Figure 6 This is a schematic diagram illustrating the principle of combining a liquid transmittance detection system and a liquid turbidity detection system. In one embodiment, the degree of contamination in wastewater can be determined based on the transmittance detected by the liquid transmittance detection system and the turbidity detected by the liquid turbidity detection system. Specifically, transmittance and turbidity can be normalized separately, then weighted and averaged to map the results to the corresponding degree of contamination. Combining the liquid transmittance and turbidity measurement systems into a single system that simultaneously measures both transmittance and turbidity combines the advantages of more accurate turbidity measurement in low-contamination liquids and more accurate transmittance measurement in high-contamination liquids. This significantly improves the ability to detect the degree of contamination in wastewater and enhances system reliability.

[0095] Figure 7 This is a detailed flowchart illustrating a mopping method using a cleaning robot according to an embodiment of this application. Figure 7 As shown, it includes the following steps:

[0096] Step 1: Start the global cleaning task and enter partition 1;

[0097] Step 2: After completing the mopping work in the current zone 1, return to the workstation. Before cleaning the mop, the light transmittance measurement system will first test the light transmittance signal data of the empty sewage pipe for calibration to ensure the accuracy of the subsequent test of sewage light transmittance data.

[0098] Step 3: For the first pre-cleaning, select the low water volume cleaning mode;

[0099] Step 4: Draw the set amount of clean water from the clean water tank of the workstation and inject it into the mop cleaning tray. At the same time, the main unit will clean the mop.

[0100] Step 5: After cleaning, the sewage pump starts working to extract sewage from the cleaning tray. Simultaneously, the transmittance measurement system begins measuring the transmittance data of the sewage pipe. Multiple sets of data can be measured in a single sewage extraction operation, and the average value is calculated. The calculated average signal quantity x and the initial calibration signal quantity x0 from the empty pipe are then used to calculate the transmittance value of the sewage from this cleaning operation using the transmittance formula T = x / x0 * 100%.

[0101] Step 6: Determine the light transmittance value to distinguish the degree of dirtiness of the mop;

[0102] 1) The light transmittance of the wastewater is T>90%, indicating it is relatively clean;

[0103] 2) Wastewater light transmittance ≥ 90% ≥ T > 70, slightly dirty;

[0104] 2) Wastewater light transmittance ≥ 70% ≥ T > 50, moderately dirty;

[0105] 3) Wastewater with a light transmittance of 50% ≥ T indicates severe contamination;

[0106] Step 7: Select the next cleaning action based on the degree of soiling of the mop;

[0107] 1) Relatively clean: Finish the mop cleaning and proceed to step 8;

[0108] 2) Lightly soiled: Select a low water level and wash the mop again, then proceed to step 4;

[0109] 3) Moderately dirty: Select medium water level for a second mop wash, then proceed to step 4;

[0110] 4) Heavily soiled: Select high water volume for a second mop wash, and proceed to step 4;

[0111] Step 8: Determine the degree of dirtiness of the current zone's floor based on the data from this pre-cleaning of the mop;

[0112] 1) Relatively clean: If relatively clean, proceed to step 10;

[0113] 2) Light dirt: Select silent mode to clean the current partition again. After cleaning is complete, proceed to step 1.

[0114] 3) Moderate dirt: Select standard mode to clean the current partition again. After cleaning is complete, proceed to step 1.

[0115] 4) Heavily soiled: Proceed to step 9;

[0116] Step 9: Determine if the current partition is a second-level partition;

[0117] 1) Yes: Select the powerful mode to clean the current area again. After cleaning is complete, execute step 2 to return to the workstation to clean the mop.

[0118] 2) No: Perform a second-level partitioning on the current partition, select the powerful mode to clean the first partition of the current second-level partition again, and after cleaning is complete, execute step 2 to return to the workstation to clean the mop;

[0119] Step 10: Determine if the current partition is the last partition to be cleaned globally;

[0120] 1) Yes: End the global cleaning task

[0121] 2) No: Proceed to the next partition and execute step 2.

[0122] Figure 8 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application. The cleaning robot 800 includes: a processor 810; a memory 820 for storing executable instructions of the processor 810; wherein the processor 810 is configured to execute the mopping method of the cleaning robot provided in the above embodiment.

[0123] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0124] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0125] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A mopping method using a cleaning robot, characterized in that, The cleaning robot is equipped with a mopping component for wiping and mopping the floor, and the method includes: A partitioned cleaning and mopping strategy is adopted to clean and mop the target environment in partitions. After cleaning the current zone, return to the base station so that the base station can clean the cleaning device; The degree of dirtiness of the wastewater after cleaning the mop and wiper components was detected; Based on the degree of dirtiness, adjust the zoned mopping strategy after the mopping device leaves the base station after cleaning; The adjustment of the zoned mopping strategy after the cleaning and mopping device leaves the base station based on the degree of dirt includes: If the level of dirt reaches a first preset level, the current partition will be wiped again after the cleaning and mopping device leaves the base station.

2. The method according to claim 1, characterized in that, The process of wiping the current partition again includes: Divide the current partition into multiple sub-partitions; Each sub-zone is wiped and cleaned, and after the wiping and cleaning of the sub-zone is completed, it is returned to the base station so that the base station can clean the wiping and cleaning device.

3. The method according to claim 1, characterized in that, The process of wiping the current partition again includes: The current partition is then wiping and mopping according to the degree of dirtiness, and the current partition is then wiping and mopping again according to the determined wiping and mopping pattern.

4. The method according to claim 3, characterized in that, Determining the mopping mode for the current partition based on the degree of dirt includes: If the degree of dirtiness is the first degree of dirtiness, the wiping mode of the current partition is determined to be silent mode; If the level of dirt is the second level of dirt, then the mopping mode of the current partition is determined to be the standard mode; If the level of dirt is level 3, then the mopping mode for the current partition is determined to be the strong mode; The third degree of dirtiness is greater than the second degree of dirtiness, which in turn is greater than the first degree of dirtiness.

5. The method according to claim 1, characterized in that, The adjustment of the zoned mopping strategy after the cleaning and mopping device leaves the base station based on the degree of dirt includes: After the cleaning and mopping device leaves the base station, it cleans the next section and adjusts the size of the next section based on the degree of dirtiness.

6. The method according to claim 5, characterized in that, Adjusting the size of the next partition based on the degree of dirtiness includes: If the level of dirtiness is level four, increase the size of the next partition; If the level of dirtiness is the fifth level, the partition size of the next partition remains unchanged; If the level of dirtiness is the sixth level, reduce the size of the next partition; wherein the sixth level of dirtiness is greater than the fifth level of dirtiness, which is greater than the fourth level of dirtiness.

7. The method according to claim 1, characterized in that, The step of returning to the base station to allow the base station to clean the mopping device includes: Select the first water volume mode to perform the initial cleaning of the mop and wiper; The degree of dirtiness of the wastewater after the initial cleaning of the mop determines whether the mop needs to be cleaned again and the amount of water used for the second cleaning.

8. The method according to claim 1, characterized in that, The detection of the degree of dirtiness of the wastewater after cleaning the mop includes: The degree of dirtiness of the wastewater after cleaning the mop is detected by a liquid transmittance detection system and / or a liquid turbidity detection system.

9. A cleaning robot, characterized in that, The cleaning robot includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the mopping method of the cleaning robot according to any one of claims 1-8.

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