Cleaning method of cleaning robot, cleaning robot and storage medium

Abstract

The present application discloses a cleaning method of a cleaning robot, a cleaning robot and a storage medium, and relates to the field of smart home technology. The cleaning robot includes a traveling mechanism, a microprocessor and a cleaning mechanism. The cleaning method of the cleaning robot includes: the cleaning mechanism samples the armature current value of the cleaning mechanism, and the microprocessor judges whether the cleaning mechanism is in a working scene that is difficult to clean based on the armature current value of the cleaning mechanism and preset judgment conditions, thereby realizing recognition and judgment of the current working scene, and then determining mobile cleaning or fixed-point cleaning as a target cleaning scheme in the preset cleaning scheme, and controlling the traveling mechanism and the cleaning mechanism to perform cleaning operations according to the target cleaning scheme, thereby improving the cleaning effect in complex working scenes.

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a cleaning method of a cleaning robot, a cleaning robot, and a storage medium. Background Art

[0002] With the development of intelligent family life, various robots have entered people's lives. Among them, cleaning robots that can replace people to clean the home environment have attracted the attention of the public. People have higher and higher requirements for the configuration and usage experience of cleaning robots.

[0003] Existing cleaning robots have a single working mode and lack the ability to identify and deal with difficult-to-clean work scenes, resulting in poor cleaning effects when faced with complex work scenes.

[0004] Therefore, proposing a cleaning method for a cleaning robot to improve the cleaning effect when facing complex working scenes is an urgent problem to be solved. Summary of the Invention

[0005] The present application provides a cleaning method for a cleaning robot, a cleaning robot and a storage medium, so as to solve the defects in the prior art of a single working mode and poor cleaning effect when facing complex working scenes, so as to realize a cleaning robot with multiple cleaning solutions, which can significantly improve the cleaning effect when facing complex working scenes.

[0006] The present application provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a traveling mechanism, a microprocessor, and a cleaning mechanism, and the method includes:

[0007] The cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor;

[0008] The microprocessor determines a target cleaning scheme from a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning;

[0009] The microprocessor controls the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme.

[0010] According to a cleaning method of a cleaning robot provided in the present application, when the target cleaning scheme is fixed-point cleaning, the microprocessor controls the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme, including:

[0011] The microprocessor transmits a stop instruction to the cleaning mechanism and transmits an enhanced cleaning instruction to the cleaning mechanism;

[0012] The traveling mechanism stops moving according to the stop instruction;

[0013] The cleaning mechanism increases the cleaning mechanism rotation speed to a first target rotation speed for cleaning according to the enhanced cleaning instruction.

[0014] According to a cleaning method of a cleaning robot provided in the present application, the cleaning mechanism increases the cleaning mechanism speed to a first target speed for cleaning according to the enhanced cleaning instruction, and then further includes:

[0015] The cleaning mechanism samples the armature current value of the cleaning mechanism corresponding to the target speed and transmits the sample to the microprocessor;

[0016] When the armature current of the cleaning mechanism corresponding to the target speed decreases to a low current preset value, the microprocessor transmits a normal cleaning instruction to the cleaning mechanism and transmits a movement instruction to the traveling mechanism;

[0017] The cleaning mechanism reduces the rotation speed of the cleaning mechanism to a second target rotation speed for cleaning according to the conventional cleaning instruction;

[0018] The traveling mechanism moves according to the movement instruction.

[0019] According to a cleaning method of a cleaning robot provided in the present application, the cleaning mechanism includes a cleaning mechanism speed control system;

[0020] The cleaning mechanism samples the armature current value of the cleaning mechanism and transmits the value to the microprocessor, including:

[0021] The cleaning mechanism speed control system determines the armature current value of the cleaning mechanism based on the armature current sensing circuit of the cleaning mechanism and the current working state information of the cleaning mechanism;

[0022] The cleaning mechanism speed regulation system transmits the cleaning mechanism armature current value to the microprocessor through a preset interface.

[0023] According to a cleaning method of a cleaning robot provided in the present application, the microprocessor determines a target cleaning scheme from a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, including:

[0024] When the increment of the armature current value of the cleaning mechanism within the preset time period is greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is fixed-point cleaning;

[0025] When the increment of the armature current value of the cleaning mechanism within the preset time period is not greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is mobile cleaning.

[0026] According to a cleaning method of a cleaning robot provided in the present application, when the target cleaning scheme is fixed-point cleaning, the microprocessor controls the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme, including:

[0027] The microprocessor transmits conventional cleaning instructions to the cleaning mechanism and transmits movement instructions to the traveling mechanism;

[0028] The cleaning mechanism sets the cleaning mechanism rotation speed to a second target rotation speed for cleaning according to the conventional cleaning instruction;

[0029] The traveling mechanism moves according to the movement instruction.

[0030] The present application also provides a cleaning robot, comprising a traveling mechanism, a microprocessor, and a cleaning mechanism;

[0031] The cleaning mechanism is used to sample the armature current value of the cleaning mechanism, transmit it to the microprocessor, and receive control from the microprocessor to perform cleaning operations;

[0032] The microprocessor is used to determine a target cleaning scheme from a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning; and control the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme;

[0033] The traveling mechanism is used to receive control from the microprocessor to perform cleaning operations.

[0034] According to a cleaning robot provided by the present application, when the target cleaning solution is fixed-point cleaning:

[0035] The microprocessor is specifically used to transmit a stop instruction to the cleaning mechanism and transmit an enhanced cleaning instruction to the cleaning mechanism;

[0036] The travel mechanism is specifically configured to stop moving according to the stop instruction;

[0037] The cleaning mechanism is specifically configured to increase the cleaning mechanism rotation speed to a first target rotation speed for cleaning according to the enhanced cleaning instruction.

[0038] The present application also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the cleaning method of any of the cleaning robots described above.

[0039] The present application also provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, it executes and implements the cleaning method of the cleaning robot as described in any one of the above.

[0040] The present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the cleaning method of the cleaning robot as described above.

[0041] The present application provides a cleaning method, a cleaning robot and a storage medium for a cleaning robot. The cleaning robot includes a moving mechanism, a microprocessor and a cleaning mechanism. The cleaning mechanism samples the armature current value of the cleaning mechanism. The microprocessor judges whether the cleaning mechanism is in a working scene that is difficult to clean based on the armature current value of the cleaning mechanism and preset judgment conditions, thereby realizing recognition and judgment of the current working scene, and then determining mobile cleaning or fixed-point cleaning as the target cleaning scheme in the preset cleaning scheme, and controlling the moving mechanism and the cleaning mechanism to perform cleaning operations according to the target cleaning scheme, thereby improving the cleaning effect in complex working scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] Figure 1 1 is a schematic diagram of a hardware environment of a cleaning method of a cleaning robot according to an embodiment of the present application;

[0045] Figure 2 This is a flow chart of the cleaning method of the cleaning robot provided in this application;

[0046] Figure 3 It is a structural diagram of the cleaning robot provided by this application;

[0047] Figure 4 It is a structural diagram of the electronic device provided in this application. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0050] According to one aspect of the embodiment of the present application, a cleaning method of a cleaning robot is provided. The cleaning method of the cleaning robot is widely used in smart home (Smart Home), smart home, smart home device ecology, smart residential (Intelligence House) ecology and other whole-house intelligent digital control application scenarios. Optionally, in this embodiment, the cleaning method of the cleaning robot can be applied to Figure 1 In the hardware environment shown in FIG. 1 , which is composed of a terminal device 102 and a server 104. Figure 1 As shown, the server 104 is connected to the terminal device 102 via a network, and can be used to provide services (such as application services, etc.) for the terminal or the client installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services for the server 104. Cloud computing and / or edge computing services can be configured on the server or independently of the server to provide data computing services for the server 104.

[0051] The aforementioned network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: a wide area network, a metropolitan area network, and a local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth. The terminal device 102 may be, but is not limited to, a PC, a mobile phone, a tablet computer, a smart air conditioner, a smart range hood, a smart refrigerator, a smart oven, a smart stove, a smart washing machine, a smart water heater, a smart washing machine, a smart dishwasher, a smart projection device, a smart TV, a smart clothes drying rack, smart curtains, smart audio and video, a smart socket, a smart speaker, a smart fresh air device, smart kitchen and bathroom equipment, smart bathroom equipment, a smart sweeping robot, a smart window cleaning robot, a smart mopping robot, a smart air purifier, a smart steamer, a smart microwave oven, a smart kitchen treasure, a smart purifier, a smart water dispenser, a smart door lock, etc.

[0052] For ease of understanding, the principle of this solution is explained here first. In an example, taking a cleaning robot that sweeps and mops the floor as an example, the traveling mechanism may include a traveling motor and components for movement such as wheels or tracks electrically connected to the traveling motor. The cleaning mechanism may include a cleaning motor and components for cleaning such as a mop connected to the cleaning motor. The cleaning robot can move on the ground by being dragged by the traveling mechanism, while the cleaning mechanism drives the mop to clean by rotating. The cleaning mechanism can use a DC motor and have a speed-stabilizing function and an automatic speed control algorithm. When the mop encounters dirt on the ground that is difficult to clean, the friction increases, causing the load on the cleaning mechanism to increase. The speed control system will increase the armature current of the cleaning mechanism through the automatic speed control algorithm to increase the torque, thereby maintaining the stability of the cleaning mechanism's speed. After removing the dirt that is difficult to clean, the reduction in ground friction will reduce the load on the cleaning mechanism, and the armature current of the cleaning mechanism will decrease to maintain the stability of the cleaning mechanism's speed. Therefore, the armature current of the cleaning mechanism can be used to determine whether the cleaning mechanism is in a working scene that is difficult to clean, thereby controlling the traveling mechanism and the cleaning mechanism to perform cleaning operations.

[0053] The present application provides a cleaning method for a cleaning robot, wherein the cleaning robot comprises a traveling mechanism, a microprocessor and a cleaning mechanism. The method is as follows: Figure 2 Shown, including:

[0054] S21, the cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor;

[0055] S22, the microprocessor determines a target cleaning scheme from among preset cleaning schemes based on the armature current value of the cleaning mechanism and preset judgment conditions, wherein the preset cleaning schemes include mobile cleaning and fixed-point cleaning;

[0056] S23. The microprocessor controls the moving mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning solution.

[0057] Specifically, when encountering dirt that is difficult to clean, the friction between the cleaning mechanism and the surface to be cleaned will increase, causing the load of the cleaning motor in the cleaning mechanism to increase. At this time, in order to maintain the speed of the cleaning motor, the armature current value of the cleaning mechanism will increase.

[0058] The cleaning mechanism can sample the current value of its own cleaning motor as the armature current value of the cleaning mechanism, and the microprocessor determines the current working scene of the cleaning mechanism according to the armature current value of the cleaning mechanism and preset judgment conditions.

[0059] The microprocessor can determine a target cleaning scheme from the preset mobile cleaning and fixed-point cleaning schemes according to the current working scene of the cleaning mechanism, and control the traveling mechanism and the cleaning mechanism to perform cleaning operations based on the target cleaning scheme.

[0060] The preset judgment condition can be set according to actual needs, and can be whether the armature current value of the cleaning mechanism exceeds a preset value, or whether the increment of the armature current value of the cleaning mechanism within a preset time period exceeds a preset value.

[0061] In an embodiment of the present application, the cleaning robot includes a moving mechanism, a microprocessor and a cleaning mechanism. The cleaning mechanism samples the armature current value of the cleaning mechanism. The microprocessor judges whether the cleaning mechanism is in a working scene that is difficult to clean based on the armature current value of the cleaning mechanism and preset judgment conditions, thereby realizing recognition and judgment of the current working scene, and then determining mobile cleaning or fixed-point cleaning as the target cleaning scheme in the preset cleaning scheme, and controlling the moving mechanism and the cleaning mechanism to perform cleaning operations according to the target cleaning scheme, thereby improving the cleaning effect in complex working scenes.

[0062] According to a cleaning method of a cleaning robot provided in the present application, when the target cleaning scheme is fixed-point cleaning, step S23 includes:

[0063] S31, the microprocessor transmits a stop instruction to the traveling mechanism and transmits an enhanced cleaning instruction to the cleaning mechanism;

[0064] S32, the traveling mechanism stops moving according to the stop instruction;

[0065] S33: The cleaning mechanism increases the cleaning mechanism speed to a first target speed for cleaning according to the enhanced cleaning instruction.

[0066] The first target speed can be set according to actual needs.

[0067] Specifically, spot cleaning can be used to clean difficult-to-clean stains. When the target cleaning scenario is spot cleaning, the travel mechanism can stop moving according to a stop command transmitted by the microprocessor, allowing the cleaning mechanism to perform spot cleaning. When faced with difficult-to-clean stains, increasing the speed of the cleaning mechanism can drive cleaning accessories such as mops or sponges to effectively clean the difficult stains, improving cleaning results.

[0068] In an embodiment of the present application, when the target cleaning scheme is fixed-point cleaning, the microprocessor controls the travel mechanism to stop moving, and controls the cleaning mechanism to increase the cleaning mechanism speed to the first target speed for cleaning, thereby achieving fixed-point and powerful cleaning of difficult-to-remove dirt.

[0069] According to a cleaning method of a cleaning robot provided by the present application, after step S33, the method further includes:

[0070] S34, the cleaning mechanism samples the armature current value of the cleaning mechanism corresponding to the first target speed, and transmits the sample to the microprocessor;

[0071] S35. When the armature current of the cleaning mechanism corresponding to the first target speed decreases to a low current preset value, the microprocessor transmits a normal cleaning instruction to the cleaning mechanism and transmits a movement instruction to the traveling mechanism;

[0072] S36, the cleaning mechanism reduces the speed of the cleaning mechanism to a second target speed for cleaning according to the conventional cleaning instruction;

[0073] S37. The traveling mechanism moves according to the movement instruction.

[0074] Specifically, when performing fixed-point cleaning, it is necessary to determine whether the difficult-to-remove dirt has been cleaned. After the cleaning is completed, the fixed-point cleaning can be stopped and mobile cleaning can be switched to continue cleaning the entire working environment.

[0075] The second target speed can be set according to actual needs.

[0076] When the dirt that is difficult to clean on the cleaning surface is gradually cleaned, the friction between the cleaning mechanism and the cleaning surface will decrease, and the armature current value of the cleaning mechanism will decrease.

[0077] When the cleaning mechanism speed increases to a first target speed, the armature current value of the cleaning mechanism can be monitored. When the armature current of the cleaning mechanism corresponding to the first target speed decreases to a low current preset value, it can be determined that the difficult-to-clean dirt on the cleaning surface has been cleaned, and there is no need to continue to perform strong cleaning at a fixed point.

[0078] The microprocessor transmits routine cleaning instructions to the cleaning mechanism, controls the cleaning mechanism speed to reduce to the second target speed to perform routine cleaning work, and at the same time transmits movement instructions to the traveling mechanism, controls the traveling mechanism to drive the cleaning robot to move, and enables the cleaning robot to perform mobile cleaning.

[0079] In an embodiment of the present application, the armature current value of the cleaning mechanism is sampled when the rotational speed of the cleaning mechanism reaches the first target rotational speed. When the current value is lower than the low current preset value, the microprocessor determines that the cleaning of the difficult-to-clean dirt on the cleaning surface is completed, and controls the cleaning mechanism to reduce the rotational speed of the cleaning mechanism to the second target rotational speed for routine cleaning to save energy resources, and controls the traveling mechanism to drive the cleaning robot to move to realize mobile cleaning.

[0080] According to a cleaning method of a cleaning robot provided in the present application, the cleaning mechanism includes a cleaning mechanism speed control system;

[0081] In step S21 and step S34, the cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor, including:

[0082] S41, the cleaning mechanism speed control system determines the armature current value of the cleaning mechanism based on the armature current sensing circuit of the cleaning mechanism and the current working state information of the cleaning mechanism;

[0083] S42. The cleaning mechanism speed regulation system transmits the cleaning mechanism armature current value to the microprocessor through a preset interface.

[0084] Specifically, the cleaning mechanism includes a cleaning mechanism speed control system, which can obtain the current working status information of the cleaning mechanism, including but not limited to operating parameters such as load voltage, torque, and speed, as well as hardware inherent parameters such as the cleaning mechanism's transmission belt length, transmission belt friction factor, and gear ratio.

[0085] The cleaning mechanism speed control system can solve the current working status information based on the cleaning mechanism armature current sensing circuit, determine the cleaning mechanism armature current value, and transmit the cleaning mechanism armature current value to the microprocessor through a preset interface for the cleaning mechanism speed control system to communicate with the microprocessor, wherein the interface can be a digital interface or an analog interface.

[0086] In an embodiment of the present application, the cleaning mechanism includes a cleaning mechanism speed control system. The cleaning mechanism speed control system calculates the current operating status information of the cleaning mechanism through the cleaning mechanism armature current sensing circuit, and can accurately determine the cleaning mechanism armature current value during actual operation. The cleaning mechanism speed control system quickly transmits the cleaning mechanism armature current value to the microprocessor via a preset interface for communication with the microprocessor, so that the microprocessor can respond to the cleaning mechanism operating scenario.

[0087] According to a cleaning method of a cleaning robot provided in this application, step S22 includes:

[0088] S51, when the increment of the armature current value of the cleaning mechanism within a preset time period is greater than a preset current increment value, the microprocessor determines that the target cleaning scheme is fixed-point cleaning;

[0089] S52: When the increment of the armature current value of the cleaning mechanism within the preset time period is not greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is mobile cleaning.

[0090] The preset duration and the current increment preset value can be set according to actual needs.

[0091] Specifically, when a cleaning mechanism encounters dirt during cleaning, it will increase the friction between the cleaning mechanism and the surface to be cleaned, increasing the load on the cleaning mechanism and increasing the armature current value of the cleaning mechanism. However, not all dirt encountered by the cleaning mechanism is difficult to clean. Blindly identifying this as difficult dirt and then determining a specific cleaning point will waste energy resources.

[0092] Therefore, the armature current value of the cleaning mechanism is monitored over a preset time period. If the increment is greater than the preset current increment value, the microprocessor determines the target cleaning scheme as fixed-point cleaning; otherwise, it is determined to be mobile cleaning. By setting the preset time period and the preset current increment value, the identification effect of difficult-to-clean dirt can be flexibly controlled, and the target cleaning scheme can be determined accordingly.

[0093] In the embodiment of the present application, the current working scene can be accurately judged by the increment of the armature current value of the cleaning mechanism within the preset time length and the preset value of the current increment, and then the target cleaning plan can be accurately determined.

[0094] According to a cleaning method of a cleaning robot provided by the present application, when the target cleaning scheme is mobile cleaning, step S23 includes:

[0095] S61, the microprocessor transmits a regular cleaning instruction to the cleaning mechanism and transmits a movement instruction to the moving mechanism;

[0096] S62, the cleaning mechanism sets the cleaning mechanism speed to a second target speed for cleaning according to the conventional cleaning instruction;

[0097] S63: The traveling mechanism moves according to the movement instruction.

[0098] Specifically, in scenarios where difficult-to-clean dirt is not present, mobile cleaning can quickly and efficiently complete the cleaning of the entire work environment. When the target cleaning solution is mobile cleaning, the travel mechanism can drive the cleaning robot to move along a specified route or in a specified direction at a preset speed based on movement instructions transmitted by the microprocessor. The cleaning mechanism sets the cleaning mechanism speed to a stable second target speed for routine cleaning based on routine cleaning instructions transmitted by the microprocessor, saving energy resources.

[0099] In an embodiment of the present application, when the target cleaning scheme is mobile cleaning, the microprocessor controls the travel mechanism to move, and controls the cleaning mechanism to clean at a stable second target speed, thereby achieving fast and efficient cleaning of the work scene.

[0100] In one example based on the above embodiments, the cleaning method of the cleaning robot includes:

[0101] S71, the cleaning mechanism speed control system of the cleaning mechanism analyzes the current working state information of the cleaning mechanism through the cleaning mechanism armature current sensing circuit, determines the cleaning mechanism armature current value, and transmits the cleaning mechanism armature current value to the microprocessor through a preset interface with the microprocessor;

[0102] S72. When the increment of the armature current of the cleaning mechanism exceeds a preset value I1 within a preset time period, the microprocessor starts the following fixed-point cleaning scheme S721-S724:

[0103] S721, controlling the speed control system of the traveling mechanism to stop the traveling mechanism from driving the cleaning robot to move, thereby stopping the cleaning robot from moving;

[0104] S722: The microprocessor increases the speed setting of the cleaning mechanism's speed control system to increase the cleaning mechanism's speed to n1, thereby increasing the cleaning force. When the speed stabilizes, the microprocessor samples the cleaning mechanism's armature current value I2 as a reference for the current ground friction at this speed.

[0105] S723. As the floor is cleaned, the floor friction decreases and the motor armature current also decreases. When the armature current of the cleaning mechanism decreases from I2 to the preset value I3, the microprocessor restores the initial speed setting value of the cleaning mechanism through the cleaning mechanism speed control system and reduces the cleaning mechanism speed to n0.

[0106] S724. The microprocessor controls the speed control system of the traveling mechanism to enable the cleaning robot to start moving and perform mobile cleaning.

[0107] S73. When the increment of the armature current of the cleaning mechanism within the preset time period does not exceed the preset value I1, the microprocessor starts the mobile cleaning scheme. The microprocessor starts moving the cleaning robot by controlling the speed control system of the traveling mechanism, restores the initial speed setting value of the cleaning mechanism through the cleaning mechanism speed control system, and reduces the speed of the cleaning mechanism to n0.

[0108] The cleaning robot device provided in the present application is described below. The cleaning robot device described below and the cleaning method of the cleaning robot described above can be referenced to each other.

[0109] This application also provides a cleaning robot, such as Figure 3 As shown, it includes a traveling mechanism 31, a microprocessor 32 and a cleaning mechanism 33;

[0110] The cleaning mechanism 31 is used to sample the armature current value of the cleaning mechanism, transmit it to the microprocessor, and receive the control of the microprocessor to perform cleaning operations;

[0111] The microprocessor 32 is configured to determine a target cleaning scheme from among preset cleaning schemes based on the armature current value of the cleaning mechanism and preset judgment conditions, wherein the preset cleaning schemes include mobile cleaning and fixed-point cleaning; and control the travel mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme;

[0112] The traveling mechanism 33 is used to receive control from the microprocessor to perform cleaning operations.

[0113] In an embodiment of the present application, the cleaning robot includes a moving mechanism, a microprocessor and a cleaning mechanism. The cleaning mechanism samples the armature current value of the cleaning mechanism. The microprocessor judges whether the cleaning mechanism is in a working scene that is difficult to clean based on the armature current value of the cleaning mechanism and preset judgment conditions, thereby realizing recognition and judgment of the current working scene, and then determining mobile cleaning or fixed-point cleaning as the target cleaning scheme in the preset cleaning scheme, and controlling the moving mechanism and the cleaning mechanism to perform cleaning operations according to the target cleaning scheme, thereby improving the cleaning effect in complex working scenes.

[0114] According to a cleaning robot provided by the present application, when the target cleaning solution is fixed-point cleaning:

[0115] The microprocessor 32 is specifically used to transmit a stop instruction to the cleaning mechanism and transmit an enhanced cleaning instruction to the cleaning mechanism;

[0116] The travel mechanism 31 is specifically used to stop moving according to the stop instruction;

[0117] The cleaning mechanism 33 is specifically configured to increase the cleaning mechanism rotation speed to a first target rotation speed for cleaning according to the enhanced cleaning instruction.

[0118] According to a cleaning robot provided by the present application, the cleaning mechanism 33 is specifically used to sample the armature current value of the cleaning mechanism corresponding to the first target speed and transmit it to the microprocessor;

[0119] When the armature current of the cleaning mechanism corresponding to the first target speed decreases to a low current preset value, the microprocessor 32 is specifically configured to transmit a normal cleaning instruction to the cleaning mechanism and a movement instruction to the travel mechanism;

[0120] The cleaning mechanism 33 is specifically configured to reduce the cleaning mechanism rotation speed to a second target rotation speed for cleaning according to the conventional cleaning instruction;

[0121] The traveling mechanism 31 is specifically configured to move according to the movement instruction.

[0122] According to a cleaning robot provided by the present application, the cleaning mechanism 33 includes a cleaning mechanism speed control system;

[0123] The cleaning mechanism 33 is specifically used to determine the armature current value of the cleaning mechanism based on the armature current sensing circuit of the cleaning mechanism and the current working status information of the cleaning mechanism through the cleaning mechanism speed control system; and transmit the armature current value of the cleaning mechanism to the microprocessor through a preset interface through the cleaning mechanism speed control system.

[0124] According to a cleaning robot provided by the present application, the microprocessor 32 is specifically used for:

[0125] When the increment of the armature current value of the cleaning mechanism within the preset time period is greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is fixed-point cleaning;

[0126] When the increment of the armature current value of the cleaning mechanism within the preset time period is not greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is mobile cleaning.

[0127] According to a cleaning robot provided by the present application, when the target cleaning solution is mobile cleaning:

[0128] The microprocessor 32 is specifically used to transmit regular cleaning instructions to the cleaning mechanism and transmit movement instructions to the moving mechanism;

[0129] The cleaning mechanism 33 is specifically used to set the cleaning mechanism speed to a second target speed for cleaning according to the conventional cleaning instruction;

[0130] The traveling mechanism 31 is specifically configured to move according to the movement instruction.

[0131] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the cleaning method of the cleaning robot, which includes a traveling mechanism, a microprocessor, and a cleaning mechanism. The method includes: the cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor; the microprocessor determines a target cleaning scheme in a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning; the microprocessor controls the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme.

[0132] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0133] On the other hand, the present application also provides a computer program product, which includes a computer program, and the computer program can be stored on a computer-readable storage medium. When the computer program is executed by the processor, the computer can execute the cleaning method of the cleaning robot provided by the above methods. The cleaning robot includes a traveling mechanism, a microprocessor and a cleaning mechanism. The method includes: the cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor; the microprocessor determines the target cleaning scheme in the preset cleaning scheme based on the armature current value of the cleaning mechanism and the preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning; the microprocessor controls the traveling mechanism and the cleaning mechanism to perform cleaning operations based on the target cleaning scheme.

[0134] On the other hand, the present application also provides a computer-readable storage medium, which includes a stored program, wherein the program executes the cleaning method of the cleaning robot provided by the above methods when it is run, and the cleaning robot includes a traveling mechanism, a microprocessor and a cleaning mechanism. The method includes: the cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor; the microprocessor determines a target cleaning scheme in a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning; the microprocessor controls the traveling mechanism and the cleaning mechanism to perform cleaning operations based on the target cleaning scheme.

[0135] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0136] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning method for a cleaning robot, characterized in that: The cleaning robot includes a traveling mechanism, a microprocessor, and a cleaning mechanism, and the method includes: The cleaning mechanism samples the armature current value of the cleaning mechanism and transmits it to the microprocessor; When the increment of the armature current value of the cleaning mechanism within the preset time length is greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is fixed-point cleaning; when the increment of the armature current value of the cleaning mechanism within the preset time length is not greater than the preset current increment value, the microprocessor determines that the target cleaning scheme is mobile cleaning; When the target cleaning scheme is spot cleaning, the microprocessor transmits a stop instruction to the travel mechanism and transmits an enhanced cleaning instruction to the cleaning mechanism; The traveling mechanism stops moving according to the stop instruction; The cleaning mechanism increases the cleaning mechanism speed to a first target speed for cleaning according to the enhanced cleaning instruction; Later also includes: The cleaning mechanism samples the armature current value of the cleaning mechanism corresponding to the first target speed and transmits the sample to the microprocessor; When the armature current of the cleaning mechanism corresponding to the first target speed decreases to a low current preset value, the microprocessor transmits a normal cleaning instruction to the cleaning mechanism and transmits a movement instruction to the traveling mechanism; The cleaning mechanism reduces the rotation speed of the cleaning mechanism to a second target rotation speed for cleaning according to the conventional cleaning instruction; The traveling mechanism moves according to the movement instruction.

2. The cleaning method of the cleaning robot according to claim 1, characterized in that: The cleaning mechanism includes a cleaning mechanism speed regulating system; The cleaning mechanism samples the armature current value of the cleaning mechanism and transmits the value to the microprocessor, including: The cleaning mechanism speed control system determines the armature current value of the cleaning mechanism based on the armature current sensing circuit of the cleaning mechanism and the current working state information of the cleaning mechanism; The cleaning mechanism speed regulation system transmits the cleaning mechanism armature current value to the microprocessor through a preset interface.

3. The cleaning method of the cleaning robot according to claim 1, characterized in that: In the case where the target cleaning scheme is mobile cleaning, the microprocessor controls the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme, including: The microprocessor transmits conventional cleaning instructions to the cleaning mechanism and transmits movement instructions to the traveling mechanism; The cleaning mechanism sets the cleaning mechanism rotation speed to a second target rotation speed for cleaning according to the conventional cleaning instruction; The traveling mechanism moves according to the movement instruction.

4. A cleaning robot, characterized in that: When performing cleaning, the cleaning method of the cleaning robot according to any one of claims 1 to 3 is adopted; The cleaning robot includes a traveling mechanism, a microprocessor and a cleaning mechanism; The cleaning mechanism is used to sample the armature current value of the cleaning mechanism, transmit it to the microprocessor, and receive control from the microprocessor to perform cleaning operations; The microprocessor is used to determine a target cleaning scheme from a preset cleaning scheme based on the armature current value of the cleaning mechanism and a preset judgment condition, wherein the preset cleaning scheme includes mobile cleaning and fixed-point cleaning; and control the traveling mechanism and the cleaning mechanism to perform a cleaning operation based on the target cleaning scheme; The traveling mechanism is used to receive control from the microprocessor to perform cleaning operations.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 3 when executed.

6. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 3 through the computer program.

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