A cleaning method of a robot sweeper, a robot sweeper and a storage medium

Abstract

The application discloses a cleaning method of a sweeping robot, the sweeping robot and a storage medium. The sweeping robot comprises a sensor. The cleaning method of the sweeping robot comprises the following steps: acquiring a preset mapping table and displacement information of the sweeping robot in a preset direction collected by the sensor, wherein the preset mapping table comprises multiple ground types and corresponding cleaning modes of the ground types; identifying a ground type where the sweeping robot is located based on the displacement information; selecting a cleaning mode corresponding to the ground type where the sweeping robot is located from the preset mapping table based on the ground type, so as to obtain a current cleaning mode; and performing a cleaning task by using the current cleaning mode. In the foregoing manner, the application can improve the accuracy of ground type identification and realize intelligent cleaning according to the ground type.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a cleaning method for a sweeping robot, the sweeping robot itself, and a storage medium. Background Technology

[0002] Due to the influence of ground conditions, the cleaning effect of robotic vacuum cleaners will be affected by different ground types. Current ground recognition technologies, such as motor stalling or image recognition, can easily lead to overheating of the motor control circuit, damaging the robotic vacuum cleaner. Furthermore, the recognition accuracy is low, easily resulting in misjudgments. Additionally, when detecting carpets or other similar surfaces, robotic vacuum cleaners generally employ an avoidance strategy, refusing to clean these surfaces, significantly reducing the user experience. Therefore, improving the accuracy of ground type recognition and achieving intelligent cleaning based on different ground types have become urgent problems to be solved. Summary of the Invention

[0003] This application provides a cleaning method for a sweeping robot, a sweeping robot, and a storage medium, which can improve the accuracy of ground type recognition and achieve intelligent cleaning based on ground type.

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is: to provide a cleaning method for a sweeping robot, the method comprising: acquiring a preset mapping table and displacement information of the sweeping robot in a preset direction collected by sensors, the preset mapping table including multiple ground types and cleaning modes corresponding to the ground types; identifying the ground type where the sweeping robot is located based on the displacement information; selecting the cleaning mode corresponding to the ground type where the sweeping robot is located from the preset mapping table based on the ground type to obtain the current cleaning mode; and performing the cleaning task using the current cleaning mode.

[0005] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a sweeping robot, which includes a processor, a sweeping robot body and sensors. The sensors are connected to the sweeping robot body and the processor and are used to collect displacement information of the sweeping robot body in a preset direction and send the displacement information to the processor. The processor is used to implement the sweeping robot cleaning method in the above-mentioned technical solution.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium for storing a computer program, which, when executed by a processor, is used to implement the cleaning method of the sweeping robot in the above-mentioned technical solution.

[0007] The beneficial effects of this application through the above scheme are as follows: It obtains a preset mapping table and the displacement information of the sweeping robot in a preset direction collected by the sensor. Then, it identifies the ground type where the sweeping robot is located based on the displacement information. Based on the ground type, it selects the cleaning mode corresponding to the ground type from the preset mapping table to obtain the current cleaning mode, so that the cleaning task can be performed using the current cleaning mode. By setting up a sensor and using this sensor to collect the vertical displacement information of the sweeping robot, it achieves ground type identification. Compared with ground identification methods that rely on motor stalling or image recognition, this method can protect the motor, avoid the risks caused by motor stalling, reduce the design difficulty of the motor control circuit, and the sensor does not require special protection measures. It also improves the accuracy and reliability of ground type identification. Moreover, since different cleaning modes are selected for different ground types according to the preset mapping table, it can achieve cleaning compatibility with various complex ground conditions, has strong versatility, realizes intelligent cleaning, and thus improves the user experience. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0009] Figure 1 This is a flowchart illustrating an embodiment of the cleaning method for a robotic vacuum cleaner provided in this application;

[0010] Figure 2 This is a flowchart illustrating another embodiment of the cleaning method for the sweeping robot provided in this application;

[0011] Figure 3 This is a schematic diagram of the installation of the sensor and the caster wheel support frame provided in this application;

[0012] Figure 4(a) is a plan view of the top shell of the sweeping robot provided in this application;

[0013] Figure 4(b) is a plan view of the chassis of the sweeping robot provided in this application;

[0014] Figure 4(c) is a side view of the sweeping robot provided in this application;

[0015] Figure 4(d) is a schematic diagram of the sweeping robot and base station provided in this application;

[0016] Figure 5 This is a structural schematic diagram of an embodiment of the sweeping robot provided in this application;

[0017] Figure 6 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0019] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] It should be noted that the terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0021] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the cleaning method for a robotic vacuum cleaner provided in this application. The robotic vacuum cleaner includes sensors, and the method includes:

[0022] Step 11: Obtain the preset mapping table and the displacement information of the sweeping robot in the preset direction collected by the sensor.

[0023] The preset mapping table can include various ground types and corresponding cleaning modes. The ground types and corresponding cleaning modes can be customized by the user. Sensors can be installed on the robot vacuum cleaner to collect displacement information of the robot vacuum cleaner in a preset direction. Specifically, the robot vacuum cleaner is in a three-dimensional space represented by XYZ. The preset direction can be the vertical direction, i.e., the Z direction. The displacement information in the vertical direction can represent the real-time vibration state of the sensor location (i.e., the robot vacuum cleaner), i.e., the amplitude. Thus, the amplitude can represent the current ground condition of the robot vacuum cleaner.

[0024] Step 12: Based on displacement information, identify the type of ground where the robot vacuum is located.

[0025] When a robotic vacuum cleaner moves on the ground, the friction and bumps of the ground cause it to vibrate vertically. Furthermore, the friction and bumps vary depending on the type of surface, affecting the front wheels of the vacuum cleaner differently. Therefore, the vertical vibrations generated by the vacuum cleaner differ depending on the surface type. The collected vertical displacement information can be used to characterize the type of surface the vacuum cleaner is currently on. For example, the vertical vibration generated by a vacuum cleaner on a carpet is greater than that on a wooden floor, and the vertical vibration generated on pebbles is greater than that on a carpet. Here, "wooden floor" refers to a floor made of wood.

[0026] In one embodiment, different ground types can be tested to obtain displacement ranges corresponding to different ground types. The displacement information collected by the sensor is then compared with the displacement ranges to identify the current ground type.

[0027] Step 13: Based on the ground type, select the cleaning mode corresponding to the ground type where the robot vacuum is located from the preset mapping table to obtain the current cleaning mode.

[0028] Step 14: Perform the cleaning task using the current cleaning mode.

[0029] The robot vacuum can select a cleaning mode corresponding to the type of ground it is on from a preset mapping table based on the ground type, and then use the current cleaning mode to perform the cleaning task to achieve intelligent cleaning. Specifically, the robot vacuum may include cleaning structures such as a mop, a rolling brush, and a vacuum cleaner. The cleaning modes in the preset mapping table may include the selection of cleaning structures such as a mop, a rolling brush, or a vacuum cleaner. The cleaning mode may also include the setting of cleaning parameters such as the pressure of the mop, the water output / temperature of the water tank, the brushing force of the rolling brush, or the suction power of the vacuum cleaner, which are not limited here.

[0030] This embodiment requires only one sensor to collect the vertical displacement information of the robot vacuum cleaner, thereby identifying the floor type. Compared with floor identification methods that rely on motor stalling or image recognition, this method protects the motor, avoids the risks associated with motor stalling, reduces the design complexity of the motor control circuit, and eliminates the need for special protection measures for the sensor. It also improves the accuracy and reliability of floor type identification. Furthermore, by selecting different cleaning modes for different floor types based on a preset mapping table, it can handle various complex floor conditions, exhibiting strong versatility and enabling intelligent cleaning, thus enhancing the user experience.

[0031] Please see Figure 2 , Figure 2 This is a flowchart illustrating another embodiment of the cleaning method for a robotic vacuum cleaner provided in this application. The method includes:

[0032] Step 201: Obtain the preset mapping table and the displacement information of the sweeping robot in the preset direction collected by the sensor.

[0033] The preset mapping table may include various floor types and corresponding cleaning modes, which can be customized by the user. In one embodiment, the robot vacuum cleaner may include a omnidirectional wheel structure, which may include omnidirectional wheels and a omnidirectional wheel support frame, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of the installation of the sensor and the omnidirectional wheel support frame. The omnidirectional wheel 31 is fixed to the robot vacuum cleaner via the omnidirectional wheel support frame 32. The sensor 33 can be mounted on the omnidirectional wheel support frame 32 via the circuit board 34. The sensor 33 is used to detect the vertical displacement information of the robot vacuum cleaner. It can be understood that this is only for... Figure 3 The following explanation uses one example of a universal wheel installation method. In other embodiments, the sensor installation position can be adjusted according to the different installation methods of the universal wheel, and is not limited here. Specifically, the sensor can be a micro-distance sensor, such as an accelerometer, which can detect the acceleration information of the sweeping robot in real time, and then use the acceleration information to calculate the current displacement information. At this time, the following scheme can be used to obtain the displacement information of the sweeping robot in a preset direction: obtain the acceleration information of the sweeping robot in the preset direction within a first preset time; calculate the speed information of the sweeping robot within a second preset time based on the acceleration information; process the speed information to calculate the displacement information, wherein the second preset time is less than or equal to the first preset time, and the second preset time can be taken from 0 seconds to 10 seconds, generally 1 second.

[0034] Specifically, the acceleration information within the second preset time period can be integrated to obtain the speed information of the sweeping robot within the second preset time period; the speed information within the second preset time period can be integrated to obtain the displacement information of the sweeping robot within the second preset time period. For example, the acceleration sensor can collect multiple sub-acceleration information of the sweeping robot in the vertical direction within 1 second. To obtain the displacement information of the sweeping robot within 1 second, the multiple sub-acceleration information within 1 second can be integrated to obtain the speed information within 1 second. Then, the speed information within 1 second can be integrated to obtain the displacement information of the sweeping robot within 1 second. The specific calculation method is shown in the following formulas (1) to (2):

[0035] v=∫a dt Formula (1)

[0036] Formula (2) is s=∫v dt

[0037] In the above formulas (1) and (2), v represents velocity, a represents acceleration, t represents time, and s represents displacement.

[0038] After obtaining the displacement information of the robot vacuum cleaner, the type of ground on which the robot vacuum cleaner is located is identified based on the displacement information. Specifically, the ground type may include floor tiles, wooden floors, carpets, and special ground. Understandably, the degree of ground bumps can increase in the order of floor tiles, wooden floors, carpets, and special ground. This embodiment only uses the above four preset ground types as examples for illustration. In other embodiments, other ground types can be set according to the actual application situation, which is not limited here.

[0039] The method for identifying the ground type where the sweeping robot is located based on displacement information is described below, as shown in steps 202 to 212.

[0040] Step 202: Determine whether the displacement information falls within the first preset displacement range.

[0041] Step 203: If the displacement information falls within the first preset displacement range, then the ground type is determined to be floor tile.

[0042] The floor tiles can be among the flatter surfaces of various floor types. A first preset displacement range can be used to determine whether the robot vacuum is on a tiled surface. The robot vacuum experiences less vibration on a tiled surface, resulting in a smaller vertical displacement. Specifically, the first preset displacement range can be [0, d0), where d0 can be [0.1, 0.4] millimeters. If the displacement information falls within the first preset displacement range, the floor type is determined to be a tiled surface. Understandably, the specific value of the first preset displacement range can be obtained through experimental testing on tiled surfaces, and is not limited to the example of less than 0.1 millimeters to less than 0.4 millimeters mentioned above.

[0043] Step 204: If the displacement information does not fall within the first preset displacement range, determine whether the displacement information falls within the second preset displacement range.

[0044] If the displacement information does not fall within the first preset displacement range, it indicates that the ground type is not floor tile. The displacement information can be further used to determine whether the ground where the robot vacuum is located is more bumpy than the floor tile ground, and to determine whether the displacement information falls within the second preset displacement range. The second preset displacement range is greater than the first preset displacement range. The second preset displacement range can be [d0, d1), where the value of d1 can be [0.6, 0.8] mm. Understandably, the specific value of the second preset displacement range can be obtained through experimental testing on a wooden floor, and is not limited here.

[0045] Step 205: If the displacement information falls within the second preset displacement range, then multiple displacement information are continuously acquired within a preset period, and it is determined whether there is any displacement information that falls within the second preset displacement range among the multiple displacement information.

[0046] Wooden floors are more bumpy than tile floors. When the displacement information falls within the second preset displacement range, the floor type can be initially determined to be wooden floor. Then, the floor type is verified a second time. Multiple subsequent displacement information is continuously collected within a preset period to determine whether any of the multiple displacement information falls within the second preset displacement range, thereby avoiding misjudgment. Specifically, misjudgment may occur when the robot vacuum passes through the vertical bumps at the junction of two floors. If the floor type is determined based on the displacement information collected at this time, misjudgment will occur. Therefore, in order to ensure that the displacement information generated under normal driving conditions is used as the basis for determining the floor type and to ensure the accuracy of floor type recognition, multiple displacement information continuously acquired within a preset period can be verified a second time after the floor type is initially identified. Furthermore, the preset period can be the time required for the front and rear wheels of the robot vacuum to pass through the same position one after another at the current operating speed. Taking a preset period of 5 seconds and a second preset time of 1 second as an example, a maximum of five consecutive 1-second displacement information can be acquired for secondary verification.

[0047] Step 206: If there is displacement information among the multiple displacement information that falls within the second preset displacement range, then the ground type is determined to be wood flooring.

[0048] If any of the multiple displacement information falls within the second preset displacement range, that is, as long as one of the multiple displacement information still falls within the second preset displacement range, it means that no misjudgment has occurred, and the ground type is determined to be wood flooring.

[0049] Step 207: If the displacement information does not fall within the second preset displacement range, determine whether the displacement information falls within the third preset displacement range.

[0050] If the displacement information does not fall within the second preset displacement range, it indicates that the ground type is not wood flooring. The displacement information can be further used to determine whether the ground where the robot vacuum is located is more bumpy than wood flooring, and whether the displacement information falls within the third preset displacement range. The third preset displacement range is greater than the second preset displacement range, and the third preset displacement range can be [d1, d2), where the value of d2 can be [2, 5] millimeters. Understandably, the specific value of the third preset displacement range can be obtained through experimental testing on carpeted floors, and is not limited here.

[0051] Step 208: If the displacement information falls within the third preset displacement range, then multiple displacement information are continuously acquired within the preset period, and it is determined whether there is any displacement information that falls within the third preset displacement range among the multiple displacement information.

[0052] Carpets are a more bumpy surface than wooden floors. If the displacement information falls within the third preset displacement range, the surface type is initially determined to be carpet. Then, multiple displacement information is continuously acquired within a preset period, and it is determined whether there is any displacement information within the third preset displacement range among the multiple displacement information to perform a secondary verification of the surface type in order to avoid misjudgment. The description of the preset period and misjudgment is the same as in step 205, and will not be repeated here.

[0053] Step 209: If there is displacement information among the multiple displacement information that falls within the third preset displacement range, then the ground type is determined to be carpet.

[0054] If any of the multiple displacement information falls within the third preset displacement range, that is, as long as one of the multiple displacement information still falls within the third preset displacement range, it means that no misjudgment has occurred, and the ground type is determined to be carpet.

[0055] Step 210: If the displacement information does not fall within the third preset displacement range, determine whether the displacement information falls within the fourth preset displacement range.

[0056] If the displacement information does not fall within the third preset displacement range, it indicates that the ground type is not carpet. The displacement information can be further used to determine whether the ground where the robot vacuum is located is a more bumpy ground than carpet, and to determine whether the displacement information falls within the fourth preset displacement range. The fourth preset displacement range is greater than the third preset displacement range, and the fourth preset displacement range can be [d2, ∞). It can be understood that the specific value of the fourth preset displacement range can be obtained through experimental testing on special ground, and is not limited to the example of greater than or equal to 2 mm to greater than or equal to 5 mm.

[0057] Step 211: If the displacement information falls within the fourth preset displacement range, then multiple displacement information are continuously acquired within the preset period, and it is determined whether there is any displacement information that falls within the fourth preset displacement range among the multiple displacement information.

[0058] Special ground is a surface that is more bumpy than a carpet, such as a cobblestone surface. If the displacement information falls within the fourth preset displacement range, the ground type is initially determined to be a cobblestone surface. Then, multiple displacement information is continuously acquired within a preset period, and it is determined whether there is any displacement information within the fourth preset displacement range among the multiple displacement information to perform a secondary verification of the ground type to avoid misjudgment. The description of the preset period and misjudgment is the same as in step 205, and will not be repeated here.

[0059] Step 212: If there is displacement information among multiple displacement information that falls within the fourth preset displacement range, then the ground type is determined to be a special ground.

[0060] If any of the multiple displacement information falls within the fourth preset displacement range, that is, as long as one of the multiple displacement information still falls within the fourth preset displacement range, it means that no misjudgment has occurred, and the ground type is determined to be a special ground, such as cobblestone ground.

[0061] Step 213: Based on the ground type, select the cleaning mode corresponding to the ground type where the robot vacuum is located from the preset mapping table to obtain the current cleaning mode.

[0062] Step 214: Perform the cleaning task using the current cleaning mode.

[0063] Based on the identified ground type, the robot can select the cleaning mode corresponding to the ground type it is on from a preset mapping table to obtain the current cleaning mode, and then use the current cleaning mode to perform the cleaning task. The following is a detailed introduction to the robot and its cleaning modes.

[0064] First, let's introduce the structure of the robot vacuum cleaner, such as... Figures 4(a) to 4(d) As shown, Figure 4(a) is a plan view of the top shell of the robot vacuum cleaner 40, which includes a screen 401, function buttons 402, an impact detection sensor 403, a camera 404, a speaker 405, and a microphone 406; Figure 4(b) is a plan view of the chassis of the robot vacuum cleaner 40, which also includes a rear wheel 407, a universal wheel 408 (i.e., the front wheel mentioned above), a mop 409, a rolling brush 411, a vacuum cleaner 412, and an ultraviolet lamp 413; Figure 4(c) is a side view of the robot vacuum cleaner; Figure 4(d) is a schematic diagram of the robot vacuum cleaner 40 and the base station 42, which includes a robot vacuum cleaner charging device (not shown in the figure) and a mop washing tank 421, wherein the mop washing tank 421 includes a water heating device (not shown in the figure), which is used to provide hot water for washing the mop 409 of the robot vacuum cleaner 40.

[0065] Generally, a robotic vacuum cleaner's structure for performing cleaning tasks may include a rolling brush, a vacuum cleaner, and a mop. In this embodiment, the corresponding cleaning modes may include modes that utilize the rolling brush, vacuum cleaner, or mop for cleaning. Specifically, the cleaning modes in the preset mapping table correspond one-to-one with the floor type. The multiple cleaning modes provided in this embodiment may include a tile floor cleaning mode, a wooden floor cleaning mode, a carpet cleaning mode, and an obstacle avoidance mode. The preset mapping table is shown below:

[0066]

[0067] As shown in the table above, in response to the floor type being tile, the tile cleaning mode can be selected as the current cleaning mode. The tile cleaning mode includes activating at least one of the following: the rolling brush, the vacuum cleaner, or the mop. Specifically, the tile cleaning mode can be a custom mode, which can receive user-defined custom information, such as: only turning on the vacuum cleaner / mop / rolling brush. Alternatively, if no user-defined custom information is received, the default cleaning mode can be used to perform the cleaning task, that is, the vacuum cleaner, the mop, and the rolling brush are all turned on.

[0068] In response to the floor type being wood flooring, a wood floor cleaning mode can be selected as the current cleaning mode. Specifically, the wood floor cleaning mode can include activating the rolling brush, vacuum cleaner, and mop. In response to the floor type being carpet, a carpet cleaning mode can be selected as the current cleaning mode. The carpet cleaning mode includes activating the vacuum cleaner and turning off the rolling brush and mop, using only the vacuum cleaner to clean the carpet, which can avoid the mop wetting the carpet and the rolling brush damaging the carpet.

[0069] In response to the ground type being cobblestones or similar surfaces, obstacle avoidance mode is selected as the current cleaning mode. The fourth preset mode includes turning off the vacuum cleaner, the rolling brush, and the mop until the robot vacuum reaches a safe area. The safe area can be any surface other than the special ground type, such as the aforementioned carpet, floor tiles, or wooden floor. Performing cleaning tasks on rough surfaces such as cobblestones may damage the robot vacuum. In this case, the robot vacuum will turn off the vacuum cleaner, the rolling brush, and the mop, while the omnidirectional wheels and the front wheels of the robot vacuum will continue to run until it reaches the safe area, and then continue to perform the cleaning task.

[0070] In one specific implementation, different cleaning parameters can be set for different cleaning modes. These parameters may include the mop pressure, water tank output / temperature, brushing force of the rolling brush, or suction power of the vacuum cleaner. These parameters can be customized. For example, the vacuum cleaner in the robot vacuum cleaner has three suction levels: level one (weak) is 1000 Pa, level two (normal) is 3000 Pa, and level three (strong) is 5000 Pa. The vacuum cleaner in the tile cleaning mode can be set to level two suction to clean the tiles. The vacuum cleaner in the wood floor cleaning mode can be set to level three suction to clean the wood floors, improving the cleaning effect. The vacuum cleaner in the carpet cleaning mode can be set to level one suction to clean the carpet, avoiding damage from excessive suction.

[0071] The solution adopted in this embodiment matches and identifies ground types by different preset displacement ranges, which can improve the accuracy of ground type identification. At the same time, it adopts a method of obtaining multiple consecutive displacement information within a preset period for secondary verification of ground type, which greatly reduces the false judgment rate. In addition, it sets up special cleaning modes for different types of ground such as floor tiles, wooden floors, carpets and pebbles, and performs special cleaning on carpet-like floors. This can ensure cleaning effect and effectively protect the robot vacuum and the ground, effectively solving the problem of carpet cleaning and making the robot vacuum more intelligent.

[0072] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an embodiment of the sweeping robot provided in this application. The sweeping robot 50 includes a processor 51, a sweeping robot body 52, and a sensor 53. The sensor 53 is connected to the sweeping robot body 52 and the processor 51, and is used to collect displacement information of the sweeping robot body 52 in a preset direction and send the displacement information to the processor 51. The processor 51 is used to implement the sweeping method of the sweeping robot in the above embodiment.

[0073] In one specific embodiment, sensor 53 is an acceleration sensor, the robot body 52 includes a omnidirectional wheel 521, the omnidirectional wheel 521 includes an omnidirectional wheel support frame (not shown in the figure), and the acceleration sensor is disposed on the omnidirectional wheel support frame.

[0074] Please see Figure 6 , Figure 6 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. The computer-readable storage medium 60 is used to store a computer program 61. When the computer program 61 is executed by a processor, it is used to implement the cleaning method of the sweeping robot in the above embodiment.

[0075] The computer-readable storage medium 60 can be any medium capable of storing program code, such as a server, USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0077] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0078] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0079] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A cleaning method for a robotic vacuum cleaner, characterized in that, The robotic vacuum cleaner includes sensors, and the method includes: The system acquires a preset mapping table and the displacement information of the robot vacuum cleaner in a preset direction collected by the sensor. The preset mapping table includes multiple ground types and cleaning modes corresponding to the ground types. Based on the displacement information, the type of ground where the sweeping robot is located is identified; Based on the ground type, a cleaning mode corresponding to the ground type where the robot vacuum is located is selected from the preset mapping table to obtain the current cleaning mode; The cleaning task will be performed using the current cleaning mode. The step of identifying the ground type where the sweeping robot is located based on the displacement information includes: Determine whether the displacement information falls within a first preset displacement range; When the displacement information does not fall within the first preset displacement range, it is determined whether the displacement information falls within the second preset displacement range; wherein, the second preset displacement range is greater than the first preset displacement range; If the displacement information falls within the second preset displacement range, multiple displacement information are continuously acquired within a preset period, and it is determined whether there is any displacement information falling within the second preset displacement range among the multiple displacement information; the preset period is the time required for the front wheel and rear wheel of the sweeping robot to pass through the same position one after another at the current operating speed. If any of the multiple displacement information falls within the second preset displacement range, then the ground type is determined to be the ground type corresponding to the second preset displacement range.

2. The cleaning method of the sweeping robot according to claim 1, characterized in that, The step of acquiring the displacement information of the sweeping robot in a preset direction collected by the sensor includes: Obtain the acceleration information of the sweeping robot in the preset direction within a first preset time period; Based on the acceleration information, the speed information of the sweeping robot is calculated within a second preset time period; wherein the second preset time period is less than or equal to the first preset time period. The velocity information is processed to calculate the displacement information.

3. The cleaning method of the sweeping robot according to claim 2, characterized in that, The displacement information is the displacement of the sweeping robot within the second preset time period, and the method further includes: Integrate the acceleration information within the second preset time period to obtain the speed information of the sweeping robot within the second preset time period; The displacement of the sweeping robot during the second preset time period is obtained by integrating the velocity information over the second preset time period.

4. The cleaning method of the sweeping robot according to claim 1, characterized in that, Multiple cleaning modes include a floor tile cleaning mode, the floor type includes floor tiles, the robot vacuum cleaner includes a rolling brush, a vacuum cleaner, and a mop, and the step of determining whether the displacement information falls within a first preset displacement range includes: If so, the ground type is determined to be the floor tile, and the floor tile cleaning mode is selected as the current cleaning mode. The floor tile cleaning mode includes activating at least one of the rolling brush, the vacuum cleaner, or the mop.

5. The cleaning method of the sweeping robot according to claim 4, characterized in that, The ground type also includes wooden flooring. If any of the plurality of displacement information falls within the second preset displacement range, then determining the ground type as the ground type corresponding to the second preset displacement range includes: If any of the multiple displacement information falls within the second preset displacement range, then the ground type is determined to be the wooden floor.

6. The cleaning method of the sweeping robot according to claim 5, characterized in that, Multiple cleaning modes also include a wood floor cleaning mode. The step of selecting the cleaning mode corresponding to the floor type where the robot vacuum is located from the preset mapping table based on the floor type to obtain the current cleaning mode includes: In response to the floor type being the wood floor, the wood floor cleaning mode is selected as the current cleaning mode, which includes activating the rolling brush, the vacuum cleaner, and the mop.

7. The cleaning method of the sweeping robot according to claim 5, characterized in that, The floor type also includes carpet, and the step of identifying the floor type where the sweeping robot is located based on the displacement information further includes: When the displacement information does not fall within the second preset displacement range, it is determined whether the displacement information falls within the third preset displacement range; wherein, the third preset displacement range is greater than the second preset displacement range; If the displacement information falls within the third preset displacement range, then multiple displacement information are continuously acquired within a preset period, and it is determined whether there is any displacement information falling within the third preset displacement range among the multiple displacement information. If any of the multiple displacement information falls within the third preset displacement range, then the floor type is determined to be the carpet.

8. The cleaning method of the sweeping robot according to claim 7, characterized in that, The multiple cleaning modes also include a carpet cleaning mode. The step of selecting the cleaning mode corresponding to the floor type of the robot vacuum cleaner from the preset mapping table based on the floor type to obtain the current cleaning mode includes: In response to the floor type being carpet, the carpet cleaning mode is selected as the current cleaning mode, which includes starting the vacuum cleaner and turning off the rolling brush and the mop.

9. The cleaning method of the sweeping robot according to claim 7, characterized in that, The ground type also includes special ground types. The step of identifying the ground type where the sweeping robot is located based on the displacement information further includes: When the displacement information does not fall within the third preset displacement range, it is determined whether the displacement information falls within the fourth preset displacement range; wherein, the fourth preset displacement range is greater than the third preset displacement range; If the displacement information falls within the fourth preset displacement range, then multiple displacement information are continuously acquired within a preset period, and it is determined whether there is any displacement information falling within the fourth preset displacement range among the multiple displacement information. If any of the multiple displacement information falls within the fourth preset displacement range, then the ground type is determined to be the special ground.

10. The cleaning method of the sweeping robot according to claim 9, characterized in that, The multiple cleaning mode set also includes an obstacle avoidance mode. The step of selecting the cleaning mode corresponding to the ground type where the robot vacuum is located from the preset mapping table based on the ground type to obtain the current cleaning mode includes: In response to the ground type being the special ground, the obstacle avoidance mode is selected as the current cleaning mode. The obstacle avoidance mode includes turning off the vacuum cleaner, the rolling brush, and the mop until the robot vacuum moves to a safe area.

11. A robotic vacuum cleaner, characterized in that, The system includes a processor, a robotic vacuum cleaner body, and sensors. The sensors are connected to the robotic vacuum cleaner body and the processor and are used to collect displacement information of the robotic vacuum cleaner body in a preset direction and send the displacement information to the processor. The processor is used to implement the cleaning method of the robotic vacuum cleaner according to any one of claims 1-10.

12. The sweeping robot according to claim 11, characterized in that, The sensor is an acceleration sensor. The robot vacuum cleaner body includes a omnidirectional wheel, the omnidirectional wheel includes an omnidirectional wheel support frame, and the acceleration sensor is mounted on the omnidirectional wheel support frame.

13. A computer-readable storage medium for storing a computer program, characterized in that, When the computer program is executed by the processor, it is used to implement the cleaning method of the sweeping robot according to any one of claims 1-10.

Images