Floor mopping robot, water spraying control method and device thereof, and readable storage medium

Abstract

The present disclosure relates to a mopping robot, a water spraying control method and device thereof, and a readable storage medium. The water spraying control method comprises: an acquisition step for acquiring a cleaned area of the mopping robot or a running distance of the mopping robot when the mopping robot performs a mopping task; and a control step for controlling a water spraying amount of a water spraying system of the mopping robot according to the cleaned area and a preset target cleaning area, or controlling the water spraying amount of the water spraying system according to the running distance and a preset target running distance. Thus, the slippage of the mopping robot during mopping can be reduced or avoided.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and in particular to a mopping robot, its water spraying control method and device, and a readable storage medium. Background Technology

[0002] In related technologies, mopping robots need to wet the floor first, and then scrub (mop) the wet floor. If the floor is over-wetted (i.e., excessively wet), the robot's wheels will slip on the wet surface, causing the robot to lose control and reduce its efficiency. Conversely, if the floor is not wet enough, it will affect the mopping effect and reduce cleaning ability. Therefore, water spray control is one of the important functions of mopping robots.

[0003] Existing water spray control methods typically involve the water spraying system of a mopping robot spraying a fixed amount of water at specified time intervals (i.e., spraying water according to a set time), such as spraying 3 ml of water per minute. However, this water spray control method has significant drawbacks. For example, if the mopping robot is in obstacle avoidance or escape mode, it may repeatedly move back and forth within the same small area. Spraying water according to the set time will cause the floor in this small area to become excessively wet, leading to slippage on the robot's wheels. This slippage will then make it easier for the robot to continue moving within the same small area, exacerbating the slippage and making it difficult for the robot to escape the area, or even causing it to go out of control. Furthermore, the excessively slippery area not only hinders the robot's positioning and cleaning of the floor but may also pose a risk of slipping to the user.

[0004] like Figure 1 As shown, after the mopping robot sprays water at point A, it reaches point B and sprays water again after a set time interval t0. Then, during its operation, it slips (for example, due to obstacles such as light fixtures or thresholds causing the wheels to spin freely or get stuck, or due to existing water stains on the ground causing the wheels to spin in place). Regardless of where the mopping robot reaches within the dotted area due to slipping, it will still spray water once every set time interval t0. If lucky, the mopping robot may escape the slipping area at point C and begin its normal path towards point D. From point B when the mopping robot enters the slipping area until it leaves, the prolonged time spent in that area due to slipping results in multiple water sprays. This causes the ground within the dotted area to become excessively wet, leading to more severe slipping or even loss of control of the mopping robot.

[0005] Therefore, how to reduce or avoid slippage of mopping robots during the mopping process is one of the problems that existing mopping robots need to solve. Summary of the Invention

[0006] In view of this, this disclosure proposes a mopping robot, a water spray control method and device thereof, and a readable storage medium, thereby reducing or avoiding slippage of the mopping robot during mopping.

[0007] According to a first aspect of this disclosure, a water spray control method for a mopping robot is provided, comprising: an acquisition step, configured to acquire the cleaned area or the travel distance of the mopping robot when the mopping robot performs a mopping task; and a control step, configured to control the water spray volume of the water spray system of the mopping robot according to the cleaned area and a preset target cleaned area, or to control the water spray volume of the water spray system according to the travel distance and a preset target travel distance.

[0008] According to a second aspect of this disclosure, a mopping robot is provided, comprising: an acquisition unit, configured to acquire the cleaned area or the travel distance of the mopping robot when the mopping robot performs a mopping task; and a control unit, configured to control the water spray volume of the water spray system of the mopping robot according to the cleaned area and a preset target cleaned area, or to control the water spray volume of the water spray system according to the travel distance and a preset target travel distance.

[0009] In one possible implementation, the acquisition unit is configured to: record the location of the waypoint of the mopping robot in a first control cycle; acquire the current position of the mopping robot in a second control cycle, and calculate a first distance between the current position and the location of the waypoint, as the distance traveled by the mopping robot within the first and second control cycles, wherein the second control cycle is the next control cycle immediately following the first control cycle, and the waypoint recorded in the first control cycle is the starting point of the first distance. The mopping robot further includes: a judgment unit, configured to judge whether the traveled distance has reached the target travel distance; and a processing unit, configured to, if the judgment is that the target travel distance has not been reached... If the target running distance is specified, the position of the new waypoint of the mopping robot is recorded in the second control cycle; the current position of the mopping robot is obtained in the third control cycle, and the second distance between the current position and the position of the new waypoint is calculated, with the waypoint recorded in the second control cycle as the starting point of the second distance; the sum of the first distance and the second distance is taken as the distance already run by the mopping robot in the first to third control cycles; the process executed by the judgment unit and the process executed by the processing unit are executed sequentially until the distance already run reaches the target running distance, wherein the third control cycle is the next control cycle immediately following the second control cycle.

[0010] In one possible implementation, the processing unit is configured to use the sum of the first distance and the second distance as the distance traveled by the mopping robot in the first to third control cycles only when the position change between the current position obtained in the third control cycle and the current position obtained in the second control cycle is greater than a threshold, and the current position obtained in the third control cycle is located in the current direction of travel of the mopping robot.

[0011] In one possible implementation, the acquisition unit is configured to: acquire the current coordinate position of the mopping robot on the map and the coordinate positions of the waypoints of the mopping robot on the map; calculate the difference between the current coordinate position and the coordinate positions of the waypoints as the distance traveled.

[0012] In one possible implementation, the control unit is configured to: during a first phase, while the mopping robot has traveled a distance of a first distance, cause the water spraying system to spray out a first predetermined amount of water; or during the first phase, when the mopping robot has traveled a distance of the first distance, cause the water spraying system to spray out the first predetermined amount of water.

[0013] In one possible implementation, the control unit is configured to: during a first phase, while the cleaned area of ​​the mopping robot reaches a first area, cause the water spraying system to spray a first predetermined amount of water; or during the first phase, when the cleaned area of ​​the mopping robot reaches the first area, cause the water spraying system to spray the first predetermined amount of water.

[0014] In one possible implementation, a second phase is included after the first phase, and the control unit is configured to: in the second phase, whenever the cleaned area of ​​the mopping robot reaches the target cleaned area, cause the water spraying system to spray a second predetermined amount of water; or in the second phase, whenever the travel distance of the mopping robot reaches the target travel distance, cause the water spraying system to spray the second predetermined amount of water.

[0015] According to a third aspect of this disclosure, a water spray control device for a mopping robot is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described water spray control method when executing the instructions stored in the memory.

[0016] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, wherein the computer program instructions, when executed by a processor of a mopping robot, implement the above-described water spray control method.

[0017] According to a fifth aspect of this disclosure, a computer program product is provided, including computer-readable code or a computer-readable storage medium carrying the computer-readable code, wherein when the computer-readable code is run in a processor of a mopping robot, the processor in the mopping robot performs the above-described water spray control method.

[0018] According to this disclosure, the mopping robot controls the water spray volume of its spray system based on the acquired cleaned area and a preset target cleaned area, or based on the acquired travel distance and a preset target travel distance. Therefore, compared to existing mopping robots that spray water at set intervals, the mopping robot of this disclosure sprays water based on either the cleaned area or the travel distance. This ensures that even if the mopping robot is in a state of flux, the water spray volume is controlled according to the acquired cleaned area or travel distance. Figure 1 At point B, the mopping robot slipped due to the ground conditions, causing it to press... Figure 1 The robot may travel along an irregular path for an extended period without leaving the small area within the cleaning box. However, since the cleaned area / distance traveled by the mopping robot does not change significantly (e.g., increase significantly), the mopping robot will not continue to spray water, thus avoiding excessive water spraying and making the floor too slippery. Consequently, the degree of slippage of the mopping robot will not increase, thereby reducing or preventing slippage during mopping.

[0019] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0021] Figure 1 This diagram illustrates slippage caused by water spraying according to existing water spray control methods.

[0022] Figure 2 A flowchart illustrating a water spray control method for a mopping robot according to an exemplary embodiment is shown.

[0023] Figure 3 A flowchart illustrating a water spray control method for a mopping robot according to an exemplary embodiment is shown.

[0024] Figure 4 A flowchart illustrating a water spray control method for a mopping robot according to an exemplary embodiment is shown.

[0025] Figure 5 A block diagram of a mopping robot according to an exemplary embodiment is shown. Detailed Implementation

[0026] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0027] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0028] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0029] As described above, if the mopping robot sprays water at the set time, it may cause the mopping robot to slip more severely or even go out of control, and make the floor too slippery.

[0030] Therefore, considering that the cleaned area or traveled distance of a mopping robot does not change significantly when it slips, if water can be sprayed according to the cleaned area or traveled distance, even if the mopping robot slips, the cleaned area or traveled distance will not change significantly over time before the mopping robot leaves the slipped area. Therefore, water will not continue to be sprayed, thus avoiding excessive water spraying and preventing the floor from becoming overly slippery. This will naturally not increase the degree of slippage of the mopping robot, thereby solving the problem described above.

[0031] Based on the above concept, the following is proposed Figure 2 The illustrated water spraying control method for a mopping robot is executed by the mopping robot, which may be, for example, a device that moves autonomously within an enclosed space of the actual work area by having a mop stick close to the floor to perform mopping on the enclosed space. The mopping robot may include, but is not limited to, intelligent mopping robots and sweeping and mopping robots.

[0032] Example 1:

[0033] Please see Figure 2 The water spray control method of this exemplary embodiment may include the following steps:

[0034] In step S210, when the mopping robot is performing the mopping task, the cleaned area or the distance traveled by the mopping robot is obtained.

[0035] In this embodiment, during the mopping robot's mopping task, the cleaned area or the distance traveled by the mopping robot can be detected in real time. Alternatively, during the mopping task, the cleaned area or the distance traveled can be detected at random intervals within a certain range, such as within a 100ms interval. It should be noted that the cleaned area and the distance traveled by the mopping robot usually have a proportional relationship. For example, if the mopping robot's distance traveled is L, its working width is W, and its cleaned area is S, then simply put, S = W × L, meaning the cleaned area is the product of the distance traveled and the working width. Therefore, the cleaned area and the distance traveled can be converted to each other, or only one parameter can represent both parameters.

[0036] After obtaining the cleaned area or the distance traveled in step S210, proceed to step S220.

[0037] In step S220, the water spray volume of the mopping robot's spray system is controlled according to the cleaned area and the preset target cleaned area, or the water spray volume of the spray system is controlled according to the travel distance and the preset target travel distance.

[0038] In this embodiment, the water spraying system is used to spray water. The water sprayed by the water spraying system can be used to wet the floor where the mopping robot is performing the mopping task. Of course, the water sprayed by the water spraying system can also be used to wet the mop. This disclosure does not make specific restrictions on the use of the water sprayed by the water spraying system.

[0039] It should be understood that if the cleaned area is obtained in step S210, then in step S220, the water spray volume of the water spray system is controlled based on the cleaned area and the preset target cleaning area. In one possible implementation, the target cleaning area can be preset based on the cleaning area corresponding to the mopping task that the mopping robot can complete using the water sprayed by the water spray system. For example, assuming that the water spray system sprays 6 ml of water, the mopping robot can clean an area of ​​6 square meters. 2 For mopping tasks, the target cleaning area can be preset to 6m². 2 .

[0040] Accordingly, if the distance traveled is obtained in step S210, the water spray volume of the water spray system is controlled in step S220 based on the traveled distance and the preset target travel distance. In one possible implementation, the target travel distance can be preset based on the travel distance corresponding to the mopping task that the mopping robot can complete using the water sprayed by the water spray system. For example, assuming that the mopping robot can complete a mopping task with a travel distance of 24m for every 6ml of water sprayed by the water spray system, the target travel distance can be preset to 24m.

[0041] Therefore, compared to the existing technology that sprays water according to a set time, this disclosure sprays water according to the area cleaned by the mopping robot or the distance traveled by the mopping robot. Thus, even if the mopping robot is in... Figure 1 At point B, the mopping robot slipped due to the ground conditions, causing it to press... Figure 1 The robot may travel along an irregular path for an extended period without leaving the small area within the cleaning box. However, since the cleaned area / distance traveled by the robot does not change significantly (e.g., increase significantly), the robot will not continue spraying water, thus avoiding excessive water spraying and making the floor too slippery. This naturally reduces or prevents the robot from slipping during the mopping process.

[0042] In one possible implementation, controlling the water spray volume of the mopping robot's spray system based on the cleaned area and the preset target cleaning area includes: whenever the cleaned area reaches the target cleaning area, causing the spray system to spray a preset amount of water.

[0043] In this embodiment, the water spraying system sprays a preset amount of water each time the mopping robot cleans the target cleaning area. For example, the preset water spraying volume is 6 ml. Continuing the example above, each time the mopping robot cleans 6 square meters... 2 The water spray system sprays out 6ml of water.

[0044] Therefore, compared to the prior art where water is sprayed at set intervals, this disclosure sprays a preset amount of water every time the mopping robot has cleaned the target area. In other words, this disclosure sprays water according to the target area, thus ensuring that even if the mopping robot... Figure 1 At point B, the mopping robot slipped due to the ground conditions, causing it to press... Figure 1The robot mops along an irregular path for an extended period without leaving the small area within the frame. However, because the cleaned area hasn't significantly changed and hasn't reached the target cleaning area, the robot won't continue spraying water until it leaves the slippery area represented by the dashed box. Only after the cleaned area calculated from point B reaches the target cleaning area (e.g., at point C) will it spray water again. This prevents excessive water spraying within the area indicated by the dashed box, thus avoiding overly slippery floors and reducing or eliminating slippage during mopping. This allows the robot to continue its planned route from point C towards point D. It also saves unnecessary water spraying, allowing the water in the tank to wet a larger area of ​​the floor.

[0045] In one possible implementation, controlling the water spray volume of the mopping robot's water spray system based on the already traveled distance and the preset target travel distance includes: whenever the already traveled distance reaches the target travel distance, causing the water spray system to spray out a preset amount of water.

[0046] In this embodiment, the water spraying system sprays a preset amount of water whenever the mopping robot has traveled the target distance. For example, the preset amount of water spray is 6 ml. Continuing the example above, the water spraying system sprays 6 ml of water whenever the mopping robot has traveled 24 m.

[0047] In one possible implementation, during the first stage (e.g., the initial stage after the mopping robot starts from the charging station), while the mopping robot has traveled a first distance, the water spraying system sprays out a first predetermined amount of water; or during the first stage, when the mopping robot has traveled a first distance, the water spraying system sprays out the first predetermined amount of water.

[0048] In this embodiment, during the initial stage (corresponding to the first stage), a first predetermined amount of water is sprayed cumulatively during the first distance traveled (water is sprayed multiple times at equal intervals so that the total amount of water sprayed when the traveled distance reaches the first distance reaches the first predetermined amount), or, during the initial stage, the first predetermined amount of water is sprayed once when the first distance traveled.

[0049] In one possible implementation, during the first stage, while the cleaned area of ​​the mopping robot reaches a first area, the water spraying system sprays out a first predetermined amount of water (multiple sprays on equal areas, so that the total amount of water sprayed when the cleaned area reaches the first area reaches the first predetermined amount); or during the first stage, when the cleaned area of ​​the mopping robot reaches the first area, the water spraying system sprays out the first predetermined amount of water in one go.

[0050] In this embodiment, during the initial stage, while the first area is cleaned, a first predetermined amount of water is sprayed (water is sprayed multiple times on equal areas so that the total amount of water sprayed when the cleaned area reaches the first area reaches the first predetermined amount), or, during the initial stage, while the first area is cleaned, the first predetermined amount of water is sprayed once.

[0051] In one possible implementation, a second stage is included after the first stage, in which the water spraying system sprays a second predetermined amount of water whenever the cleaned area of ​​the mopping robot reaches the target cleaned area; or in the second stage, the water spraying system sprays the second predetermined amount of water whenever the travel distance of the mopping robot reaches the target travel distance.

[0052] In this embodiment, during the normal operation phase (corresponding to the second phase), a second predetermined amount of water is sprayed for every target cleaning area cleaned, or during the normal operation phase, a second predetermined amount of water is sprayed for every target running distance traveled. In one possible implementation, the second predetermined amount is less than the first predetermined amount.

[0053] Therefore, compared to the prior art where water is sprayed at set intervals, this disclosure sprays a preset amount of water every time the mopping robot has traveled the target distance. In other words, this disclosure sprays water according to the target travel distance. Thus, even if the mopping robot... Figure 1 At point B, the mopping robot slipped due to the ground conditions, causing it to press... Figure 1 The robot mopping robot traveled along an irregular path for a considerable time without leaving the small area within the box. However, since the distance traveled by the robot did not change significantly and did not reach the target distance, it would not continue spraying water until it left the slippery area represented by the dashed box and the distance traveled from point B reached the target distance (for example, at point C, the robot should have already moved a certain distance away from the slippery area shown by the dashed box). Only then would it spray water again, thus preventing excessive water spraying within the area shown by the dashed box and avoiding making the floor overly slippery. This reduces or eliminates slippage during mopping, allowing the robot to continue its planned route from point C to point D. It also saves unnecessary water spraying, allowing the water in the tank to wet a larger area of ​​the floor.

[0054] By comparing the water spray control method of this disclosure (i.e., a water spray strategy based on travel distance) with the water spray control method of the prior art (i.e., a water spray strategy based on time), it can be seen that after the water tank of the mopping robot is filled, the mopping robot using the prior art water spray control method can clean for about 40 minutes, but slippage is relatively serious. In contrast, the mopping robot using the water spray control method of this disclosure can clean for 76 minutes, and while ensuring sufficient humidity, it can also effectively reduce the slippage of the mopping robot's wheels. In addition, it can dynamically adjust the travel distance threshold (target travel distance) according to the actual situation. Therefore, it can be seen that the water spray control method of this disclosure can indeed achieve the technical effects claimed in this disclosure.

[0055] Example 2:

[0056] As described in Embodiment 1, one implementation of this disclosure is to spray water at intervals of the target travel distance, thus the spray interval is calculated based on the travel distance. There are generally two ways to calculate distance: calculating absolute distance and calculating relative distance. For example, in a Cartesian coordinate system, absolute distance can be calculated based on the coordinate positions of two points in space; as long as the coordinate positions of the two points are accurate, the calculated absolute distance is accurate. Relative distance, on the other hand, is the distance relative to a reference point, calculated using motion parameters. The accuracy of relative distance depends not only on the coordinate position of the reference point but also on the sensors used to measure distance and angle during the journey from the reference point to the next position. Motion parameters such as distance, velocity, acceleration, angle, angular velocity, and angular acceleration obtained from dead reckoning sensors such as odometers and inertial measurement units (IMUs) typically have accumulated errors due to sensor device limitations, resulting in the accuracy of the relative distance calculated from the motion parameters output by these sensors being generally less than the accuracy of the absolute distance calculated from the aforementioned two coordinate positions.

[0057] Based on the technical concept of spraying water at each target running distance described in Example 1, Example 2 is obtained by specifically expanding the method of obtaining the running distance.

[0058] Figure 3 A flowchart illustrating a water spray control method for a mopping robot according to an exemplary embodiment is shown. Figure 3 As shown, the water spray control method includes the following steps.

[0059] In step S310, the location of the mopping robot's path points is recorded in the first control cycle.

[0060] In this embodiment, starting from a certain control cycle n (corresponding to the first control cycle), the mopping robot performs the mopping task, following a zigzag cleaning route and recording the position of a waypoint. The control cycle is a time cycle, during which the distance traveled is accumulated. Recording the waypoint in control cycle n serves as the starting point for calculating the absolute distance (first distance) in the next control cycle (n+1).

[0061] The bow-shaped cleaning route refers to the following: the mopping robot travels along the first long bow direction in a straight line; when it encounters an obstacle, it turns clockwise in a first rotation direction until its side is roughly parallel to the edge of the obstacle, then travels a short, predetermined distance (approximately one working width, such as 25cm) along the edge of the obstacle, then rotates in place to a second long bow direction that is parallel to and opposite to the first long bow direction, and continues forward along the second long bow direction; when it encounters another obstacle, it turns counterclockwise in a second rotation direction that is opposite to the first rotation direction until it is roughly parallel to the edge of the obstacle, then travels the predetermined distance along the edge of the obstacle, then rotates in place to the first long bow direction, and continues forward along the current first long bow direction, thus repeating this cycle to achieve the bow-shaped cleaning route.

[0062] In step S320, the current position of the mopping robot is obtained in the second control cycle, and a first distance between the current position and the location of the waypoint is calculated as the distance traveled by the mopping robot within the first control cycle and the second control cycle, wherein the second control cycle is the next control cycle immediately following the first control cycle; for example, control cycle (n+1). As described in step S310, the waypoint recorded in the first control cycle is the starting point of the first distance.

[0063] In step S330, it is determined whether the distance traveled has reached the target travel distance. If it is determined that the target travel distance has not been reached, then step S330 is "No", and step S340 is executed. If it is determined that the target travel distance has been reached, then step S330 is "Yes", and step S370 is executed.

[0064] In this embodiment, during the control cycle (n+1) (corresponding to the second control cycle), the current position of the mopping robot is obtained, and the absolute distance between it and the position of the previously recorded path point (the position of the path point recorded in the control cycle n) is calculated (corresponding to the first distance). If the absolute distance reaches the target running distance, the water spraying system sprays out a preset amount of water; otherwise, the following steps S340, S350 and S360 are executed sequentially.

[0065] In step S340, the position of the new waypoint of the mopping robot is recorded in the second control cycle. The purpose of recording the waypoint in control cycle (n+1) is to use the waypoint as the starting point when calculating the absolute distance (second distance) in the next control cycle (n+2).

[0066] In step S350, the current position of the mopping robot is acquired in the third control cycle, and a second distance is calculated between the current position and the position of the new waypoint. The third control cycle is the next control cycle immediately following the second control cycle; for example, control cycle (n+2). As described in step S340, the waypoint recorded in the second control cycle is the starting point of the second distance.

[0067] In step S360, the sum of the first distance and the second distance is taken as the distance traveled by the mopping robot during the first to third control cycles. Then, steps S330, S340, S350, and S360 are executed sequentially until the distance traveled reaches the target travel distance.

[0068] In step S370, the water spraying system sprays out a preset amount of water.

[0069] In this embodiment, during control cycle (n+1), the position of a new waypoint is recorded. During control cycle (n+2) (corresponding to the third control cycle), the current position of the mopping robot is obtained, and the absolute distance between the current position and the previously recorded waypoint position (the position of the waypoint recorded in control cycle (n+1)) is calculated (corresponding to the second distance). The two absolute distances are added together, and the sum of the sums is taken as the distance traveled by the mopping robot during control cycles n, (n+1), and (n+2). If the sum of the absolute distances reaches the target travel distance, the water spraying system sprays a preset amount of water; otherwise, the following steps S340, S350, and S360 are executed sequentially.

[0070] Therefore, in this embodiment, the absolute distances obtained in each control cycle are accumulated until the total accumulated absolute distance reaches the target running distance before the water spraying operation (causing the water spraying system to spray a preset amount of water) is executed. Additionally, it should be noted that after this water spraying operation, the path point needs to be changed to the current water spraying position. The mopping robot sprays water once every time it reaches the target running distance; this running distance is the cumulative value of the relative distance traveled by the mopping robot in each control cycle, and this cumulative distance is an absolute distance. Therefore, this embodiment uses a combination of relative and absolute distances to calculate the running distance.

[0071] In this invention, the water spray interval is calculated based on the distance traveled. There are generally two ways to calculate distance: absolute distance and relative distance. Absolute distance can be calculated based on the coordinates of two points in a space with a coordinate system (such as a Cartesian coordinate system). Relative distance, on the other hand, is the distance relative to a reference point, calculated using motion parameters. This invention uses a combination of absolute and relative distance. Starting from a certain control cycle n, the machine performs a cornrow cleaning motion, recording a waypoint. In control cycle (n+1), the machine's current position is obtained, and the absolute distance to the previously recorded waypoint is calculated. Control cycles (n+2), (n+3), and so on, accumulating the absolute distances obtained in each control cycle until the relative distance to the previously recorded waypoint exceeds a certain threshold, at which point a water spray operation is executed. After this water spray operation is completed, the waypoint needs to be changed to the current water spray position.

[0072] Therefore, compared to the prior art's method of spraying water according to a set time, this disclosure sprays water at a preset amount whenever the mopping robot's running distance (the cumulative distance calculated based on the coordinates of the start and end points on the map, i.e., the coordinates of the points along the way, and the current coordinate) reaches the target running distance. In other words, this disclosure sprays water according to the target running distance, thus ensuring that even if the mopping robot... Figure 1 At point B, the mopping robot slipped due to the ground conditions, causing it to press... Figure 1 The robot mopping robot traveled along an irregular path for a considerable time without leaving the small area within the box. However, since the distance traveled by the robot did not change significantly and did not reach the target distance, it would not continue spraying water until it left the slippery area represented by the dashed box and the distance traveled from point B reached the target distance (for example, at point C, the robot should have already moved a certain distance away from the slippery area shown by the dashed box). Only then would it spray water again, thus preventing excessive water spraying within the area shown by the dashed box and avoiding making the floor overly slippery. This reduces or eliminates slippage during mopping, allowing the robot to continue its planned route from point C to point D. It also saves unnecessary water spraying, allowing the water in the tank to wet a larger area of ​​the floor.

[0073] In one implementation, the current coordinates of the mopping robot on the map and the coordinates of the points the mopping robot has passed through on the map can be obtained; and the difference between the current coordinates and the coordinates of the points the robot has passed through can be calculated to obtain the absolute distance, which can be used as the distance traveled.

[0074] In this embodiment, considering that the distance traveled based on the dead reckoning sensor is the actual distance traveled as calculated by the odometer rather than the linear displacement between two coordinate positions, excessive water spray can still occur during skidding due to the relatively long actual distance traveled, leading to even greater skidding. Therefore, the distance traveled in this embodiment can be an absolute distance calculated based on the coordinate values ​​of the starting and ending positions on the map (the coordinate values ​​of the waypoints and the current coordinate value). This travel distance is based on the absolute distance of the coordinate positions, rather than the relative distance or distance traveled from the waypoints based on the dead reckoning sensors (including the odometer, gyroscope, and accelerometer). Therefore, excessive water spray can be avoided during skidding, thus preventing even greater skidding.

[0075] Based on Example 2, with appropriate adjustments, Example 3 is obtained:

[0076] Example 3:

[0077] Considering that real-world sensor devices will inevitably have systematic errors, even after multi-sensor fusion for mopping robot posture estimation, such as the fusion of radar, IMU, and wheel encoder (or odometry), the resulting pose will still fluctuate within a certain range, which will adversely affect the calculation of accumulated distance.

[0078] To mitigate the impact of pose fluctuations on the calculation of accumulated distance, a water spray control method as described in Example 3 is proposed. In Example 3, the measured or calculated positions are filtered. Accumulation only occurs when the position change between the next control cycle and the previous control cycle exceeds a certain threshold, and the position in the next control cycle is within the current travel direction of the mopping robot. This maximizes the accuracy of the accumulated distance calculation based on the coordinates of the path points and the current coordinates. See below for a detailed description.

[0079] Figure 4 A flowchart illustrating a water spray control method for a mopping robot according to an exemplary embodiment is shown. Figure 4 As shown, the water spray control method includes the following steps.

[0080] In step S310, the location of the mopping robot's path points is recorded in the first control cycle.

[0081] In step S320, the current position of the mopping robot is obtained in the second control cycle, and the first distance between the current position and the position of the waypoint is calculated as the distance traveled by the mopping robot in the first control cycle and the second control cycle, wherein the second control cycle is the next control cycle immediately following the first control cycle, and the waypoint recorded in the first control cycle is the starting point of the first distance.

[0082] In step S330, it is determined whether the distance traveled has reached the target travel distance. If it is determined that the target travel distance has not been reached, then step S330 is "No", and step S340 is executed below.

[0083] In step S340, the location of the new waypoint of the mopping robot is recorded in the second control cycle.

[0084] In step S350, the current position of the mopping robot is acquired in the third control cycle, and a second distance is calculated between the current position and the position of the new waypoint. The third control cycle is the next control cycle immediately following the second control cycle, and the waypoint recorded in the second control cycle is the starting point of the second distance.

[0085] In step S410, it is determined whether the positional change between the current position acquired in the third control cycle and the current position acquired in the second control cycle is greater than a threshold, and whether the current position acquired in the third control cycle is located in the current direction of travel of the mopping robot. If the determination is "yes", then step S360 is executed. Here, the threshold is, for example, the accuracy of a grid map.

[0086] In step S360, the sum of the first distance and the second distance is taken as the distance traveled by the mopping robot during the first to third control cycles. Then, steps S330, S340, S350, S410, and S360 are executed sequentially until the distance traveled reaches the target distance.

[0087] In step S370, the water spraying system sprays out a preset amount of water.

[0088] Steps S310 to S370 in Example 3 are similar to steps S310 to S370 in Example 2, and will not be described again here.

[0089] In this embodiment, the first distance and the second distance are added together only if the positional change between the current position obtained in the third control cycle and the current position obtained in the second control cycle is greater than a threshold, and the current position obtained in the third control cycle is located in the current direction of travel of the mopping robot. The sum of the first distance and the second distance is then taken as the distance traveled by the mopping robot in the first to third control cycles. Otherwise, the sum of the first distance and the second distance is not taken as the distance traveled by the mopping robot in the first to third control cycles.

[0090] Therefore, by adding step S410 on the basis of embodiment two, the obtained positions can be filtered to remove unsuitable positions, thereby making the positions used to calculate the cumulative distance (based on the absolute distance calculated from the coordinate position values ​​of the waypoints and the current coordinate position values) more accurate, and thus improving the accuracy of the cumulative distance calculation.

[0091] Figure 5 A block diagram of a mopping robot according to an exemplary embodiment is shown, such as Figure 5 As shown, the mopping robot 600 may include an acquisition unit 610 and a control unit 620.

[0092] The acquisition unit 610 can be used to acquire the cleaned area or the travel distance of the mopping robot when the mopping robot is performing a mopping task. The control unit 620 is connected to the acquisition unit 610, and the control unit 620 can be used to control the water spray volume of the mopping robot's water spray system according to the cleaned area and a preset target cleaned area, or to control the water spray volume of the water spray system according to the travel distance and a preset target travel distance.

[0093] In one possible implementation, the control unit 620 may be configured to cause the water spraying system to spray a preset amount of water whenever the cleaned area reaches the target cleaned area.

[0094] In one possible implementation, the control unit 620 may be configured to cause the water spraying system to spray a preset amount of water whenever the distance traveled reaches the target travel distance.

[0095] In one possible implementation, the acquisition unit 610 can be configured to: record the location of the waypoint of the mopping robot in a first control cycle; acquire the current position of the mopping robot in a second control cycle, and calculate a first distance between the current position and the location of the waypoint, as the distance traveled by the mopping robot within the first and second control cycles, wherein the second control cycle is the next control cycle immediately following the first control cycle, and the waypoint recorded in the first control cycle is the starting point of the first distance. The mopping robot 600 may further include a judgment unit (not shown) and a processing unit (not shown), wherein the judgment unit is used to determine whether the traveled distance has reached the target travel distance; If the processing unit determines that the target running distance has not been reached, it records the position of the new waypoint of the mopping robot in the second control cycle; obtains the current position of the mopping robot in the third control cycle and calculates the second distance between the current position and the position of the new waypoint, with the waypoint recorded in the second control cycle as the starting point of the second distance; takes the sum of the first distance and the second distance as the distance already traveled by the mopping robot in the first to third control cycles; and returns to continue to sequentially execute the processing performed by the determination unit and the processing unit until the distance already traveled reaches the target running distance, wherein the third control cycle is the next control cycle immediately following the second control cycle.

[0096] In one possible implementation, the processing unit may be configured to use the sum of the first distance and the second distance as the distance traveled by the mopping robot in the first to third control cycles only when the position change between the current position obtained in the third control cycle and the current position obtained in the second control cycle is greater than a threshold, and the current position obtained in the third control cycle is located in the current direction of travel of the mopping robot.

[0097] In one possible implementation, the acquisition unit 610 may be configured to: acquire the current coordinate position of the mopping robot on the map and the coordinate position of the path point of the mopping robot on the map; calculate the difference between the current coordinate position and the coordinate position of the path point as the distance traveled.

[0098] In one possible implementation, the control unit 620 may be configured to: during a first phase, while the mopping robot has traveled a distance of a first distance, cause the water spraying system to spray a first predetermined amount of water; or, during the first phase, when the mopping robot has traveled a distance of the first distance, cause the water spraying system to spray the first predetermined amount of water.

[0099] In one possible implementation, the control unit 620 may be configured to: during a first phase, while the cleaned area of ​​the mopping robot reaches a first area, cause the water spraying system to spray a first predetermined amount of water; or, during the first phase, when the cleaned area of ​​the mopping robot reaches the first area, cause the water spraying system to spray the first predetermined amount of water.

[0100] In one possible implementation, a second phase is included after the first phase, and the control unit 620 can be configured to: in the second phase, whenever the cleaned area of ​​the mopping robot reaches the target cleaned area, cause the water spraying system to spray a second predetermined amount of water; or, in the second phase, whenever the travel distance of the mopping robot reaches the target travel distance, cause the water spraying system to spray the second predetermined amount of water.

[0101] Regarding the apparatus in the above embodiments, the specific manner in which each unit performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0102] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0103] This disclosure also proposes a computer-readable storage medium storing computer program instructions, which, when executed by the processor of a mopping robot, implement the aforementioned water spray control method. The computer-readable storage medium can be volatile or non-volatile.

[0104] This disclosure also proposes a water spray control device, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described water spray control method when executing the instructions stored in the memory.

[0105] This disclosure also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in the processor of a mopping robot, the processor in the mopping robot executes the above-described water spray control method.

[0106] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A water spray control method for a mopping robot, characterized in that, include: The acquisition step is used to acquire the distance traveled by the mopping robot when the mopping robot is performing the mopping task; as well as The control step is used to control the water spray volume of the sprinkler system based on the already traveled distance and the preset target travel distance. The acquisition steps include: The location of the mopping robot's path points is recorded during the first control cycle; In the second control cycle, the current position of the mopping robot is acquired, and a first distance between the current position and the location of the waypoint is calculated as the distance traveled by the mopping robot within the first control cycle and the second control cycle. The second control cycle is the next control cycle immediately following the first control cycle, and the waypoint recorded in the first control cycle is the starting point of the first distance. The water spray control method also includes: The judgment step is used to determine whether the distance already traveled has reached the target travel distance; Processing steps, for If it is determined that the target running distance has not been reached, the position of the new waypoint of the mopping robot is recorded in the second control cycle; In the third control cycle, the current position of the mopping robot is obtained, and the second distance between the current position and the position of the new waypoint is calculated. The waypoint recorded in the second control cycle is the starting point of the second distance. The sum of the first distance and the second distance is taken as the distance traveled by the mopping robot during the first to third control cycles; Return to the previous step and continue executing the judgment step and the processing step sequentially until the distance traveled reaches the target travel distance. The third control cycle is the next control cycle immediately following the second control cycle.

2. The water spray control method according to claim 1, characterized in that, The control steps include: Whenever the distance traveled reaches the target distance, the water spraying system sprays out a preset amount of water.

3. The water spray control method according to claim 1, characterized in that, The sum of the first distance and the second distance is taken as the distance traveled by the mopping robot during the first to third control cycles, including: The sum of the first distance and the second distance is taken as the distance traveled by the mopping robot in the first to third control cycles only when the position change between the current position obtained in the third control cycle and the current position obtained in the second control cycle is greater than a threshold, and the current position obtained in the third control cycle is located in the current direction of travel of the mopping robot.

4. The water spray control method according to claim 1, characterized in that, The acquisition steps include: Obtain the current coordinates of the mopping robot on the map and the coordinates of the waypoints of the mopping robot on the map; Calculate the difference between the current coordinate position and the coordinate position of the point along the route, and use it as the distance traveled.

5. The water spray control method according to claim 1, characterized in that, The control steps include: During the first phase, while the mopping robot has traveled a first distance, the water spraying system cumulatively sprays a first predetermined amount of water; or During the first stage, when the mopping robot has traveled a distance of the first distance, the water spraying system sprays out the first predetermined amount of water.

6. The water spray control method according to claim 5, characterized in that, The first phase is followed by the second phase. The control steps include: During the second phase, whenever the mopping robot reaches the target running distance, the water spraying system sprays out a second predetermined amount of water.

7. A floor-mopping robot, characterized in that, include: The acquisition unit is used to acquire the distance traveled by the mopping robot when the mopping robot is performing the mopping task; as well as The control unit is used to control the water spray volume of the sprinkler system based on the already traveled distance and the preset target travel distance. Whenever the already traveled distance reaches the target travel distance, the sprinkler system sprays out the preset amount of water. The acquisition unit is configured as follows: The location of the mopping robot's path points is recorded during the first control cycle; In the second control cycle, the current position of the mopping robot is acquired, and a first distance between the current position and the location of the waypoint is calculated as the distance traveled by the mopping robot within the first control cycle and the second control cycle. The second control cycle is the next control cycle immediately following the first control cycle, and the waypoint recorded in the first control cycle is the starting point of the first distance. The mopping robot also includes: A judgment unit is used to determine whether the distance already traveled has reached the target travel distance; Processing unit, for If it is determined that the target running distance has not been reached, the position of the new waypoint of the mopping robot is recorded in the second control cycle; In the third control cycle, the current position of the mopping robot is obtained, and the second distance between the current position and the position of the new waypoint is calculated. The waypoint recorded in the second control cycle is the starting point of the second distance. The sum of the first distance and the second distance is taken as the distance traveled by the mopping robot during the first to third control cycles; The process continues sequentially, executing the steps performed by the judgment unit and the processing unit, until the distance traveled reaches the target travel distance. The third control cycle is the next control cycle immediately following the second control cycle.

8. A water spray control device for a mopping robot, comprising: processor; Memory used to store processor-executable instructions. The processor is configured to implement the water spray control method according to any one of claims 1-6 when executing the instructions stored in the memory.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor of the mopping robot, the water spraying control method according to any one of claims 1-6 is implemented.

10. A computer program product comprising computer program instructions, characterized in that, When the computer program instructions are executed by the processor of the mopping robot, the water spraying control method according to any one of claims 1-6 is implemented.

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