Control methods, devices, electronic equipment and storage media for robotic vacuum cleaners

Abstract

This application relates to a control method, device, electronic device, and storage medium for a robotic vacuum cleaner. The method includes: S1, acquiring a first cleaning rate of the robotic vacuum cleaner when performing a historical cleaning task using a historically optimal cleaning mode and a first environmental parameter of the robotic vacuum cleaner before performing the current cleaning task; S2, adjusting the target working parameters in the historically optimal cleaning mode according to the first environmental parameter; S3, controlling the robotic vacuum cleaner to perform the current cleaning task according to the adjusted working parameters, and acquiring a second cleaning rate of the robotic vacuum cleaner when performing the current cleaning task; S4, comparing the first cleaning rate and the second cleaning rate, and determining the optimal cleaning mode; S5, using the optimal cleaning mode as the new historically optimal cleaning mode, and repeating steps S1 to S4 until the cleaning rate corresponding to the cleaning mode tends to stabilize. This can accurately determine the optimal cleaning mode for the working environment of the robotic vacuum cleaner.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and in particular to a control method, device, electronic device and storage medium for a sweeping robot. Background Technology

[0002] With the continuous development of intelligent control technology, robotic vacuum cleaners are becoming increasingly common in people's daily lives. They are used to clean floors, thus reducing the burden of housework for users.

[0003] However, existing robotic vacuum cleaners usually require users to select a fixed cleaning mode, which can easily lead to the user selecting a cleaning mode that is not the optimal working mode for the robotic vacuum cleaner. This can result in the floor not being cleaned as expected, or over-cleaning causing waste of resources.

[0004] Therefore, determining the optimal cleaning mode for a robotic vacuum cleaner has become a pressing technical problem that needs to be solved. Summary of the Invention

[0005] This application provides a control method, device, electronic device, and storage medium for a robotic vacuum cleaner, in order to solve the problem that existing robotic vacuum cleaners usually require manual selection of a fixed cleaning mode, which can easily lead to the floor cleaning not achieving the user's expected results or causing resource waste due to over-cleaning.

[0006] In a first aspect, embodiments of this application provide a control method for a robotic vacuum cleaner, the method comprising:

[0007] S1. Obtain the first cleaning rate when the sweeping robot uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the sweeping robot.

[0008] S2. Adjust the target working parameters in the historical optimal cleaning mode according to the first environmental parameters;

[0009] S3. Control the sweeping robot to execute the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the sweeping robot when executing the current cleaning task;

[0010] S4. Compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical optimal cleaning mode and the current cleaning mode based on the comparison result. The current cleaning mode refers to the cleaning mode used by the robot vacuum to perform the current cleaning task.

[0011] S5. When the robot vacuum cleaner is restarted, the optimal cleaning mode is taken as the new historical optimal cleaning mode, and steps S1 to S4 are repeated until the cleaning rate corresponding to the cleaning mode tends to stabilize.

[0012] Based on the above method, the target working parameters of the robot vacuum cleaner's cleaning mode can be continuously adjusted according to the environmental parameters related to the robot's working environment. This continuously optimizes the cleaning mode and ultimately determines the optimal cleaning mode for the robot's working environment. This ensures that the floor cleaning achieves the user's expected results without wasting resources due to over-cleaning.

[0013] Optionally, the first environmental parameter includes a first level of floor cleanliness before the current cleaning task is performed;

[0014] The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes:

[0015] Based on the first level of floor cleanliness, the detergent ratio and / or brush rotation speed in the historical best cleaning mode are adjusted.

[0016] Based on the above method, the detergent ratio and / or brush rotation speed in the historical best cleaning mode can be adjusted according to the first degree of ground cleanliness, so that the current cleaning mode is more compatible with the working environment of the robot vacuum cleaner.

[0017] Optionally, the first environmental parameter further includes ground type, which includes a first ground type with carpet and a second ground type without carpet;

[0018] The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes:

[0019] Based on the ground type, the suction intensity in the historical best cleaning mode is adjusted, wherein the suction intensity corresponding to the first ground type is greater than the suction intensity corresponding to the second ground type.

[0020] Based on the above method, the suction strength in the historical best cleaning mode can be adjusted according to the ground type, so that the current cleaning mode is more compatible with the working environment of the robot vacuum cleaner.

[0021] Optionally, the first environmental parameter may also include ambient humidity;

[0022] The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes:

[0023] The humidification function in the historical best cleaning mode is adjusted according to the ambient humidity.

[0024] Based on the above method, the humidification function in the historical best cleaning mode can be adjusted according to the ambient humidity, so that the current cleaning mode is more compatible with the working environment of the robot vacuum cleaner.

[0025] Optionally, comparing the first cleaning rate and the second cleaning rate, and determining the optimal cleaning mode from the historical best cleaning mode and the current cleaning mode based on the comparison result, includes:

[0026] Compare the first cleaning rate and the second cleaning rate;

[0027] If the difference between the first cleaning rate and the second cleaning rate is greater than or equal to a preset threshold, the first average cleanliness corresponding to the execution of the historical optimal cleaning mode multiple times and the second average cleanliness corresponding to the execution of the current cleaning mode multiple times are obtained respectively, and the optimal cleaning mode is determined based on the first average cleanliness and the second average cleanliness.

[0028] If the difference between the first cleaning rate and the second cleaning rate is less than the preset threshold, the power consumption of the historical best cleaning mode and the current cleaning mode is obtained, and the cleaning mode with lower power consumption is determined as the best cleaning mode.

[0029] By following the above method, not only can frequent switching of cleaning modes be avoided due to extreme situations, but also, when the cleaning effect is similar, the cleaning mode with lower power consumption can be selected as the optimal cleaning mode, thereby reducing energy consumption.

[0030] Optionally, determining the optimal cleaning mode based on the first average cleanliness and the second average cleanliness includes:

[0031] If the first average cleaning rate is greater than the second average cleaning rate, the historical best cleaning mode is determined as the optimal cleaning mode.

[0032] If the first average cleaning rate is less than the second average cleaning rate, the current cleaning mode is determined as the optimal cleaning mode.

[0033] Based on the above method, the cleaning mode with better cleaning effect can be accurately determined, that is, the optimal cleaning mode can be accurately determined.

[0034] Optionally, before controlling the robotic vacuum cleaner to execute the current cleaning task according to the adjusted working parameters and obtaining the second cleaning rate of the robotic vacuum cleaner when executing the current cleaning task, the method further includes:

[0035] The cleaning time of the sweeping robot is adjusted according to the first environmental parameters;

[0036] The control of the sweeping robot to execute the current cleaning task according to the adjusted working parameters, and the acquisition of the second cleaning rate of the sweeping robot when executing the current cleaning task, includes:

[0037] The robot vacuum cleaner is controlled to perform the current cleaning task according to the adjusted working parameters and the adjusted cleaning time, and the second cleaning rate of the robot vacuum cleaner when performing the current cleaning task is obtained.

[0038] Based on the above method, the cleaning effect can be determined by adjusting different working parameters and cleaning durations when performing cleaning tasks multiple times. This allows the robot vacuum to find the most suitable cleaning mode and cleaning time, avoiding the cleaning effect being affected by too short a cleaning time or the power consumption being affected by too long a cleaning time.

[0039] Secondly, embodiments of this application also provide a control device for a sweeping robot, the device comprising:

[0040] The acquisition module is used to execute step S1, acquiring the first cleaning rate of the sweeping robot when it uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the sweeping robot.

[0041] The first adjustment module is used to perform step S2, adjusting the target working parameters in the historical optimal cleaning mode according to the first environmental parameters;

[0042] The control module is used to execute step S3, control the sweeping robot to perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the sweeping robot when performing the current cleaning task;

[0043] The determination module is used to perform step S4, compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical optimal cleaning mode and the current cleaning mode based on the comparison result, wherein the current cleaning mode refers to the cleaning mode used by the sweeping robot to perform the current cleaning task.

[0044] The execution module is used to execute step S5, which, when the sweeping robot is restarted, takes the optimal cleaning mode as the new historical optimal cleaning mode and repeats steps S1 to S4 until the cleaning rate corresponding to the cleaning mode tends to stabilize.

[0045] Thirdly, embodiments of this application also provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0046] Memory, used to store computer programs;

[0047] The processor, when executing a program stored in memory, implements the control method for the sweeping robot as described in any one of the first aspects.

[0048] Fourthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method for the sweeping robot described in any one of the first aspects.

[0049] Compared with the prior art, the technical solution provided in this application embodiment has the following advantages: The method provided in this application embodiment obtains the first cleaning rate when the sweeping robot uses the historical optimal cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical optimal cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical optimal cleaning mode. The first environmental parameters are used to characterize environmental parameters related to the working environment of the sweeping robot. Based on the first environmental parameters, the sweeping robot... The target working parameters in the historical optimal cleaning mode are adjusted; the robot vacuum is controlled to execute the current cleaning task according to the adjusted working parameters, and a second cleaning rate is obtained when the robot vacuum is executing the current cleaning task; the first cleaning rate and the second cleaning rate are compared, and the optimal cleaning mode is determined from the historical optimal cleaning mode and the current cleaning mode based on the comparison result, wherein the current cleaning mode refers to the cleaning mode used by the robot vacuum to execute the current cleaning task; when the robot vacuum is restarted, the optimal cleaning mode is used as the new historical optimal cleaning mode, and the above steps are repeated until the cleaning rate corresponding to the cleaning mode tends to stabilize. In this way, the target working parameters in the cleaning mode of the robot vacuum can be continuously adjusted according to the environmental parameters related to the working environment of the robot vacuum, thereby continuously optimizing the cleaning mode of the robot vacuum and finally determining the optimal cleaning mode suitable for the working environment of the robot vacuum. This can ensure that the floor cleaning achieves the user's expected effect without wasting resources due to over-cleaning. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0053] Figure 1 A flowchart illustrating a control method for a sweeping robot provided in an embodiment of this application;

[0054] Figure 2 A flowchart illustrating another control method for a sweeping robot provided in this application embodiment;

[0055] Figure 3 This is a schematic diagram of the structure of a control device for a sweeping robot provided in an embodiment of this application;

[0056] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0059] To address the problem that existing robotic vacuum cleaners typically require manual selection of a fixed cleaning mode, which can easily lead to the floor not achieving the user's expected cleaning results or causing resource waste due to over-cleaning, this application provides a control method, device, electronic device, and storage medium for a robotic vacuum cleaner, capable of accurately determining the optimal cleaning mode for the robotic vacuum cleaner.

[0060] See Figure 1 , Figure 1 This is a flowchart illustrating a control method for a sweeping robot provided in an embodiment of this application. Figure 1 As shown, the control method for this robotic vacuum cleaner may include the following steps:

[0061] Step S1: Obtain the first cleaning rate when the robot vacuum cleaner uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the robot vacuum cleaner before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the robot vacuum cleaner when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the robot vacuum cleaner.

[0062] It should be noted that the control method for the robotic vacuum cleaner provided in this application embodiment can be executed by the robotic vacuum cleaner, by the server, or by both the robotic vacuum cleaner and the server. This application embodiment does not impose any specific limitations. For ease of understanding, the following embodiments will be explained using a server as an example.

[0063] Specifically, the aforementioned robotic vacuum cleaner can also be called a mopping robot, a vacuum cleaner, etc. The aforementioned historical cleaning tasks can be understood as cleaning tasks that occurred before the current cleaning task. The aforementioned first cleaning rate refers to the cleaning rate corresponding to the historically optimal cleaning mode selected by the robotic vacuum cleaner when performing multiple historical cleaning tasks. The aforementioned first cleaning rate can be determined based on the degree of floor cleanliness before and after the historical cleaning task corresponding to the historically optimal cleaning mode, such as the difference or ratio between the floor cleanliness before and after the task. The aforementioned first environmental parameter may include, but is not limited to, parameters such as floor cleanliness, floor type (e.g., whether there is a carpet), and ambient humidity.

[0064] When obtaining the first cleaning rate, the server can control the robot vacuum to perform different historical cleaning tasks using different historical cleaning modes. After each execution, the server records the cleaning rate corresponding to each historical cleaning mode. Then, the highest cleaning rate among all historical cleaning modes is taken as the first cleaning rate, and the historical cleaning mode corresponding to the first cleaning rate is taken as the historical optimal cleaning mode. When obtaining the first environmental parameters, the server can collect and report data using various sensors installed on the robot vacuum, or it can collect and report data using various sensors on other smart home devices (such as air conditioners, humidifiers, etc.). This application embodiment does not specifically limit the data collection.

[0065] It should be noted that when using a robot vacuum for the first time, the cleaning mode manually selected by the user can be used as the best cleaning mode in history. For example, if the robot vacuum has multiple preset cleaning modes, such as normal cleaning mode, powerful cleaning mode, and spot cleaning mode, the user can select one of the cleaning modes as needed and use it as the best cleaning mode in history for the next cleaning task.

[0066] Step S2: Adjust the target working parameters in the historical best cleaning mode according to the first environmental parameters.

[0067] Specifically, the aforementioned target operating parameters may refer to one or more operating parameters, and the target operating parameters corresponding to different first environmental parameters may be the same or different.

[0068] In this step, after obtaining the first environmental parameters and the historical best cleaning mode, the server can adjust the target working parameters in the historical best cleaning mode according to the first environmental parameters, so that the cleaning model can increasingly meet the cleaning requirements of the existing working environment of the robot vacuum cleaner, and provide users with a better user experience.

[0069] Step S3: Control the robot vacuum to perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the robot vacuum when performing the current cleaning task.

[0070] In this step, after determining the adjusted working parameters, the server can send the adjusted working parameters to the robot vacuum cleaner, or send the current cleaning mode containing the adjusted working parameters to the robot vacuum cleaner. In this way, the robot vacuum cleaner can perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate based on the cleanliness of the floor before and after the robot vacuum cleaner performs the current cleaning task.

[0071] Step S4: Compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical best cleaning mode and the current cleaning mode based on the comparison results. The current cleaning mode refers to the cleaning mode used by the robot vacuum to perform the current cleaning task.

[0072] In this step, the first cleaning rate and the second cleaning rate can be directly compared, and the cleaning mode with the higher cleaning rate can be determined as the optimal cleaning mode. Of course, to avoid deviations caused by accidental factors, the historical best cleaning mode and the current cleaning mode can be executed multiple times, and the optimal cleaning mode can be determined based on the first cleaning rate and the second cleaning rate obtained multiple times.

[0073] Step S5: When the robot vacuum is restarted, the optimal cleaning mode is used as the new historical optimal cleaning mode, and steps S1 to S4 are repeated until the cleaning rate corresponding to the cleaning mode tends to stabilize.

[0074] When the robot vacuum is restarted, the optimal cleaning mode can be used as the new historical optimal cleaning mode, and steps S1 to S4 above can be repeated until the cleaning rate corresponding to the cleaning mode stabilizes. That is, the cleaning rate achieved by performing multiple cleaning tasks using the most recent cleaning mode remains relatively stable and higher than the cleaning rates of other cleaning modes. At this point, it can be considered that the server has determined the most suitable cleaning model for the robot vacuum's current working environment. Assuming the user uses the robot vacuum at fixed intervals, the cleanliness of the floor will not differ significantly before and after each use, and the cleaning mode of the robot vacuum will not change much after several uses. Therefore, it can be considered that the cleaning mode meets the current user's needs.

[0075] In this embodiment, the target working parameters of the robot vacuum cleaner's cleaning mode can be continuously adjusted based on environmental parameters related to the robot's working environment. This continuously optimizes the cleaning mode and ultimately determines the optimal cleaning mode for the robot's working environment. This ensures that the floor cleaning achieves the user's expected results without wasting resources due to over-cleaning.

[0076] Furthermore, the first environmental parameter includes the initial degree of cleanliness of the floor before performing the current cleaning task;

[0077] Step S2 above, based on the first environmental parameters, adjusts the target working parameters in the historical best cleaning mode, including:

[0078] Based on the initial level of floor cleanliness, adjust the detergent ratio and / or brush rotation speed in the historical best cleaning mode.

[0079] Specifically, the aforementioned level of floor cleanliness can be obtained through visual sensors (such as cameras) on the robotic vacuum cleaner, or through visual sensors of other devices in the area to be cleaned. Of course, other feasible implementation methods are also possible, and the examples above do not constitute a limitation of this application.

[0080] In one embodiment, a first level of floor cleanliness can be obtained before the robot vacuum performs the current cleaning task, and the detergent ratio and / or brush rotation speed in the historically optimal cleaning mode can be adjusted based on this first level of floor cleanliness. For example, when the first level of floor cleanliness indicates the presence of stubborn stains, the detergent ratio and / or brush rotation speed can be increased; when the first level of floor cleanliness indicates only a small amount of dust or debris, the detergent ratio and / or brush rotation speed can be decreased. In this way, the detergent ratio and / or brush rotation speed in the historically optimal cleaning mode can be adjusted according to the first level of floor cleanliness, making the current cleaning mode more compatible with the robot vacuum's working environment.

[0081] Furthermore, the first environmental parameter also includes ground type, which includes a first ground type with carpet and a second ground type without carpet;

[0082] Step S2 above, based on the first environmental parameters, adjusts the target working parameters in the historical best cleaning mode, including:

[0083] Based on the ground type, the suction strength in the historical best cleaning mode is adjusted, with the suction strength corresponding to the first ground type being greater than that corresponding to the second ground type.

[0084] Specifically, the aforementioned floor type can be obtained through the carpet sensor on the robot vacuum cleaner. Of course, other feasible implementation methods are also included. The above examples do not constitute a limitation of this application.

[0085] In one embodiment, the floor type can be acquired, and then the suction intensity in the historically optimal cleaning mode can be adjusted according to the floor type. For example, if the floor to be cleaned is of type one, the suction intensity of the robot vacuum needs to be increased; if the floor to be cleaned is of type two, the suction intensity of the robot vacuum can be decreased. In this way, the suction intensity in the historically optimal cleaning mode can be adjusted according to the floor type, making the current cleaning mode more suitable for the working environment of the robot vacuum.

[0086] Furthermore, the first environmental parameter also includes ambient humidity;

[0087] Step S2 above, based on the first environmental parameters, adjusts the target working parameters in the historical best cleaning mode, including:

[0088] The humidification function in the historical best cleaning mode is adjusted according to the ambient humidity.

[0089] Specifically, the aforementioned ambient humidity can be obtained through a humidity sensor on the robotic vacuum cleaner, or through humidity sensors on other devices in the area to be cleaned. Of course, other feasible implementation methods are also possible, and the above examples do not constitute a limitation of this application.

[0090] In one embodiment, the ambient humidity can be acquired, and then the humidification function in the historically optimal cleaning mode can be adjusted based on the ambient humidity. For example, if the ambient humidity is low, the robot vacuum cleaner is more likely to stir up dust during cleaning, resulting in poor cleaning performance. In this case, the humidification function can be activated to humidify the surrounding environment. Conversely, if the ambient humidity is high, the robot vacuum cleaner is less likely to stir up dust during cleaning. In this way, the humidification function in the historically optimal cleaning mode can be adjusted according to the ambient humidity, making the current cleaning mode more compatible with the robot vacuum cleaner's working environment.

[0091] Further, step S4 above, comparing the first cleaning rate and the second cleaning rate, and determining the optimal cleaning mode from the historical best cleaning mode and the current cleaning mode based on the comparison result, includes:

[0092] Compare the first cleaning rate and the second cleaning rate;

[0093] If the difference between the first cleaning rate and the second cleaning rate is greater than or equal to a preset threshold, the first average cleaning degree corresponding to the execution of the historical best cleaning mode multiple times and the second average cleaning degree corresponding to the execution of the current cleaning mode multiple times are obtained respectively, and the optimal cleaning mode is determined based on the first average cleaning degree and the second average cleaning degree.

[0094] If the difference between the first cleaning rate and the second cleaning rate is less than a preset threshold, the power consumption of the historical best cleaning mode and the current cleaning mode is obtained, and the cleaning mode with lower power consumption is determined as the optimal cleaning mode.

[0095] Specifically, the aforementioned preset thresholds can be set according to actual conditions, and no specific limitations are made here.

[0096] In one embodiment, after obtaining the first cleaning rate and the second cleaning rate, the first cleaning rate and the second cleaning rate can be compared. If the difference between the first cleaning rate and the second cleaning rate is greater than or equal to a preset threshold, it indicates that the cleaning effect of the historically optimal cleaning mode differs significantly from that of the current cleaning mode. In this case, the first average cleanliness corresponding to multiple executions of the historically optimal cleaning mode and the second average cleanliness corresponding to multiple executions of the current cleaning mode can be obtained respectively, and the optimal cleaning mode can be determined based on the first average cleanliness and the second average cleanliness. For example, the historically optimal cleaning mode and the current cleaning mode can be executed multiple times within a preset time period (such as one week) to obtain the average cleaning rate corresponding to the two modes; alternatively, the historically optimal cleaning mode and the current cleaning mode can be executed a corresponding number of times according to a preset number of executions (such as executing each mode 3 times), and then the average cleaning rate corresponding to the two modes can be obtained. This can avoid erroneous switching of cleaning modes caused by extreme situations (such as long intervals between cleanings or a malfunction of the robot vacuum cleaner leading to a deterioration in cleaning effect), and can also avoid frequent switching of cleaning modes.

[0097] If the difference between the first cleaning rate and the second cleaning rate is less than a preset threshold, it indicates that the cleaning effect of the historical best cleaning mode and the current cleaning mode is similar. In this case, the power consumption of the historical best cleaning mode and the current cleaning mode can be obtained, and the cleaning mode with lower power consumption can be determined as the optimal cleaning mode. In this way, when the cleaning effect is similar, the cleaning mode with lower power consumption can be selected as the optimal cleaning mode, thereby reducing energy consumption.

[0098] As an optional implementation, taking a total of 3 executions as an example, the user can use the historical best cleaning mode 3 times consecutively while using the robot vacuum, and evaluate the cleaning effect before and after each use. If a cleaning effect of C% is achieved (it is recommended to avoid data that is too high / too low in cleaning effect during evaluation, as this can easily lead to excessive deviation), then use the current cleaning mode 3 times consecutively, and evaluate the cleaning effect before and after each use. If a cleaning effect of D% is achieved, the cleaning mode with the higher cleaning effect is selected as the optimal cleaning mode. If the difference between the two is not significant, the power-saving cleaning mode is selected by default. If the user intervenes, the user's preferred mode is selected.

[0099] Furthermore, the above steps, based on the first average cleanliness and the second average cleanliness, determine the optimal cleaning mode, including:

[0100] If the first average cleaning rate is greater than the second average cleaning rate, the historical best cleaning mode is determined as the optimal cleaning mode.

[0101] If the first average cleaning rate is less than the second average cleaning rate, the current cleaning mode is determined as the optimal cleaning mode.

[0102] In one embodiment, when determining the optimal cleaning mode based on a first average cleanliness and a second average cleanliness, the first and second average cleanliness can be compared. If the first average cleanliness is greater than the second average cleanliness, it indicates that the historically best cleaning mode has a better cleaning effect, and in this case, the historically best cleaning mode can be determined as the optimal cleaning mode. If the first average cleanliness is less than the second average cleanliness, it indicates that the current cleaning mode has a better cleaning effect, and in this case, the current cleaning mode can be determined as the optimal cleaning mode. Through this method, the cleaning mode with better cleaning effect can be accurately determined, that is, the optimal cleaning mode can be accurately identified.

[0103] Furthermore, before step S3 above, controlling the sweeping robot to execute the current cleaning task according to the adjusted working parameters, and obtaining the second cleaning rate of the sweeping robot when executing the current cleaning task, the method further includes:

[0104] The cleaning time of the robot vacuum cleaner is adjusted based on the first environmental parameter.

[0105] Step S3 above involves controlling the robotic vacuum cleaner to execute the current cleaning task according to the adjusted working parameters, and obtaining the second cleaning rate of the robotic vacuum cleaner when executing the current cleaning task, including:

[0106] Control the robot vacuum to perform the current cleaning task according to the adjusted working parameters and the adjusted cleaning duration, and obtain the second cleaning rate of the robot vacuum when performing the current cleaning task.

[0107] In one embodiment, in addition to adjusting the cleaning mode of the robotic vacuum cleaner, the cleaning time can also be adjusted. Specifically, the cleaning time of the robotic vacuum cleaner can be adjusted based on first environmental parameters (such as first floor cleanliness level, floor type, ambient humidity, etc.). Then, the robotic vacuum cleaner is controlled to perform the current cleaning task according to the adjusted working parameters and the adjusted cleaning time, and a second cleaning rate is obtained when the robotic vacuum cleaner performs the current cleaning task. In this way, the cleaning effect can be determined according to different adjusted working parameters and different adjusted cleaning times when multiple cleaning tasks are performed, thereby finding the most suitable cleaning mode and cleaning time for the robotic vacuum cleaner, avoiding the cleaning effect being affected by the cleaning time being too short, or the power consumption being affected by the cleaning time being too long.

[0108] See Figure 2 , Figure 2 A flowchart illustrating another control method for a sweeping robot provided in this application embodiment. Figure 2 As shown, the control method of this robotic vacuum cleaner includes the following steps:

[0109] Step 201: The robot vacuum cleaner obtains the best historical cleaning mode.

[0110] Step 202: The robotic vacuum cleaner scans environmental information and reports it to the server;

[0111] Step 203: The robot vacuum cleaner obtains a parameter modification command, which is used to modify the working parameters in the historical best cleaning mode.

[0112] This parameter modification command can be triggered manually by the user or by the server based on environmental information reported by the robot vacuum cleaner.

[0113] Step 204: The robot vacuum cleaner will clean according to the cleaning mode after the parameters have been modified.

[0114] Step 205: After cleaning is completed, scan the environmental information and report it to the server.

[0115] Step 206: The server determines whether the cleaning effect is better this time.

[0116] If the cleaning effect of this cleaning is not as good as the cleaning effect of the historical best cleaning mode, then proceed to step 207 and return to step 201. If the cleaning effect of this cleaning is better than the cleaning effect of the historical best cleaning mode, then proceed to step 208 and return to step 201.

[0117] Step 207: Keep the historical best cleaning mode unchanged.

[0118] Step 208: Set the cleaning mode of this cleaning as the new historical best cleaning mode.

[0119] In this embodiment, by comparing the cleanliness of the robot vacuum cleaner before and after it works, some parameters during operation are changed to train the robot vacuum cleaner to find the cleaning mode that is most suitable for the current working environment, so that the robot vacuum cleaner can clean more thoroughly during operation.

[0120] See Figure 3 , Figure 3 This is a schematic diagram of the structure of a control device for a sweeping robot provided in an embodiment of this application. Figure 3 As shown, the device 300 includes:

[0121] The acquisition module 301 is used to execute step S1, acquire the first cleaning rate when the sweeping robot uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the sweeping robot.

[0122] The first adjustment module 302 is used to perform step S2, adjusting the target working parameters in the historical optimal cleaning mode according to the first environmental parameters;

[0123] The control module 303 is used to execute step S3, control the sweeping robot to perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the sweeping robot when performing the current cleaning task;

[0124] The determination module 304 is used to perform step S4, compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical optimal cleaning mode and the current cleaning mode based on the comparison result. The current cleaning mode refers to the cleaning mode used by the robot vacuum to perform the current cleaning task.

[0125] The execution module 305 is used to execute step S5, which, when the robot vacuum is restarted, takes the optimal cleaning mode as the new historical optimal cleaning mode and repeats steps S1 to S4 until the cleaning rate corresponding to the cleaning mode tends to stabilize.

[0126] Furthermore, the first environmental parameter includes a first degree of floor cleanliness before performing the current cleaning task; the first adjustment module 302 includes:

[0127] The first adjustment submodule is used to adjust the detergent ratio and / or brush rotation speed in the historical best cleaning mode based on the first degree of floor cleanliness.

[0128] Furthermore, the first environmental parameter also includes ground type, which includes a first ground type with carpet and a second ground type without carpet; the first adjustment module 302 also includes:

[0129] The second adjustment submodule is used to adjust the suction intensity in the historical best cleaning mode according to the ground type, where the suction intensity corresponding to the first ground type is greater than the suction intensity corresponding to the second ground type.

[0130] Furthermore, the first environmental parameter also includes ambient humidity; the first adjustment module 302 also includes:

[0131] The third adjustment submodule is used to adjust the humidification function status in the historical best cleaning mode based on the ambient humidity.

[0132] Furthermore, module 304 is determined to include:

[0133] The comparison submodule is used to compare the first cleaning rate and the second cleaning rate;

[0134] The first determining submodule is used to obtain the first average cleanliness corresponding to the execution of multiple historical best cleaning modes and the second average cleanliness corresponding to the execution of multiple current cleaning modes when the difference between the first cleaning rate and the second cleaning rate is greater than or equal to a preset threshold, and to determine the optimal cleaning mode based on the first average cleanliness and the second average cleanliness.

[0135] The second determining submodule is used to obtain the power consumption of the historical best cleaning mode and the current cleaning mode when the difference between the first cleaning rate and the second cleaning rate is less than a preset threshold, and to determine the cleaning mode with the lower power consumption as the optimal cleaning mode.

[0136] Furthermore, the first determining submodule includes:

[0137] The first determining unit is used to determine the historical best cleaning mode as the best cleaning mode when the first average cleaning rate is greater than the second average cleaning rate.

[0138] The second determining unit is used to determine the current cleaning mode as the optimal cleaning mode when the first average cleaning rate is less than the second average cleaning rate.

[0139] Furthermore, the device 300 also includes:

[0140] The second adjustment module is used to adjust the cleaning time of the robot vacuum cleaner according to the first environmental parameters;

[0141] The control module 303 is also used to control the sweeping robot to perform the current cleaning task according to the adjusted working parameters and the adjusted cleaning duration, and to obtain the second cleaning rate of the sweeping robot when performing the current cleaning task.

[0142] It should be noted that the device 300 can implement the control method of the sweeping robot provided in any of the aforementioned method embodiments and achieve the same technical effect, which will not be elaborated here.

[0143] like Figure 4As shown in the illustration, this application also provides an electronic device, including a processor 411, a communication interface 412, a memory 413, and a communication bus 414, wherein the processor 411, the communication interface 412, and the memory 413 communicate with each other via the communication bus 414.

[0144] Memory 413 is used to store computer programs;

[0145] In one embodiment of this application, when the processor 411 executes the program stored in the memory 413, it implements the control method for the sweeping robot provided in any of the foregoing method embodiments, including:

[0146] S1. Obtain the first cleaning rate when the robot vacuum cleaner uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the robot vacuum cleaner before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the robot vacuum cleaner when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the robot vacuum cleaner.

[0147] S2. Adjust the target working parameters in the historical best cleaning mode based on the first environmental parameters;

[0148] S3. Control the robot vacuum to perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the robot vacuum when performing the current cleaning task;

[0149] S4. Compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical best cleaning mode and the current cleaning mode based on the comparison results. The current cleaning mode refers to the cleaning mode used by the robot vacuum to perform the current cleaning task.

[0150] S5. When the robot vacuum is restarted, the optimal cleaning mode is used as the new historical optimal cleaning mode, and steps S1 to S4 are repeated until the cleaning rate corresponding to the cleaning mode tends to stabilize.

[0151] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control method for a sweeping robot as provided in any of the foregoing method embodiments.

[0152] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0154] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0155] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A control method for a sweeping robot, characterized in that, The method includes: S1. Obtain the first cleaning rate when the sweeping robot uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the sweeping robot. S2. Adjust the target working parameters in the historical optimal cleaning mode according to the first environmental parameters; S3. Control the sweeping robot to execute the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the sweeping robot when executing the current cleaning task; S4. Compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical optimal cleaning mode and the current cleaning mode based on the comparison result. The current cleaning mode refers to the cleaning mode used by the robot vacuum to perform the current cleaning task. S5. When the robot vacuum cleaner is restarted, the optimal cleaning mode is taken as the new historical optimal cleaning mode, and steps S1 to S4 are repeated until the cleaning rate corresponding to the cleaning mode tends to stabilize.

2. The method according to claim 1, characterized in that, The first environmental parameter includes the first degree of cleanliness of the floor before the current cleaning task is performed; The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes: Based on the first level of floor cleanliness, the detergent ratio and / or brush rotation speed in the historical best cleaning mode are adjusted.

3. The method according to claim 2, characterized in that, The first environmental parameter also includes ground type, which includes a first ground type with carpet and a second ground type without carpet; The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes: Based on the ground type, the suction intensity in the historical best cleaning mode is adjusted, wherein the suction intensity corresponding to the first ground type is greater than the suction intensity corresponding to the second ground type.

4. The method according to claim 2 or 3, characterized in that, The first environmental parameter also includes ambient humidity; The step of adjusting the target working parameters in the historical optimal cleaning mode based on the first environmental parameters includes: The humidification function in the historical best cleaning mode is adjusted according to the ambient humidity.

5. The method according to claim 1, characterized in that, The step of comparing the first cleaning rate and the second cleaning rate, and determining the optimal cleaning mode from the historical best cleaning mode and the current cleaning mode based on the comparison result, includes: Compare the first cleaning rate and the second cleaning rate; If the difference between the first cleaning rate and the second cleaning rate is greater than or equal to a preset threshold, the first average cleanliness corresponding to the execution of the historical optimal cleaning mode multiple times and the second average cleanliness corresponding to the execution of the current cleaning mode multiple times are obtained respectively, and the optimal cleaning mode is determined based on the first average cleanliness and the second average cleanliness. If the difference between the first cleaning rate and the second cleaning rate is less than the preset threshold, the power consumption of the historical best cleaning mode and the current cleaning mode is obtained, and the cleaning mode with lower power consumption is determined as the best cleaning mode.

6. The method according to claim 5, characterized in that, Determining the optimal cleaning mode based on the first average cleanliness and the second average cleanliness includes: If the first average cleanliness is greater than the second average cleanliness, the historical best cleaning mode is determined as the optimal cleaning mode. If the first average cleanliness is less than the second average cleanliness, the current cleaning mode is determined as the optimal cleaning mode.

7. The method according to claim 1, characterized in that, Before controlling the robotic vacuum cleaner to execute the current cleaning task according to the adjusted working parameters and obtaining the second cleaning rate of the robotic vacuum cleaner when executing the current cleaning task, the method further includes: The cleaning time of the sweeping robot is adjusted according to the first environmental parameters; The control of the sweeping robot to execute the current cleaning task according to the adjusted working parameters, and the acquisition of the second cleaning rate of the sweeping robot when executing the current cleaning task, includes: The robot vacuum cleaner is controlled to perform the current cleaning task according to the adjusted working parameters and the adjusted cleaning time, and the second cleaning rate of the robot vacuum cleaner when performing the current cleaning task is obtained.

8. A control device for a sweeping robot, characterized in that, The device includes: The acquisition module is used to execute step S1, acquiring the first cleaning rate of the sweeping robot when it uses the historical best cleaning mode to perform historical cleaning tasks and the first environmental parameters of the sweeping robot before performing the current cleaning task. The historical best cleaning mode refers to the optimal cleaning mode selected by the sweeping robot when performing multiple historical cleaning tasks. The first cleaning rate is determined based on the degree of floor cleanliness before and after the execution of the historical cleaning task corresponding to the historical best cleaning mode. The first environmental parameters are used to characterize the environmental parameters related to the working environment of the sweeping robot. The first adjustment module is used to perform step S2, adjusting the target working parameters in the historical optimal cleaning mode according to the first environmental parameters; The control module is used to execute step S3, control the sweeping robot to perform the current cleaning task according to the adjusted working parameters, and obtain the second cleaning rate of the sweeping robot when performing the current cleaning task; The determination module is used to perform step S4, compare the first cleaning rate and the second cleaning rate, and determine the optimal cleaning mode from the historical optimal cleaning mode and the current cleaning mode based on the comparison result, wherein the current cleaning mode refers to the cleaning mode used by the sweeping robot to perform the current cleaning task. The execution module is used to execute step S5, which, when the sweeping robot is restarted, takes the optimal cleaning mode as the new historical optimal cleaning mode and repeats steps S1 to S4 until the cleaning rate corresponding to the cleaning mode tends to stabilize.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in the memory, implements the control method of the sweeping robot according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method of the sweeping robot according to any one of claims 1-7.

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