Integrated cleaning robot and control method thereof

Abstract

The invention discloses an integrated cleaning robot and a control method thereof, and relates to the technical field of robot trajectory control, the integrated cleaning robot comprises a moving trajectory judgment module, the moving trajectory judgment module is used for collecting cleaning position information of a to-be-cleaned area; the cleaning function judging module is connected with the moving track judging module, and the cleaning function judging module is used for determining a cleaning function instruction based on the cleaning position information; and the cleaning track control module is connected with the cleaning function judgment module and the moving track judgment module, and the cleaning track control module is used for carrying out track control on the integrated cleaning robot based on the cleaning function instruction and the cleaning position information. And the intelligence of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot trajectory control, and in particular to an integrated cleaning robot and a control method thereof. Background Art

[0002] At present, most cleaning robots often need human assistance when encountering obstacles, and need to be manually controlled to walk, which cannot meet the requirements of autonomous cleaning. Therefore, such cleaning robots need human assistance to handle the movement trajectory, that is, such cleaning robots need human assistance to handle the movement trajectory, which leads to low intelligence of the cleaning robots.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide an integrated cleaning robot and a control method thereof, aiming to solve the technical problem of low intelligence of the cleaning robot.

[0005] To achieve the above objectives, the present application proposes an integrated cleaning robot, which includes: A movement trajectory determination module, the movement trajectory determination module is used to collect cleaning position information of the area to be cleaned; a cleaning function determination module, the cleaning function determination module being connected to the movement track determination module, and the cleaning function determination module being used to determine a cleaning function instruction based on the cleaning position information; A cleaning trajectory control module, the cleaning trajectory control module is connected to the cleaning function judgment module and the moving trajectory judgment module, and the cleaning trajectory control module is used to control the trajectory of the integrated cleaning robot based on the cleaning function instruction and the cleaning position information.

[0006] In one embodiment, the movement trajectory determination module includes: A front image collector, which is used to collect front image information of the integrated cleaning robot; A bottom image collector, which is used to collect image information below the integrated cleaning robot; An image processing chip is connected to the front image collector and the bottom image collector, and is used to determine the cleaning position information of the area to be cleaned based on the front image information and the bottom image information.

[0007] In one embodiment, the cleaning function determination module includes: A feature memory, wherein the feature memory is used to store different cleaning image features; A function determination chip is connected to the feature memory and the image processing chip in the movement trajectory determination module, and is used to determine a cleaning function instruction based on the cleaning image feature and the cleaning position information.

[0008] In one embodiment, the cleaning trajectory control module includes: Cleaning functional unit; A forward drive, the forward drive is used to control the integrated cleaning robot to move forward; A backward drive, the backward drive is used to control the integrated cleaning robot to move backward; A steering driver, the steering driver is used to control the steering movement of the integrated cleaning robot; A trajectory control chip, wherein the trajectory control chip is connected to the image processing chip in the moving trajectory judgment module, the function judgment chip in the cleaning function judgment module, the cleaning function unit, the forward drive, the backward drive and the steering drive, and the trajectory control chip is used to control the trajectory of the integrated cleaning robot based on the cleaning function instructions and the cleaning position information.

[0009] In one embodiment, the cleaning function unit comprises: A cleaning controller, the cleaning controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a waterless cleaning function; A cleaning controller, the cleaning controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a water stain cleaning function; A humidity controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a water cleaning function.

[0010] In addition, to achieve the above purpose, the present application also proposes an integrated cleaning robot control method, which is applied to the above-mentioned integrated cleaning robot, and the steps of the integrated cleaning robot control method include: The movement trajectory judgment module collects the cleaning position information of the area to be cleaned, and determines the cleaning function instruction according to the cleaning position information in the cleaning function judgment module; In a cleaning trajectory control module, the trajectory of the integrated cleaning robot is controlled according to the cleaning function instruction and the cleaning position information.

[0011] In one embodiment, the step of determining the cleaning function instruction according to the cleaning position information in the cleaning function determination module includes: Determine the cleaning times and target cleaning image corresponding to the cleaning position information in a cleaning function judgment module, and detect whether the cleaning times are the first cleaning; If the cleaning number is the first cleaning, determining a first target image feature corresponding to the target cleaning image in preset cleaning image features, and determining a first target cleaning function corresponding to the first target image feature as a cleaning function instruction; If the cleaning number is not the first cleaning, determining a second target image feature corresponding to the target cleaning image in the preset cleaning image features, and determining a cleaning function instruction according to the second target image feature; After the step of detecting whether the cleaning number is the first cleaning, the method further includes: If the number of cleaning times reaches a preset cleaning times threshold, the cleaning position information is marked and cleared, and then the movement track judgment module is executed to collect the cleaning position information of the area to be cleaned.

[0012] In one embodiment, the step of determining the cleaning function instruction according to the second target image feature comprises: When the second target image feature matches the preset water stain cleaning image feature, determining the preset water stain cleaning instruction as the cleaning function instruction; When the second target image feature matches the preset stubborn stain cleaning image feature, the preset stubborn stain cleaning instruction is determined as the cleaning function instruction.

[0013] In one embodiment, the step of performing trajectory control on the integrated cleaning robot according to the cleaning function instruction and the cleaning position information in the cleaning trajectory control module includes: Determine, in a cleaning trajectory control module, a motion trajectory corresponding to the area to be cleaned in the cleaning position information, and detect whether the motion trajectory reaches a preset cleaning start distance; When the motion trajectory reaches a preset cleaning start-up distance, the integrated cleaning robot is controlled to start the corresponding target cleaning function based on the cleaning function instruction, and the integrated cleaning robot with the target cleaning function turned on is controlled to clean the area to be cleaned based on the motion trajectory.

[0014] In one embodiment, the step of collecting the cleaning position information of the area to be cleaned by the movement trajectory determination module includes: The movement trajectory judgment module collects the most recent image information of the lower part of the integrated cleaning robot, and detects whether the image information of the lower part matches the preset cleaning environment characteristics; If the lower image information matches the preset cleaning environment feature, and the number of cleaning times of the first cleaning area corresponding to the lower image information is less than the preset cleaning number threshold, the first cleaning area is used as the cleaning position information of the area to be cleaned; If the lower image information does not match the preset cleaning environment characteristics, the front image information of the integrated cleaning robot is collected, and a second cleaning area that meets the preset motion cleaning conditions is selected from the front image information as the cleaning position information of the area to be cleaned; After the step of using the first cleaning area as the cleaning position information of the area to be cleaned, the method further comprises: The preset back control instruction is bound to the cleaning position information.

[0015] An embodiment of the present application provides an integrated cleaning robot, including a moving trajectory judgment module, wherein the moving trajectory judgment module is used to collect cleaning position information of the area to be cleaned; a cleaning function judgment module, wherein the cleaning function judgment module is connected to the moving trajectory judgment module, and the cleaning function judgment module is used to determine a cleaning function instruction based on the cleaning position information; and a cleaning trajectory control module, wherein the cleaning trajectory control module is connected to the cleaning function judgment module and the moving trajectory judgment module, and the cleaning trajectory control module is used to perform trajectory control on the integrated cleaning robot based on the cleaning function instruction and the cleaning position information. This integrated cleaning robot collects the cleaning position information of the area to be cleaned through the moving trajectory judgment module, so as to determine the cleaning function instruction corresponding to the cleaning position information in the cleaning function judgment module. Finally, the trajectory of the integrated cleaning robot can be controlled in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby avoiding the need for manual assistance in processing the motion trajectory. Furthermore, the trajectory of the integrated cleaning robot can be controlled in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby improving the intelligence of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a framework of the integrated cleaning robot of the present application; Figure 2 A connection diagram of the integrated cleaning robot of the present application; Figure 3 This is a flow chart of the first embodiment of the integrated cleaning robot control method of the present application; Figure 4 This is a module schematic diagram of the integrated cleaning robot control device of the present application; Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in this application.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

[0018] Description of the accompanying drawings: 10. Moving trajectory judgment module; 20. Cleaning function judgment module; 30. Cleaning trajectory control module; 11. Front image collector; 12. Bottom image collector; 13. Image processing chip; 21. Feature memory; 22. Function judgment chip; 31. Forward drive; 32. Reverse drive; 33. Steering drive; 34. Trajectory control chip; 35. Cleaning function unit; 351. Cleaning controller; 352. Cleaning controller; 353. Humidity controller. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0021] Common cleaning robots can be programmed by computer to perform cleaning operations without human intervention. They use technologies such as computers, sensors, information, communications, navigation, artificial intelligence, and automatic control, and are typical high-tech complexes. However, the existing cleaning robots have a low degree of intelligence, often require human assistance when encountering obstacles, and require manual control to walk, which does not meet the requirements of autonomous cleaning. In addition, most cleaning robots have a single function, resulting in low cleaning efficiency. In addition, most cleaning robots have a single cleaning method and only have a spray cleaning function, resulting in unsatisfactory cleaning effects, which do not meet the requirements of harmlessness, no residue, and no secondary pollution for indoor floor cleaning.

[0022] Therefore, based on the above-mentioned deficiencies of the integrated cleaning robot, the integrated cleaning robot of the present application is proposed. The solution of the embodiment of the present application is: this integrated cleaning robot collects the cleaning position information of the area to be cleaned through the mobile trajectory judgment module, so as to determine the cleaning function instructions corresponding to the cleaning position information in the cleaning function judgment module, and finally the integrated cleaning robot can be track-controlled based on the cleaning function instructions and the cleaning position information in the cleaning trajectory control module to realize the cleaning function, thereby avoiding the phenomenon of requiring manual assistance in processing the motion trajectory, and then the integrated cleaning robot can be track-controlled based on the cleaning function instructions and the cleaning position information in the cleaning trajectory control module to realize the cleaning function, thereby improving the intelligence of the cleaning robot.

[0023] Based on this, the embodiment of the present application provides an integrated cleaning robot, referring to Figure 1 , Figure 1 A schematic diagram of a framework of the integrated cleaning robot of the present application.

[0024] Reference Figure 1 The present application provides an integrated cleaning robot. In a first embodiment of the integrated cleaning robot, the integrated cleaning robot comprises: A moving track judgment module 10, wherein the moving track judgment module 10 is used to collect cleaning position information of the area to be cleaned; A cleaning function determination module 20, the cleaning function determination module 20 is connected to the movement track determination module 10, and the cleaning function determination module 20 is used to determine a cleaning function instruction based on the cleaning position information; A cleaning trajectory control module 30 is connected to the cleaning function judgment module 20 and the moving trajectory judgment module 10 , and is used to control the trajectory of the integrated cleaning robot based on the cleaning function instruction and the cleaning position information.

[0025] In this embodiment, an integrated cleaning robot is designed, including a moving trajectory judgment module 10, a cleaning function judgment module 20 and a cleaning trajectory control module 30, so as to control the integrated cleaning robot to perform cleaning based on the integrated cleaning robot composition. The integrated cleaning robot may also include other hardware components, which are not described one by one here. The cleaning position information of the area to be cleaned is collected by the mobile trajectory judgment module 10, that is, the mobile trajectory judgment module 10 first determines the position to be cleaned as the area to be cleaned, and then determines the relevant information of the area to be cleaned as the cleaning position information, such as the cleaning condition of the area to be cleaned, such as dust layer, dry stubborn stains and the position of the integrated cleaning robot, etc., to determine how to deal with it later. At this time, on the one hand, the cleaning position information will be sent to the cleaning function judgment module 20 connected to the mobile trajectory judgment module 10, and then a judgment can be made based on the cleaning position information to determine the cleaning function instruction. The cleaning function instruction is a determined cleaning function, such as wiping, dry sweeping, mopping and back cleaning function, etc., and then the integrated cleaning robot can be intelligently controlled to clean; on the other hand, the cleaning position information is sent to the cleaning trajectory control module 30 connected to the mobile trajectory judgment module 10, and then trajectory processing can be performed based on the cleaning position information, and different functions of cleaning can be performed based on the cleaning function instructions. At this time, the position in the cleaning position information will control the trajectory of the integrated cleaning robot, and avoid the integrated cleaning robot from repeating movements only according to the set trajectory, thereby greatly improving the intelligence of the cleaning robot.

[0026] In one embodiment, an integrated cleaning robot is provided, comprising a moving trajectory judgment module, the moving trajectory judgment module being used to collect cleaning position information of an area to be cleaned; a cleaning function judgment module, the cleaning function judgment module being connected to the moving trajectory judgment module, the cleaning function judgment module being used to determine a cleaning function instruction based on the cleaning position information; and a cleaning trajectory control module, the cleaning trajectory control module being connected to the cleaning function judgment module and the moving trajectory judgment module, the cleaning trajectory control module being used to perform trajectory control on the integrated cleaning robot based on the cleaning function instruction and the cleaning position information. This integrated cleaning robot collects cleaning position information of an area to be cleaned through the moving trajectory judgment module, so as to determine the cleaning function instruction corresponding to the cleaning position information in the cleaning function judgment module. Finally, the trajectory of the integrated cleaning robot can be controlled in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby avoiding the need for manual assistance in processing the motion trajectory. Furthermore, the trajectory of the integrated cleaning robot can be controlled in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby improving the intelligence of the cleaning robot.

[0027] Based on the first embodiment of the integrated cleaning robot, a second embodiment of the integrated cleaning robot of the present application is proposed, referring to Figure 2 , Figure 2 This is a connection diagram of the integrated cleaning robot of the present application. The movement trajectory determination module 10 includes: A front image collector 11, the front image collector 11 is used to collect front image information of the integrated cleaning robot; A bottom image collector 12, the bottom image collector 12 is used to collect image information below the integrated cleaning robot; An image processing chip 13 is connected to the front image collector 11 and the bottom image collector 12, and is used to determine the cleaning position information of the area to be cleaned based on the front image information and the bottom image information.

[0028] In one embodiment, the cleaning function determination module 20 includes: A feature memory 21, wherein the feature memory 21 is used to store different cleaning image features; A function determination chip 22 is connected to the feature memory 21 and the image processing chip 13 in the movement trajectory determination module 10 , and is used to determine a cleaning function instruction based on the cleaning image feature and the cleaning position information.

[0029] In this embodiment, in order to ensure the accuracy of the cleaning position information of the area to be cleaned determined in the moving trajectory judgment module 10, a front image collector 11 and a bottom image collector 12 are set in the moving trajectory judgment module 10, wherein the front image collector 11 can be set at the front of the forward position of the integrated cleaning robot, and can be a simple camera or collector, and the bottom image collector 12 is set at a position after the bottom cleaning position of the integrated cleaning robot, so that the cleaning result of the integrated cleaning robot can be determined. The bottom image collector 12 can also include a sensor to sense the humidity of the area after cleaning, and then determine whether it is necessary to clean again. Finally, the front image information of the integrated cleaning robot and the bottom image information of the integrated cleaning robot are collected and transmitted back to the image processing chip 13. In the image processing chip 13, the cleaning position information of the area to be cleaned is determined based on the front image information and the bottom image information, that is, the cleaning position in the front image information and the bottom image information is first determined, but at this time, the cleaning position in the bottom image information is preferentially determined, that is, the position that was not completely cleaned this time is solved for cleaning again, and the position in the front image information is when the cleaning is completed this time (that is, there is no cleaning position in the bottom image information), so as to determine a new cleaning position for cleaning. After determining the cleaning position information of the area to be cleaned, the cleaning position information will be sent to the cleaning function judgment module 20, so that the cleaning function judgment module 20 can judge the cleaning function. The cleaning function judgment method is mainly based on the different cleaning image features stored in the feature memory 21 and the actual cleaning position information to judge, and then determine the cleaning function that needs to be used for the cleaning position information. For example, if the image feature in the cleaning position information is an active gray layer, it can be directly determined as a dry sweeping mode. If the image feature in the cleaning position information is an attached gray layer, it can be directly determined as a mopping and wiping mode. Among them, the feature memory 21 can be a simple memory with a storage function, or it can be an internal memory of the integrated cleaning robot. The function judgment chip 22 and the image processing chip 13 can be a commonly used single-chip microcomputer chip, or they can be integrated into a control chip for processing. Then, the cleaning function instructions can be determined based on the cleaning position information of the area to be cleaned, and the functions of the integrated cleaning robot can be intelligently controlled to improve the intelligence of the integrated cleaning robot.

[0030] Based on the first embodiment and / or the second embodiment of the integrated cleaning robot, a third embodiment of the integrated cleaning robot of the present application is proposed, wherein the cleaning trajectory control module 30 includes: Cleaning functional unit 35; A forward driver 31, the forward driver 31 is used to control the integrated cleaning robot to move forward; A backward drive 32, the backward drive 32 is used to control the integrated cleaning robot to move backward; A steering driver 33, the steering driver 33 is used to control the steering movement of the integrated cleaning robot; A trajectory control chip 34, wherein the trajectory control chip 34 is connected to the image processing chip 13 in the moving trajectory judgment module 10, the function judgment chip 22 in the cleaning function judgment module 20, the cleaning function unit 35, the forward driver 31, the backward driver 32 and the steering driver 33, and the trajectory control chip 34 is used to control the trajectory of the integrated cleaning robot based on the cleaning function instructions and the cleaning position information.

[0031] In one embodiment, the cleaning function unit 35 includes: A cleaning controller 351, the cleaning controller 351 is connected to the trajectory control chip 34, and the cleaning controller 351 is used to control the integrated cleaning robot to realize a waterless cleaning function; A cleaning controller 352, the cleaning controller 352 is connected to the trajectory control chip 34, and the cleaning controller 352 is used to control the integrated cleaning robot to realize a water stain cleaning function; The humidity controller 353 is connected to the trajectory control chip 34 , and the cleaning controller 353 is used to control the integrated cleaning robot to realize the water cleaning function.

[0032] In this embodiment, the cleaning trajectory control module 30 includes a cleaning function unit 35 for controlling cleaning, and a forward driver 31, a backward driver 32 and a steering driver 33 for driving the integrated cleaning robot to move. These drivers can be connected to the motor driving the movement to determine the speed of the motor and the forward and reverse rotation to realize the forward, backward and steering of the integrated cleaning robot. At the same time, a cleaning controller 351, a cleaning controller 352 and a humidity controller 353 are set in the cleaning function unit 35 to realize different functions of the integrated cleaning robot, such as the cleaning controller 351 can control the brush of the integrated cleaning robot to perform waterless cleaning, the cleaning controller 352 can control the dry water cloth of the integrated cleaning robot to perform water cleaning, and the humidity controller 353 can control the wet water cloth of the integrated cleaning robot to clean water stains. The above controllers can all be devices that control the work of their respective devices, such as the cleaning controller 352 controls the dry water cloth to recycle and air dry or stretch to clean water. Finally, the controller and the driver are connected to the trajectory control chip 34, and then the trajectory control chip 34 receives the cleaning function instructions from the function judgment chip 22 and the cleaning position information from the image processing chip 13, and then performs trajectory control on the integrated cleaning robot, that is, determines how to clean at this time, and controls the movement of the integrated cleaning robot based on the driver, while controlling the controller in the cleaning function unit 35 to realize different cleaning functions, thereby greatly improving the intelligence of the trajectory control and function control of the integrated cleaning machine.

[0033] In one embodiment, the humidity controller 353 can control the wiping cleaning device, which includes a wiping liquid tank, which is connected to the wiping component through a liquid supply pipe, and a wiping pump and a second flow control valve are sequentially arranged on the liquid supply pipe. The wiping component includes a reduction motor and a wiping head, which is driven by the reduction motor and the wiping head. The reduction motor drives the wiping head to rotate, and the wiping head is connected to the second flow control valve. The wiping pump, the second flow control valve, and the reduction motor are electrically connected to the PLC controller respectively. A second weighing sensor is arranged at the bottom of the wiping liquid tank, and the second weighing sensor is electrically connected to the PLC controller to realize the water cleaning function of the humidity controller 353.

[0034] Based on the embodiment of the integrated cleaning robot, the present application proposes an integrated cleaning robot control method, referring to Figure 3 , Figure 3 This is a flow chart of the first embodiment of the integrated cleaning robot control method of the present application.

[0035] Reference Figure 1 The present application provides an integrated cleaning robot control method, the integrated cleaning robot control method comprising: Step S10, the movement trajectory judgment module collects the cleaning position information of the area to be cleaned, and determines the cleaning function instruction according to the cleaning position information in the cleaning function judgment module; Step S20: In a cleaning trajectory control module, trajectory control is performed on the integrated cleaning robot according to the cleaning function instruction and the cleaning position information.

[0036] In this embodiment, when the integrated cleaning robot is controlled, the integrated cleaning robot will be intelligently controlled after it is powered on, and the cleaning position information of the area to be cleaned is collected through the mobile trajectory judgment module in the integrated cleaning robot, that is, the position that needs to be cleaned first in the information at this time is determined as the area to be cleaned based on the mobile trajectory judgment module, generally, the area that has been cleaned recently but not cleaned is cleaned first, and the cleaning position information refers to the cleaning condition of the area to be cleaned, such as dust layer, dry stubborn stains, and the position of the integrated cleaning robot. At this time, on the one hand, the cleaning function instruction will be determined in the cleaning function judgment module according to the cleaning position information, that is, the cleaning characteristics in the cleaning position information are determined to determine the cleaning function to be used, and the cleaning function instruction is the determined cleaning function, such as wiping, dry sweeping, mopping, and back-cleaning functions. On the other hand, the cleaning position information will also be sent to the cleaning trajectory control module, and the cleaning trajectory control module can then control the trajectory of the integrated cleaning robot based on the cleaning position information and cleaning function instructions, and control the cleaning function while controlling the trajectory. For example, if the robot is running at a certain position in the front and the control function is the dry sweeping function, the rear is not cleaned thoroughly, and it is moving directly rearward and the control function is the mopping and wiping function, the intelligence of the trajectory control and function control of the integrated cleaning machine can be improved to improve the user experience.

[0037] In one embodiment, a control method for an integrated cleaning robot is provided, which is applied to the integrated cleaning robot, wherein a moving trajectory judgment module collects cleaning position information of the area to be cleaned, and determines a cleaning function instruction in a cleaning function judgment module according to the cleaning position information; in a cleaning trajectory control module, trajectory control is performed on the integrated cleaning robot according to the cleaning function instruction and the cleaning position information. This control method for an integrated cleaning robot collects cleaning position information of the area to be cleaned by means of a moving trajectory judgment module, so as to determine a cleaning function instruction corresponding to the cleaning position information in the cleaning function judgment module. Finally, trajectory control of the integrated cleaning robot can be performed in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby avoiding the need for manual assistance in processing the motion trajectory. Furthermore, trajectory control of the integrated cleaning robot can be performed in the cleaning trajectory control module based on the cleaning function instruction and the cleaning position information to realize the cleaning function, thereby improving the intelligence of the cleaning robot.

[0038] Further, based on the first embodiment of the present application, a second embodiment of the integrated cleaning robot control method of the present application is proposed. In this embodiment, in the above step S10, the step of determining the cleaning function instruction according to the cleaning position information in the cleaning function judgment module includes: Step S11, determining the cleaning times and target cleaning image corresponding to the cleaning position information in a cleaning function judgment module, and detecting whether the cleaning times are the first cleaning; Step S12, if the cleaning number is the first cleaning, determining a first target image feature corresponding to the target cleaning image in the preset cleaning image features, and determining a first target cleaning function corresponding to the first target image feature as a cleaning function instruction; Step S13, if the cleaning number is not the first cleaning, determining a second target image feature corresponding to the target cleaning image in the preset cleaning image features, and determining a cleaning function instruction according to the second target image feature; In this embodiment, when determining the cleaning function instruction, the cleaning times and target cleaning image corresponding to the cleaning position information are determined in the cleaning function judgment module, that is, the cleaning times of the cleaning position information and the image features of the position are determined, wherein the cleaning times refers to the cleaning times of the position, such as the integrated cleaning robot's back and forth as one cleaning, and the target cleaning image refers to the cleaning image of the position. When the cleaning times are the first cleaning, that is, the first cleaning, the first target image feature corresponding to the target cleaning image will be determined in the preset cleaning image features, that is, the cleaning image feature that is the same as or extremely similar to the feature in the target cleaning image is determined as the first target image feature in the preset cleaning image features, and the preset cleaning image feature refers to different cleaning image features stored in the feature memory, and the image feature matching method used here can be the same as the existing image feature matching method. Finally, the first target cleaning function corresponding to the first target image feature can be determined, that is, the cleaning function corresponding to each image feature can be defined internally. On the contrary, when it is not the first cleaning, the second target image feature corresponding to the target cleaning image will also be determined in the preset cleaning image feature, but the cleaning function corresponding to the second target image feature is not directly determined at this time (that is, if it is not the first cleaning, the cleaning function corresponding to the second target image feature will not be directly used), but the cleaning function instruction is determined based on the second target image feature. That is, cleaning cannot be performed with the last cleaning method, such as the last time was a dry sweeping function, and directional dry sweeping is the cleaning completion. If the above judgment continues, it is still a dry sweeping function. Therefore, there is no need to control according to the original corresponding relationship, and customized control is required to ensure the cleaning effect.

[0039] Wherein, after the step of detecting whether the cleaning number is the first cleaning, the method further includes: Step S111 : if the number of cleaning times reaches a preset cleaning times threshold, after marking and clearing the cleaning position information, the movement track judgment module is executed to collect the cleaning position information of the area to be cleaned.

[0040] In this embodiment, after the step of whether the cleaning times are the first cleaning times, the cleaning times will be detected. If the integrated cleaning robot continues to repeatedly clean an area, it will greatly waste resources. After the cleaning times reach the preset cleaning times threshold, the cleaning position information will be marked and cleared, and then the step of collecting the cleaning position information of the area to be cleaned by the moving track judgment module will be executed. The cleaning times threshold refers to the maximum continuous cleaning times defined by the user. That is, the phenomenon of cleaning the same position all the time can be avoided, and the intelligence of the integrated cleaning robot's cleaning and the intelligence of track control can be greatly improved.

[0041] Furthermore, the step of determining the cleaning function instruction according to the second target image feature includes: Step S131, when the second target image feature matches the preset water stain cleaning image feature, determining the preset water stain cleaning instruction as the cleaning function instruction; Step S132: when the second target image feature matches the preset stubborn stain cleaning image feature, the preset stubborn stain cleaning instruction is determined as the cleaning function instruction.

[0042] In this embodiment, when cleaning is not the first time, the corresponding cleaning function will not be directly determined based on the image features, but only matched with the preset water stain cleaning image features and the preset stubborn stain cleaning image features. The preset stubborn stain cleaning image features refer to the features of stubborn stains defined by the user, and the preset stubborn stain cleaning image features refer to the features of water stains defined by the user, that is, at this time, only the stubborn stains and water stains are considered, and the direct dry sweeping is not considered. That is, only the matching of stubborn stains and water stains needs to be determined to ensure the accuracy of cleaning (that is, if the first cleaning is incomplete, the conventional method will not be used for processing). When matching with the water stain cleaning image features, the preset water stain cleaning instructions will be used as the cleaning function instructions. On the contrary, when matching with the stubborn stain cleaning image features, the preset stubborn stain cleaning instructions will be used as the cleaning function instructions. The preset water stain cleaning instructions refer to the function of cleaning water stains, such as wiping with a dry cloth, and the preset stubborn stain cleaning instructions refer to the function of cleaning stubborn stains, such as wiping with a dry cloth after mopping with a wet cloth, so as to ensure the accuracy of non-first cleaning, thereby improving the intelligence of the trajectory control and function control of the cleaning robot.

[0043] Further, based on the first embodiment and / or the second embodiment of the present application, a third embodiment of the integrated cleaning robot of the present application is proposed. In this embodiment, in the above step S20, the step of controlling the trajectory of the integrated cleaning robot according to the cleaning function instruction and the cleaning position information in the cleaning trajectory control module includes: Step S21, determining the motion trajectory corresponding to the area to be cleaned in the cleaning position information in the cleaning trajectory control module, and detecting whether the motion trajectory reaches a preset cleaning start distance; Step S22, when the motion trajectory reaches a preset cleaning start-up distance, the integrated cleaning robot is controlled to start the corresponding target cleaning function based on the cleaning function instruction, and the integrated cleaning robot with the target cleaning function turned on is controlled to clean the area to be cleaned based on the motion trajectory.

[0044] In this embodiment, when the trajectory of the integrated cleaning robot is controlled, it will be controlled based on the motion trajectory corresponding to the area to be cleaned in the cleaning position information. For example, if it is determined that the motion trajectory of the integrated cleaning robot needs to be controlled to reach the area to be cleaned, the motion trajectory corresponding to the area to be cleaned in the cleaning position information is determined in the cleaning trajectory control module, that is, the trajectory required to move to the area to be cleaned is determined, and then during the entire movement process, it is detected whether the corresponding cleaning function needs to be turned on, that is, whether the motion trajectory reaches the preset cleaning start-up distance. The preset cleaning start-up distance refers to a user-defined distance from the area to be cleaned to turn on the cleaning function. If the preset cleaning start-up distance is not reached, the detection will continue. When the preset cleaning start-up distance is reached, the integrated cleaning robot will be controlled to turn on the corresponding target cleaning function based on the cleaning function instruction, and then the area to be cleaned will be cleaned based on the integrated cleaning robot and the motion trajectory with the target cleaning function turned on. The target cleaning function refers to the cleaning function that needs to be turned on by the integrated cleaning robot. For example, for the mopping function, you can start spraying water 0.5 meters away from the area to be cleaned, touch the mop to the ground at 0.45 meters, and use a dry cloth to clean the back end at the same time. In order to ensure the cleaning effect, cleaning needs to be performed in a motion trajectory, thereby ensuring the cleaning effect of the integrated cleaning robot.

[0045] Furthermore, the step of collecting the cleaning position information of the area to be cleaned by the moving trajectory judgment module includes: Step S101, the movement trajectory judgment module collects the most recent image information of the lower part of the integrated cleaning robot, and detects whether the image information of the lower part matches the preset cleaning environment characteristics; Step S102, if the lower image information matches the preset cleaning environment feature, and the cleaning times of the first cleaning area corresponding to the lower image information is less than the preset cleaning times threshold, the first cleaning area is used as the cleaning position information of the area to be cleaned; Step S103, if the lower image information does not match the preset cleaning environment characteristics, the front image information of the integrated cleaning robot is collected, and a second cleaning area that meets the preset motion cleaning conditions is selected from the front image information as the cleaning position information of the area to be cleaned.

[0046] In the present embodiment, when determining the cleaning position information of the area to be cleaned, the most recent lower image information of the integrated cleaning robot will be preferentially collected in the moving trajectory judgment module. The lower image information refers to the environment of the position just cleaned by the integrated cleaning robot. If there is still an unclean position, it will be determined that the lower image information matches the preset cleaning environment characteristics. The preset cleaning environment characteristics refer to the characteristics that the position just cleaned has not been cleaned yet, and it will be determined that it needs to be cleaned again. However, at this time, it will also be determined that the cleaning times of the first cleaning area corresponding to the lower image information are less than the preset cleaning times threshold, that is, it is determined that the first cleaning area corresponding to the lower image information does not exceed the defined maximum continuous cleaning times, wherein the defined maximum continuous cleaning times refers to the preset cleaning times threshold, the first cleaning area refers to the area referred to by the lower image information, and the cleaning times refers to the continuous cleaning times of the first cleaning area by the integrated cleaning robot. If both conditions are met, the first cleaning area will be used as the cleaning position information of the area to be cleaned, that is, the relevant information of the first cleaning area will be used as the cleaning position information of the area to be cleaned. Because the first cleaning area is the area cleaned last time, there is no need to directly replace the historical cleaning position information. On the contrary, when the cleaning times of the first cleaning area corresponding to the image information below do not match the preset cleaning environment characteristics or are greater than or equal to the preset cleaning times threshold, it will be determined that it has been cleaned or cannot be cleaned at this time, so the area will be skipped (avoiding the phenomenon of the integrated cleaning robot repeatedly cleaning). At this time, the front image information of the integrated cleaning robot will be collected, and then the area to be cleaned will be determined as the area to be cleaned in the front image information, and then the information corresponding to the area to be cleaned will be determined as the cleaning position information, that is, a new area will be reselected for cleaning. When selecting a new position, the second cleaning area that meets the preset motion cleaning conditions is selected by determining the front image information. The preset motion cleaning conditions refer to user-defined cleaning conditions, at least including the area that is in the forward driving path, the closest distance and unmarked. The most critical thing is that the cleaning objects in this area are cleaning objects that can be cleaned by the integrated cleaning robot, and then the next cleaning can be performed intelligently. It is worth noting that the entire process is an intelligent cleaning control method for the integrated cleaning robot, and it can still be cleaned in a normal manner and according to the planned trajectory in the normal mode.

[0047] Wherein, after the step of using the first cleaning area as the cleaning position information of the area to be cleaned, the method further comprises: Step S102: Bind the preset back control instruction to the cleaning position information.

[0048] In this embodiment, when it is determined that the first cleaning area needs to be cleaned again, the preset backward control instruction will be bound to the cleaning position information, and then the integrated cleaning robot will be controlled to retreat to a certain area (it can retreat to beyond the distance threshold defined by the user). Because non-first cleaning generally includes the functions of mopping and re-mopping the floor, the integrated cleaning robot can be controlled based on the preset mopping instruction when retreating, so that it can directly retreat and mop, which greatly ensures the cleaning effect.

[0049] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the integrated cleaning robot of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0050] The present application also provides an integrated cleaning robot control device, the integrated cleaning robot control device is arranged in the integrated cleaning robot, please refer to Figure 4 , the integrated cleaning robot control device comprises: The information acquisition module 10 is used for the movement trajectory judgment module to collect the cleaning position information of the area to be cleaned, and determine the cleaning function instruction according to the cleaning position information in the cleaning function judgment module; The trajectory control module 20 is used to perform trajectory control on the integrated cleaning robot according to the cleaning function instruction and the cleaning position information in the cleaning trajectory control module.

[0051] The integrated cleaning robot control device provided by the present application adopts the integrated cleaning robot in the above embodiment, which can solve the technical problem of low intelligence of the cleaning robot. Compared with the prior art, the beneficial effects of the integrated cleaning robot control device provided by the present application are the same as the beneficial effects of the integrated cleaning robot provided by the above embodiment, and other technical features in the integrated cleaning robot control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0052] The present application provides an integrated cleaning robot control system, which includes a laser device, an image acquisition device and a controller, wherein the controller is connected to the laser device and the image acquisition device respectively, and the controller includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the integrated cleaning robot in the above-mentioned embodiment one.

[0053] Reference below Figure 5, which shows a schematic diagram of the structure of a controller suitable for implementing the embodiment of the present application. The controller in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players: portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The controller shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0054] like Figure 5 As shown, the controller may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the controller are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the controller to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a controller with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or have alternatively.

[0055] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0056] The controller provided by the present application adopts the integrated cleaning robot in the above embodiment, which can solve the technical problem of low intelligence of the cleaning robot. Compared with the prior art, the beneficial effects of the controller provided by the present application are the same as the beneficial effects of the integrated cleaning robot provided by the above embodiment, and the other technical features in the controller are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0057] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0059] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the integrated cleaning robot in the above-mentioned embodiment.

[0060] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, devices or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution device, device or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0061] The computer-readable storage medium may be included in the controller; or may exist independently without being assembled into the controller.

[0062] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the controller, the controller: The movement trajectory judgment module collects the cleaning position information of the area to be cleaned, and determines the cleaning function instruction according to the cleaning position information in the cleaning function judgment module; In a cleaning trajectory control module, the trajectory of the integrated cleaning robot is controlled according to the cleaning function instruction and the cleaning position information.

[0063] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0064] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0065] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0066] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned integrated cleaning robot, and can solve the technical problem of low intelligence of the cleaning robot. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the integrated cleaning robot provided in the above-mentioned embodiment, and will not be elaborated here.

[0067] The present application also provides a computer program product, including a computer program, which implements the steps of the integrated cleaning robot as described above when executed by a processor.

[0068] The computer program product provided by the present application can solve the technical problem of low intelligence of the cleaning robot. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the integrated cleaning robot provided by the above embodiment, which will not be repeated here.

[0069] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An integrated cleaning robot, characterized in that: The integrated cleaning robot comprises: A movement trajectory determination module, the movement trajectory determination module is used to collect cleaning position information of the area to be cleaned; a cleaning function determination module, the cleaning function determination module being connected to the movement track determination module, and the cleaning function determination module being used to determine a cleaning function instruction based on the cleaning position information; A cleaning trajectory control module, the cleaning trajectory control module is connected to the cleaning function judgment module and the moving trajectory judgment module, and the cleaning trajectory control module is used to control the trajectory of the integrated cleaning robot based on the cleaning function instruction and the cleaning position information.

2. The integrated cleaning robot according to claim 1, characterized in that: The movement trajectory judgment module includes: A front image collector, which is used to collect front image information of the integrated cleaning robot; A bottom image collector, which is used to collect image information below the integrated cleaning robot; An image processing chip is connected to the front image collector and the bottom image collector, and is used to determine the cleaning position information of the area to be cleaned based on the front image information and the bottom image information.

3. The integrated cleaning robot according to claim 1, characterized in that: The cleaning function determination module comprises: A feature memory, wherein the feature memory is used to store different cleaning image features; A function determination chip is connected to the feature memory and the image processing chip in the movement trajectory determination module, and is used to determine a cleaning function instruction based on the cleaning image feature and the cleaning position information.

4. The integrated cleaning robot according to claim 1, characterized in that: The cleaning trajectory control module comprises: Cleaning functional unit; A forward drive, the forward drive is used to control the integrated cleaning robot to move forward; A backward drive, the backward drive is used to control the integrated cleaning robot to move backward; A steering driver, the steering driver is used to control the steering movement of the integrated cleaning robot; A trajectory control chip, wherein the trajectory control chip is connected to the image processing chip in the moving trajectory judgment module, the function judgment chip in the cleaning function judgment module, the cleaning function unit, the forward drive, the backward drive and the steering drive, and the trajectory control chip is used to control the trajectory of the integrated cleaning robot based on the cleaning function instructions and the cleaning position information.

5. The integrated cleaning robot according to claim 4, characterized in that: The cleaning function unit comprises: A cleaning controller, the cleaning controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a waterless cleaning function; A cleaning controller, the cleaning controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a water stain cleaning function; A humidity controller is connected to the trajectory control chip, and the cleaning controller is used to control the integrated cleaning robot to realize a water cleaning function.

6. An integrated cleaning robot control method, characterized in that: The integrated cleaning robot control method is applied to the integrated cleaning robot according to claims 1 to 5, and the steps of the integrated cleaning robot control method include: The movement trajectory judgment module collects the cleaning position information of the area to be cleaned, and determines the cleaning function instruction according to the cleaning position information in the cleaning function judgment module; In a cleaning trajectory control module, the trajectory of the integrated cleaning robot is controlled according to the cleaning function instruction and the cleaning position information.

7. The integrated cleaning robot control method according to claim 6, characterized in that: The step of determining the cleaning function instruction according to the cleaning position information in the cleaning function determination module includes: Determine the cleaning times and target cleaning image corresponding to the cleaning position information in a cleaning function judgment module, and detect whether the cleaning times are the first cleaning; If the cleaning number is the first cleaning, determining a first target image feature corresponding to the target cleaning image in preset cleaning image features, and determining a first target cleaning function corresponding to the first target image feature as a cleaning function instruction; If the cleaning number is not the first cleaning, determining a second target image feature corresponding to the target cleaning image in the preset cleaning image features, and determining a cleaning function instruction according to the second target image feature; After the step of detecting whether the cleaning number is the first cleaning, the method further includes: If the number of cleaning times reaches a preset cleaning times threshold, the cleaning position information is marked and cleared, and then the movement track judgment module is executed to collect the cleaning position information of the area to be cleaned.

8. The integrated cleaning robot control method according to claim 7, characterized in that: The step of determining the cleaning function instruction according to the second target image feature comprises: When the second target image feature matches the preset water stain cleaning image feature, determining the preset water stain cleaning instruction as the cleaning function instruction; When the second target image feature matches the preset stubborn stain cleaning image feature, the preset stubborn stain cleaning instruction is determined as the cleaning function instruction.

9. The integrated cleaning robot control method according to claim 6, characterized in that: The step of controlling the trajectory of the integrated cleaning robot according to the cleaning function instruction and the cleaning position information in the cleaning trajectory control module includes: Determine, in a cleaning trajectory control module, a motion trajectory corresponding to the area to be cleaned in the cleaning position information, and detect whether the motion trajectory reaches a preset cleaning start distance; When the motion trajectory reaches a preset cleaning start-up distance, the integrated cleaning robot is controlled to start the corresponding target cleaning function based on the cleaning function instruction, and the integrated cleaning robot with the target cleaning function turned on is controlled to clean the area to be cleaned based on the motion trajectory.

10. The integrated cleaning robot control method according to any one of claims 6 to 9, characterized in that: The step of the movement trajectory judgment module collecting the cleaning position information of the area to be cleaned includes: The movement trajectory judgment module collects the most recent image information of the lower part of the integrated cleaning robot, and detects whether the image information of the lower part matches the preset cleaning environment characteristics; If the lower image information matches the preset cleaning environment feature, and the number of cleaning times of the first cleaning area corresponding to the lower image information is less than the preset cleaning number threshold, the first cleaning area is used as the cleaning position information of the area to be cleaned; If the lower image information does not match the preset cleaning environment characteristics, the front image information of the integrated cleaning robot is collected, and a second cleaning area that meets the preset motion cleaning conditions is selected from the front image information as the cleaning position information of the area to be cleaned; After the step of using the first cleaning area as the cleaning position information of the area to be cleaned, the method further comprises: The preset back control instruction is bound to the cleaning position information.

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