Cleaning robot, control method and control device thereof and readable storage medium

Abstract

The embodiment of the invention is suitable for the field of cleaning equipment, and discloses a cleaning robot, a control method and device thereof and a readable storage medium. The control method of the cleaning robot comprises the steps of obtaining a target cleaning task; obtaining target cleaning information corresponding to the target cleaning task according to the target cleaning task; according to the historical cleaning data and the target cleaning information, obtaining an estimated completion duration of executing the target cleaning task by the target cleaning robot; and outputting the estimated completion duration. Therefore, the user can intuitively obtain the duration required by the cleaning robot to execute and complete the target cleaning task, the interaction content output by the cleaning robot to the user is increased, the phenomenon that the cleaning robot cannot complete the expected target cleaning task before the time point expected by the user is reduced, and the satisfaction degree of the user to the cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to a cleaning robot and a control method, a control device, and a readable storage medium thereof. Background Art

[0002] A cleaning robot provided by the related art can automatically perform a target cleaning task on a target area according to the acquired target cleaning task. During the process of performing the target cleaning task, the cleaning robot will display the execution progress of the target cleaning task in the form of a percentage.

[0003] The above-mentioned cleaning robot has the following shortcomings in specific applications: before the cleaning robot starts to perform the target cleaning task, the user cannot intuitively know how long it will take for the cleaning robot to complete the target cleaning task; during the process of the cleaning robot performing the target cleaning task, the user cannot intuitively know how long it will take for the cleaning robot to perform the remaining target cleaning tasks. This is not conducive to the user choosing whether to start the target cleaning task or adjust the cleaning plan according to actual cleaning needs, which makes it easy for the cleaning robot to fail to complete the expected target cleaning task before the user's expected time point, thereby reducing the user's satisfaction with the cleaning robot. Summary of the invention

[0004] The first objective of the embodiment of the present invention is to provide a control method for a cleaning robot, which aims to solve the technical problem in the background technology that it is impossible to provide the user with an estimated completion time of a target cleaning task.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides a control method of a cleaning robot, comprising:

[0006] Get the target cleaning task;

[0007] According to the target cleaning task, obtaining target cleaning information corresponding to the target cleaning task;

[0008] Obtaining an estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information;

[0009] Output the estimated completion time.

[0010] Preferably, the target cleaning information includes at least one of the following information: a target cleaning area, a target cleaning map.

[0011] The target cleaning information includes a target cleaning area;

[0012] The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes:

[0013] Obtaining an estimated cleaning speed of the target cleaning robot performing the target cleaning task according to the historical cleaning data;

[0014] According to the estimated cleaning speed and the target cleaning area, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0015] Preferably, obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task according to the historical cleaning data includes:

[0016] Obtaining a historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period;

[0017] According to the historical average cleaning speed, an estimated cleaning speed of the target cleaning robot performing the target cleaning task is obtained.

[0018] Preferably, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period comprises:

[0019] According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period, obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period;

[0020] According to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained.

[0021] Preferably, obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0022] According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained;

[0023] The obtaining, according to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0024] The actual historical total cleaning area is divided by the actual historical total cleaning time to obtain the historical average cleaning speed.

[0025] Preferably, obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0026] According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained;

[0027] The obtaining, according to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0028] Correcting the actual historical total cleaning area and the actual historical total cleaning duration to obtain a corrected historical total cleaning area and the corrected historical total cleaning duration;

[0029] The corrected historical total cleaning area is divided by the corrected historical total cleaning time to obtain the historical average cleaning speed.

[0030] Preferably, the correction of the actual historical total cleaning area and the actual historical total cleaning time includes:

[0031] When the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected;

[0032] The first preset condition includes that the target cleaning robot and / or the reference cleaning robot has at least one of the following behaviors within the first preset time period: entering a restricted area for cleaning, and wandering in a single cleaning position for a period exceeding a first preset time.

[0033] Preferably, when the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected, including:

[0034] According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, determine whether the target cleaning robot and / or the reference cleaning robot has entered a restricted area for cleaning within the first preset time period and / or has wandered at a single cleaning position for a time period exceeding a first preset time period;

[0035] If there is an act of entering the restricted area for cleaning and there is no act of wandering at a single cleaning position for a time period exceeding a first preset time period, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period is subtracted from the actual historical total cleaning area to obtain the corrected historical total cleaning area;

[0036] The actual historical total cleaning time is subtracted from the first restricted area cleaning time that the target cleaning robot and / or the reference cleaning robot enters the restricted area to clean within the first preset time period, to obtain the corrected historical total cleaning time;

[0037] If there is a behavior of wandering at a single cleaning position for a duration exceeding a first preset duration and there is no behavior of entering a restricted area for cleaning, then the actual historical total cleaning area is subtracted from the wandering cleaning area of ​​the target cleaning robot and / or the reference cleaning robot at each cleaning position corresponding to the wandering duration exceeding the first preset duration within the first preset time period to obtain the corrected historical total cleaning area;

[0038] Subtract the wandering time of the target cleaning robot and / or the reference cleaning robot that exceeds the first preset time period from the actual historical total cleaning time to obtain the corrected historical total cleaning time;

[0039] If there is a behavior of entering the restricted area for cleaning and there is a behavior of wandering at a single cleaning position for a duration exceeding a first preset duration, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period and the wandering cleaning area of ​​the cleaning positions corresponding to each wandering duration exceeding the first preset time period within the first preset time period are subtracted from the actual historical total cleaning area to obtain the corrected historical total cleaning area;

[0040] The actual total historical cleaning time is subtracted from the first restricted area cleaning time when the target cleaning robot and / or the reference cleaning robot enters the restricted area for cleaning within the first preset time period and the wandering time exceeding the first preset time within the first preset time period, to obtain the corrected total historical cleaning time.

[0041] Preferably, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period comprises:

[0042] According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, a plurality of sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained respectively;

[0043] The historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained according to the multiple sub-historical average cleaning speeds.

[0044] Preferably, the step of obtaining a plurality of sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot in the first preset time period respectively based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks in the first preset time period includes:

[0045] According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, actual sub-historical cleaning areas and actual sub-historical cleaning durations of the plurality of historical cleaning tasks are obtained;

[0046] Dividing a plurality of the actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain a plurality of the sub-historical average cleaning speeds;

[0047] or,

[0048] According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, actual sub-historical cleaning areas and actual sub-historical cleaning durations of the plurality of historical cleaning tasks are obtained;

[0049] Correcting the actual sub-historical cleaning area and the actual sub-historical cleaning duration of at least one historical cleaning task to obtain a corrected sub-historical cleaning area and a corrected sub-historical cleaning duration of the historical cleaning task;

[0050] The corrected sub-historical cleaning area is divided by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

[0051] Preferably, the target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area;

[0052] The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes:

[0053] Obtaining, based on the historical cleaning data, a sub-estimated completion time for the target cleaning robot to clean each target cleaning area;

[0054] The estimated completion time for the target cleaning robot to perform the target cleaning task is obtained according to the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map.

[0055] Preferably, obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area according to the historical cleaning data includes:

[0056] According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained;

[0057] According to the multiple first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

[0058] Preferably, the obtaining, based on the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each of the target cleaning areas in the second preset time period respectively comprises:

[0059] According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first actual sub-historical completion times corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained;

[0060] The step of obtaining, according to the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area comprises:

[0061] According to the multiple first actual sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

[0062] Preferably, the obtaining, based on the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each of the target cleaning areas in the second preset time period respectively comprises:

[0063] According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first actual sub-historical completion times corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained;

[0064] The step of obtaining, according to the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area comprises:

[0065] Correcting at least one of the first actual sub-historical completion time corresponding to one of the target cleaning areas to obtain at least one first corrected sub-historical completion time of the target cleaning area;

[0066] Based on multiple first corrected sub-historical completion times corresponding to the target cleaning area or based on at least one first corrected sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area, the sub-estimated completion time for the target cleaning robot to clean the target cleaning area is obtained.

[0067] Preferably, the correcting at least one of the first actual sub-historical completion durations corresponding to one of the target cleaning areas to obtain at least one first corrected sub-historical completion duration of the target cleaning area includes:

[0068] When the second preset condition is met, the first actual sub-history completion time is corrected to obtain a first corrected sub-history completion time;

[0069] Among them, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when executing a historical cleaning task corresponding to the first actual sub-historical completion time: entering a restricted area for cleaning, and wandering at a single cleaning position for a time period exceeding the first preset time period.

[0070] Preferably, when the second preset condition is met, the first actual sub-history completion time is corrected to obtain a first corrected sub-history completion time, including:

[0071] According to the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, determining whether the target cleaning robot has entered a restricted area for cleaning and / or has wandered at a single cleaning position for a time period exceeding a first preset time period when performing the historical cleaning task on the target cleaning area within the second preset time period;

[0072] If there is a behavior of entering the restricted area for cleaning and there is no behavior of wandering at a single cleaning position for a time period exceeding a first preset time period, the first actual sub-historical completion time period corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time period when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, to obtain the first corrected sub-historical completion time period of the historical cleaning task;

[0073] If there is an act of wandering at a single cleaning position for a time period exceeding a first preset time period and there is no act of entering a restricted area for cleaning, then the first actual sub-historical completion time period corresponding to the historical cleaning task is subtracted from the wandering time period of the target cleaning robot wandering at a single cleaning position for a time period exceeding the first preset time period when performing the historical cleaning task, to obtain the first corrected sub-historical completion time period of the historical cleaning task;

[0074] If there is an act of entering a restricted area for cleaning and there is an act of wandering at a single cleaning position for a time period exceeding a first preset time period, then the first actual sub-historical completion time corresponding to the historical cleaning task will be subtracted from the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, and the wandering time when the target cleaning robot wanders at a single cleaning position for more than the first preset time period when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

[0075] Preferably, obtaining the sub-estimated completion time for the target cleaning robot to execute each target cleaning area according to the historical cleaning data includes:

[0076] According to the historical cleaning data of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas, a second sub-historical completion time of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas is obtained;

[0077] According to the second sub-historical completion time corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

[0078] Preferably, according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas, obtaining the second sub-historical completion time of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas includes:

[0079] According to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas, obtaining the second actual sub-historical completion time of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas;

[0080] The obtaining, according to the second sub-historical completion time corresponding to each target cleaning area, a sub-estimated completion time for the target cleaning robot to clean each target cleaning area includes:

[0081] The second actual sub-historical completion time of each target cleaning area corresponds to the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area; or

[0082] The second actual sub-historical completion time corresponding to at least one of the target cleaning areas is corrected to obtain a second corrected sub-historical completion time, and the second corrected sub-historical completion time is used as the sub-estimated completion time for the target cleaning robot to clean the target cleaning area.

[0083] Preferably, the target cleaning information includes a target cleaning map and a target cleaning area, the target cleaning map includes at least one target cleaning scene, and the target cleaning area includes a target scene cleaning area of ​​each target cleaning scene;

[0084] The step of calculating the estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes:

[0085] Obtaining, based on the historical cleaning data, an estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene;

[0086] According to the estimated scene cleaning speed and the target scene cleaning area corresponding to each of the target cleaning scenes in the target cleaning map, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0087] Preferably, obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene according to the historical cleaning data includes:

[0088] According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, obtaining a first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each target cleaning scene within the third preset time period;

[0089] According to the first historical scene average cleaning speed of each of the target cleaning scenes, an estimated scene cleaning speed at which the target cleaning robot cleans each of the target cleaning scenes is obtained.

[0090] Preferably, obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period includes:

[0091] According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, the total cleaning area and the total cleaning time of the historical scenes performed by the target cleaning robot and / or the reference cleaning robot for cleaning each of the target cleaning scenes within the third preset time period are obtained;

[0092] According to the total cleaning area of ​​the historical scenes corresponding to each of the target cleaning scenes and the total cleaning time of the historical scenes, obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each of the target cleaning scenes within the third preset time period; or,

[0093] According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, obtaining a sub-historical scene cleaning speed of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks on each of the target cleaning scenes within the third preset time period;

[0094] According to the cleaning speeds of the multiple sub-historical scenes corresponding to each of the target cleaning scenes, a first historical scene average cleaning speed at which the target cleaning robot and / or the reference cleaning robot cleans each of the target cleaning scenes within the third preset time period is obtained.

[0095] Preferably, obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene according to the historical cleaning data includes:

[0096] Obtaining, according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning scenes, a second historical scene average cleaning speed of the target cleaning robot performing the most recent cleaning on each of the target cleaning scenes;

[0097] According to the second historical scene average cleaning speed of each of the target cleaning scenes, an estimated scene cleaning speed at which the target cleaning robot cleans each of the target cleaning scenes is obtained.

[0098] Preferably, the target cleaning information also includes at least one of the following information: cleaning mode, working mode;

[0099] The cleaning modes include at least two of a sweeping mode, a mopping mode, a simultaneous sweeping and mopping mode, and a sweep-first-then-mopping mode;

[0100] The working mode includes at least a smart mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter of sweeping times, mopping times, and sweeping and mopping times;

[0101] The step of obtaining target cleaning information corresponding to the target cleaning task according to the target cleaning task includes:

[0102] According to the target cleaning task, a target cleaning mode and / or a target working mode corresponding to the target cleaning task is obtained;

[0103] The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes:

[0104] According to the historical cleaning data in the same mode as the target cleaning mode and / or the target working mode, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0105] Preferably, the outputting of the estimated completion time includes at least one of the following situations: announcing the estimated completion time by voice, and sending the estimated completion time to a mobile terminal.

[0106] Preferably, the target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area;

[0107] The sending the estimated completion time to the mobile terminal includes: sending a target cleaning map indicating the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas to the mobile terminal.

[0108] Preferably, the control method further comprises: during the execution of the target cleaning task, outputting an estimated remaining time required to complete the target cleaning task.

[0109] Preferably, the outputting of the estimated remaining time required to complete the target cleaning task includes:

[0110] Obtaining the execution time of the target cleaning task;

[0111] Subtract the executed time from the estimated completion time to obtain the estimated remaining time;

[0112] Outputting the estimated remaining time;

[0113] or,

[0114] The output estimates the remaining time required to complete the target cleaning task, including:

[0115] Obtaining the remaining cleaning area that needs to be performed in the target cleaning task;

[0116] Obtaining the estimated remaining time according to the remaining cleaning area and the estimated cleaning speed of the target cleaning robot performing the target cleaning task;

[0117] Outputting the estimated remaining time;

[0118] or,

[0119] The output estimates the remaining time required to complete the target cleaning task, including:

[0120] Obtaining the remaining cleaning area that needs to be performed in the target cleaning task;

[0121] Obtaining the estimated remaining time according to the sub-estimated completion time of the target cleaning robot cleaning each of the remaining cleaning areas;

[0122] The estimated remaining time is output.

[0123] Preferably, the control method further includes:

[0124] During the execution of the target cleaning task, when the target cleaning robot wanders at a single cleaning location for longer than a second preset time and receives a user query on the remaining cleaning time, it outputs a prompt message representing the following signal: it is expected to take more time because the cleaning environment is too complex.

[0125] Preferably, the control method further includes:

[0126] During the process of the target cleaning robot performing a cleaning task or after completing a cleaning task, saving and / or uploading preset cleaning data of the cleaning task;

[0127] The preset cleaning data includes at least one of the following data:

[0128] The cleaning area of ​​each target cleaning area in the cleaning task;

[0129] The total cleaning area of ​​the cleaning task;

[0130] The cleaning time of each target cleaning area in the cleaning task;

[0131] The total cleaning time of the cleaning task;

[0132] The cleaning times of each target cleaning area by the target cleaning robot in the cleaning task;

[0133] The number of collisions of the target cleaning robot in each target cleaning area in the cleaning task;

[0134] The total number of collisions of the target cleaning robot in the cleaning task;

[0135] Information used to characterize the degree of dirtiness of each target cleaning area in the cleaning task;

[0136] The number of times the target cleaning robot washes the mop in the cleaning task;

[0137] The time for the target cleaning robot to wash the mop in the cleaning task;

[0138] The moving trajectory of the target cleaning robot in the cleaning task.

[0139] Preferably, the control method further includes:

[0140] According to the preset cleaning data, at least one of the following information is obtained:

[0141] The degree of dirtiness of each cleaning area;

[0142] How many times each cleaning area needs to be cleaned;

[0143] The location of the obstacle;

[0144] Target cleaning robot has difficulty moving areas;

[0145] A cleaning position where the wandering time exceeds a first preset time.

[0146] Preferably, the control method further comprises: after completing the target cleaning task, outputting a speed-up suggestion;

[0147] The speed-up suggestion includes at least one of the following suggestions: setting the first cleaning area as a restricted area, changing the cleaning times of the second cleaning area, and changing the cleaning motion trajectory of the third cleaning area.

[0148] Preferably, the control method further includes:

[0149] Obtain cleaning demand information;

[0150] According to the cleaning requirement information, a cleaning plan that meets the cleaning requirement is output.

[0151] The second object of the embodiment of the present invention is to provide a cleaning control device, which can be used for a cleaning robot. The cleaning control device includes a memory and a controller. The memory can be used to store a computer program, and the processor can be used to execute the computer program, and when executing the computer program, the steps of the control method of the cleaning robot are implemented.

[0152] The third objective of an embodiment of the present invention is to provide a cleaning robot, which includes a robot body and the above-mentioned cleaning control device, and the cleaning control device is used to control the above-mentioned robot body to perform cleaning tasks.

[0153] A third object of an embodiment of the present invention is to provide a readable storage medium, wherein the readable storage medium stores a computer program, which can be called by a processor to implement the steps of the above network configuration method.

[0154] The cleaning robot and its control method, control device, and readable storage medium provided by the embodiments of the present invention can output the time required to complete the target cleaning task based on the target cleaning task input by the user, thereby facilitating the user to choose whether to start the target cleaning task or adjust the cleaning plan based on actual cleaning needs, thereby helping to avoid the undesirable phenomenon of the cleaning robot failing to complete the expected target cleaning task before the expected time point, thereby improving user satisfaction with the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0155] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0156] Figure 1 It is a flow chart of a control method of a cleaning robot provided by an embodiment of the present invention;

[0157] Figure 2is another flow chart of the control method of the cleaning robot provided by an embodiment of the present invention;

[0158] Figure 3 is another flow chart of the control method of the cleaning robot provided by an embodiment of the present invention;

[0159] Figure 4 This is another flow chart of the control method of the cleaning robot provided by the embodiment of the present invention.

[0160] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0161] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. According to the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0162] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in the field.

[0163] The cleaning robot involved in the embodiments of the present application may be a sweeping robot, a mopping robot, or a sweeping and mopping robot, etc., which is not specifically limited in the embodiments of the present application. Among them, the sweeping robot can be used to sweep the floor, the mopping robot can be used to mop the floor, and the sweeping and mopping robot can be used to sweep and mop the floor.

[0164] An embodiment of the present application provides a control method for a cleaning robot.

[0165] See also Figure 1 , Figure 1 1 is a flow chart of a control method of a cleaning robot provided in an embodiment of the present application. Figure 1 As shown, the control method of the cleaning robot may include the following steps.

[0166] Step 101: Obtain a target cleaning task.

[0167] The target cleaning task may be a cleaning task to be performed according to different cleaning requirement information of the user. The cleaning requirement information may include at least one of the following: cleaning area, cleaning time, cleaning mode and working mode.

[0168] It should be noted that the target cleaning task can be a target cleaning task determined by the cleaning robot in response to a setting operation by the user through voice, client (APP) and / or control panel (display screen). Specifically, the user can set the cleaning area, cleaning time, cleaning mode and cleaning task of the cleaning robot in the control panel to determine the target cleaning task corresponding to the cleaning robot.

[0169] The cleaning mode includes at least two of a sweeping mode, a mopping mode, a simultaneous sweeping and mopping mode, and a sweeping-first-then-mopping mode. The working mode includes at least an intelligent mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter of the sweeping times, the mopping times, and the sweeping and mopping times.

[0170] Step 102: According to the target cleaning task, target cleaning information corresponding to the target cleaning task is obtained.

[0171] The target cleaning information may be cleaning information corresponding to a target cleaning task determined by a user.

[0172] After the cleaning robot obtains the target cleaning task determined by the user, the cleaning robot can also determine the target cleaning information corresponding to the target cleaning task according to the target cleaning task, so that the cleaning robot can determine the target cleaning information such as the cleaning area, cleaning time and cleaning mode corresponding to the target cleaning task stage set by the user according to the cleaning requirement information. Specifically, after the cleaning robot obtains the target cleaning task, the cleaning robot can parse the target cleaning task to determine the corresponding target cleaning information.

[0173] Step 103: Obtain an estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information.

[0174] The target cleaning robot is a cleaning robot for performing a target cleaning task. The estimated completion time may be a task completion time obtained by predicting the time for the target cleaning robot to complete the cleaning task based on the target cleaning information.

[0175] The historical cleaning data may be used to represent historical cleaning data of a target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period.

[0176] After determining the target cleaning information corresponding to the target cleaning task, the target cleaning robot may also determine an estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information.

[0177] Step 104: Output the estimated completion time.

[0178] After determining the estimated completion time of the target cleaning robot to perform the target cleaning task, the estimated completion time can be output. Specifically, the target cleaning robot outputs the estimated completion time in at least one of the following ways: voice, client (APP) output, control panel (display screen) output.

[0179] As an implementation mode, in step 101, obtaining the target cleaning task may include a cleaning area, a cleaning time, a cleaning mode, and a working mode. The target robot may obtain the cleaning area, cleaning time, cleaning mode, and working mode set by the user. Among them, the cleaning area may be the area covered by the target cleaning task, the cleaning time may be the duration required to complete the target cleaning task, and the cleaning mode may include at least two of a sweeping mode, a mopping mode, a simultaneous sweeping and mopping mode, and a sweep-first-then-mopping mode. The working mode includes at least an intelligent mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter of the number of sweeping times, the number of mopping times, and the number of sweeping and mopping times.

[0180] As an embodiment, in step 102, the target cleaning information is cleaning information corresponding to the target cleaning task. The target cleaning information may include a target cleaning area and / or a target cleaning map. It should be noted that, when the target cleaning information is different, the estimated completion time required for the target cleaning robot to perform the target cleaning task can be determined in a corresponding manner based on the target cleaning information. For details, please refer to the following specific description of step 103.

[0181] The target cleaning area is the area of ​​the cleaning region corresponding to the target cleaning task performed by the cleaning robot, and the target cleaning area will affect the time it takes for the cleaning robot to complete the target cleaning task.

[0182] The target cleaning map includes at least one target cleaning area. The size and number of the target cleaning areas will affect the time it takes for the cleaning robot to complete the target cleaning task.

[0183] In an embodiment of the present application, the target cleaning information further includes at least one of the following information: cleaning mode, working mode. The cleaning mode includes at least two of the sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping first and then mopping mode. The working mode includes at least the smart mode and the custom mode. In the custom mode, the target cleaning information further includes at least one cleaning parameter of the sweeping times, mopping times, and sweeping and mopping times.

[0184] As an implementation manner, in step 103, the target cleaning information includes at least one of the following information: a target cleaning area and a target cleaning map.

[0185] That is, the target cleaning information may include a target cleaning area, or the target cleaning information may further include a target cleaning map, or the target cleaning information may further include a target cleaning area and a target cleaning map.

[0186] As an embodiment, when the target cleaning information includes a target cleaning area, the step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information may include: obtaining the estimated cleaning speed for the target cleaning robot to perform the target cleaning task based on the historical cleaning data; and obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on the estimated cleaning speed and the target cleaning area.

[0187] As an embodiment, in step 103, the above-mentioned obtaining the estimated cleaning speed of the target cleaning robot to perform the target cleaning task based on the historical cleaning data includes: obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period; obtaining the estimated cleaning speed of the target cleaning robot to perform the target cleaning task based on the historical average cleaning speed.

[0188] As an embodiment, in step 103, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset time period is obtained based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot in the first preset time period, including: obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period; obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset time period based on the historical total cleaning area and the historical total cleaning time.

[0189] As an embodiment, in step 103, the above-mentioned historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period are obtained based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period, including: obtaining the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period; obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset time period based on the historical total cleaning area and the historical total cleaning time, including: dividing the actual historical total cleaning area by the actual historical total cleaning time to obtain the historical average cleaning speed.

[0190] As an embodiment, in step 103, the above-mentioned historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period are obtained according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period, including: obtaining the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period; obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset time period according to the historical total cleaning area and the historical total cleaning time, including: correcting the actual historical total cleaning area and the actual historical total cleaning time to obtain the corrected historical total cleaning area and the corrected historical total cleaning time; dividing the corrected historical total cleaning area by the corrected historical total cleaning time to obtain the historical average cleaning speed.

[0191] As an embodiment, in step 103, the above-mentioned correction of the actual historical total cleaning area and the actual historical total cleaning time includes: when a first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected; wherein the first preset condition includes that the target cleaning robot and / or the reference cleaning robot has at least one of the following behaviors within a first preset time period: entering a restricted area for cleaning, and wandering in a single cleaning position for a time period exceeding a first preset time period.

[0192] As an embodiment, when the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected, including: judging whether the target cleaning robot and / or the reference cleaning robot has entered the restricted area for cleaning and / or has wandered in a single cleaning position for a time period exceeding the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period; if there is a behavior of entering the restricted area for cleaning and there is no behavior of wandering in a single cleaning position for a time period exceeding the first preset time period, then subtracting the restricted area cleaning area in which the target cleaning robot and / or the reference cleaning robot enters the restricted area for cleaning in the first preset time period from the actual historical total cleaning area to obtain a corrected historical total cleaning area; subtracting the first restricted area cleaning time in which the target cleaning robot and / or the reference cleaning robot enters the restricted area for cleaning in the first preset time period from the actual historical total cleaning time to obtain a corrected historical total cleaning time; if there is a behavior of wandering in a single cleaning position for a time period exceeding the first preset time period and there is no behavior of entering the restricted area for cleaning, The actual total historical cleaning area is deducted from the cleaning areas of the target cleaning robot and / or the reference cleaning robot at the cleaning positions corresponding to the first preset time period for each wandering time that exceeds the first preset time period, to obtain the corrected total historical cleaning area; the actual total historical cleaning time is deducted from the wandering times of the target cleaning robot and / or the reference cleaning robot that exceed the first preset time period for each wandering time in the first preset time period, to obtain the corrected total historical cleaning time; if there is an act of entering a restricted area for cleaning and there is an act of wandering at a single cleaning position for more than the first preset time period, the restricted area cleaning areas of the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning in the first preset time period and the wandering cleaning areas of the cleaning positions corresponding to the first preset time period for each wandering time in the first preset time period are deducted from the actual total historical cleaning area to obtain the corrected total historical cleaning area; the first restricted area cleaning time of the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning in the first preset time period and the wandering times that exceed the first preset time period in the first preset time period are deducted from the actual total historical cleaning time to obtain the corrected total historical cleaning time.

[0193] As an alternative embodiment, in step 103, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period, including: obtaining a plurality of sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period respectively based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within the first preset time period; obtaining the historical average cleaning speed of the target cleaning robot and the reference cleaning robot within the first preset time period based on the plurality of sub-historical average cleaning speeds.

[0194] As an implementation mode, in step 103, the above-mentioned historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within the first preset time period are used to obtain multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period, including: obtaining actual sub-historical cleaning areas and actual sub-historical cleaning durations of multiple historical cleaning tasks according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within the first preset time period; dividing the multiple actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain multiple sub-historical average cleaning speeds; or, obtaining actual sub-historical cleaning areas and actual sub-historical cleaning durations of multiple historical cleaning tasks according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within the first preset time period; correcting the actual sub-historical cleaning area and actual sub-historical cleaning duration of at least one historical cleaning task to obtain a corrected sub-historical cleaning area and corrected sub-historical cleaning duration of the historical cleaning task; dividing the corrected sub-historical cleaning area by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

[0195] As an alternative implementation, in step 103, when the target cleaning information includes a target cleaning map, the target cleaning map may include at least one target cleaning area. The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information may include: obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the historical cleaning data; obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map.

[0196] As an embodiment, in step 103, the above-mentioned sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained based on the historical cleaning data, including: obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area.

[0197] As an implementation mode, in step 103, the step of obtaining a plurality of first sub-historical completion times corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each target cleaning area in the second preset time period according to the historical cleaning data of the target cleaning robot in the second preset time period may include: obtaining a plurality of first actual sub-historical completion times corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each target cleaning area in the second preset time period according to the historical cleaning data of the target cleaning robot in the second preset time period. After determining the plurality of first actual sub-historical completion times, obtaining the sub-estimated completion times for the target cleaning robot to clean each target cleaning area according to the plurality of first sub-historical completion times corresponding to each target cleaning area, including: obtaining the sub-estimated completion times for the target cleaning robot to clean each target cleaning area according to the plurality of first actual sub-historical completion times corresponding to each target cleaning area.

[0198] As an implementation mode, in step 103, the step of obtaining the multiple first sub-historical completion times corresponding to the multiple historical cleaning tasks performed by the target cleaning robot on each target cleaning area in the second preset period according to the historical cleaning data of the target cleaning robot in the second preset period may include: obtaining the multiple first actual sub-historical completion times corresponding to the multiple historical cleaning tasks performed by the target cleaning robot on each target cleaning area in the second preset period according to the historical cleaning data of the target cleaning robot in the second preset period. After determining the multiple first actual sub-historical completion times, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area according to the multiple first sub-historical completion times corresponding to each target cleaning area may include: correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area; obtaining the sub-estimated completion time for the target cleaning robot to clean the target cleaning area according to the multiple first corrected sub-historical completion times corresponding to the target cleaning area or according to at least one first corrected sub-historical completion time corresponding to the target cleaning area and at least one first actual sub-historical completion time.

[0199] As an embodiment, in step 103, the above-mentioned step of correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area may include: when a second preset condition is met, correcting the first actual sub-historical completion time to obtain a first corrected sub-historical completion time; wherein, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when executing a historical cleaning task corresponding to a first actual sub-historical completion time: entering a restricted area for cleaning, and wandering at a single cleaning position for a period of time exceeding a first preset period of time.

[0200] As an embodiment, in step 103, when the second preset condition is met, the first actual sub-historical completion time is corrected to obtain the first corrected sub-historical completion time, and the step may include: judging, based on the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, whether there is any behavior of entering the restricted area for cleaning and / or whether there is any behavior of wandering in a single cleaning position for a time period exceeding the first preset time period when the target cleaning robot performs the historical cleaning task on the target cleaning area within the second preset time period; if there is any behavior of entering the restricted area for cleaning and there is no behavior of wandering in a single cleaning position for a time period exceeding the first preset time period, then subtracting the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task from the first actual sub-historical completion time corresponding to the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task. Historical completion time; if there is an act of wandering in a single cleaning position for a time exceeding a first preset time and there is no act of entering a restricted area for cleaning, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the wandering time when the target cleaning robot wanders in a single cleaning position for more than the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task; if there is an act of entering a restricted area for cleaning and there is an act of wandering in a single cleaning position for more than the first preset time, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, and the wandering time when the target cleaning robot wanders in a single cleaning position for more than the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

[0201] As an alternative embodiment, in step 103, the step of obtaining the sub-estimated completion time for the target cleaning robot to execute each target cleaning area based on the historical cleaning data may include: obtaining the second sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area based on the historical cleaning data of the target cleaning robot's most recent cleaning of each target cleaning area; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area.

[0202] As an implementation mode, in step 103, the step of obtaining the second sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each target cleaning area may include: obtaining the second actual sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each target cleaning area. After determining the second actual sub-historical completion time, the step of obtaining the sub-estimated completion time for the target cleaning robot to perform the cleaning on each target cleaning area according to the second sub-historical completion time corresponding to each target cleaning area may include: using the second actual sub-historical completion time of each target cleaning area as the sub-estimated completion time for the target cleaning robot to perform the cleaning on each target cleaning area; or correcting the second actual sub-historical completion time corresponding to at least one target cleaning area to obtain the second corrected sub-historical completion time, and using the second corrected sub-historical completion time as the sub-estimated completion time for the target cleaning robot to perform the cleaning on the target cleaning area.

[0203] As an alternative embodiment, in step 103, when the target cleaning information includes a target cleaning area and a target cleaning map, the target cleaning map may include at least one target cleaning scene, and the target cleaning area may include a target scene cleaning area for each target cleaning scene. The step of obtaining an estimated completion time for the target cleaning robot to perform a target cleaning task based on historical cleaning data and target cleaning information may include: obtaining an estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene based on historical cleaning data; obtaining an estimated completion time for the target cleaning robot to perform a target cleaning task based on the estimated scene cleaning speed and target scene cleaning area corresponding to each target cleaning scene in the target cleaning map.

[0204] As an embodiment, in step 103, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the historical cleaning data may include: obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the first historical scene average cleaning speed of each target cleaning scene.

[0205] As an embodiment, in step 103, the step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period may include: obtaining the total cleaning area of ​​the historical scenes and the total cleaning time of the historical scenes cleaned by the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; obtaining the total cleaning area of ​​the historical scenes and the total cleaning time of the historical scenes according to the total cleaning time of the historical scenes corresponding to each target cleaning scene The cleaning area and the total cleaning time of the historical scenes are used to obtain the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within a third preset time period; or, based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period, the sub-historical scene cleaning speeds of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks for each target cleaning scene within the third preset time period are obtained; based on the multiple sub-historical scene cleaning speeds corresponding to each target cleaning scene, the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period is obtained.

[0206] As an embodiment, in step 103, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the historical cleaning data may also include: obtaining the second historical scene average cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot; obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the second historical scene average cleaning speed of each target cleaning scene.

[0207] As an alternative embodiment, in step 103, the target cleaning information also includes at least one of the following information: cleaning mode, working mode; cleaning mode includes at least two of sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping first and mopping later mode; working mode includes at least smart mode and custom mode, and in custom mode, the target cleaning information also includes at least one cleaning parameter of sweeping times, mopping times, and sweeping and mopping times. According to the target cleaning task, obtaining the target cleaning information corresponding to the target cleaning task may include: according to the target cleaning task, obtaining the target cleaning mode and / or target working mode corresponding to the target cleaning task; according to the historical cleaning data and the target cleaning information, obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task, including: according to the historical cleaning data in the same mode as the target cleaning mode and / or target working mode, obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task.

[0208] As an implementation manner, in step 104, outputting the estimated completion time includes at least one of the following situations: announcing the estimated completion time by voice, and sending the estimated completion time to the mobile terminal.

[0209] As an embodiment, in step 104, the target cleaning information includes a target cleaning map, the target cleaning map includes at least one target cleaning area; the estimated completion time is sent to the mobile terminal, including: sending the target cleaning map marked with the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas to the mobile terminal.

[0210] In some embodiments, the control method of the cleaning robot disclosed in the present application further includes: during the execution of the target cleaning task, outputting an estimated remaining time required to complete the target cleaning task.

[0211] In some specific implementations, the step of outputting the estimated remaining time required to complete the target cleaning task may include:

[0212] (1) Obtain the execution time of the target cleaning task.

[0213] (2) Subtract the execution time from the estimated completion time to obtain the estimated remaining time.

[0214] (3) Output the estimated remaining time.

[0215] It should be noted that the estimated remaining time may be the remaining time determined by determining the time difference between the estimated completion time and the executed time. After the estimated remaining time is determined, the estimated remaining time may be output.

[0216] Alternatively, the step of outputting the estimated remaining time required to complete the target cleaning task may also include:

[0217] (1) Obtain the remaining cleaning area that needs to be performed in the target cleaning task.

[0218] (2) Obtain an estimated remaining time based on the remaining cleaning area and the estimated cleaning speed of the target cleaning robot performing the target cleaning task.

[0219] (3) Output the estimated remaining time.

[0220] The estimated remaining time may also be a remaining time determined according to the remaining cleaning area in the target cleaning task and the estimated cleaning speed of the target cleaning robot. After the estimated remaining time is determined, the estimated remaining time may be output.

[0221] Alternatively, the step of outputting the estimated remaining time required to complete the target cleaning task may also include:

[0222] (1) Obtain the remaining cleaning area that needs to be performed in the target cleaning task.

[0223] (2) Obtain an estimated remaining time according to the sub-estimated completion time of the target cleaning robot for cleaning each remaining cleaning area.

[0224] (3) Output the estimated remaining time.

[0225] The estimated remaining time may also be a time of a sub-estimated completion time for each remaining cleaning area that has not been cleaned in the target cleaning task. After determining the estimated remaining time, the estimated remaining time may be output.

[0226] In some embodiments, the control method of the cleaning robot disclosed in the present application further includes: saving and / or uploading preset cleaning data of the cleaning task while the target cleaning robot is performing the cleaning task or after completing the cleaning task.

[0227] The preset cleaning data includes at least one of the following data:

[0228] The cleaning area of ​​each target cleaning area in the cleaning task;

[0229] The total cleaning area of ​​the cleaning task;

[0230] The cleaning time of each target cleaning area in the cleaning task;

[0231] The total cleaning time of the cleaning task;

[0232] The number of cleanings performed by the target cleaning robot in each target cleaning area in the cleaning task;

[0233] The number of collisions of the target cleaning robot in each target cleaning area in the cleaning task;

[0234] The total number of collisions with the target cleaning robot in this cleaning task;

[0235] Information used to characterize the degree of dirtiness of each target cleaning area in the cleaning task;

[0236] The number of times the target cleaning robot washes the mop in the cleaning task;

[0237] The time for the target cleaning robot to wash the mop in the cleaning task;

[0238] The moving trajectory of the target cleaning robot in this cleaning task.

[0239] In some embodiments, the control method of the cleaning robot disclosed in the present application further includes: obtaining at least one of the following information according to the preset cleaning data:

[0240] The degree of dirtiness of each cleaning area;

[0241] How many times each cleaning area needs to be cleaned;

[0242] The location of the obstacle;

[0243] Target cleaning robot has difficulty moving areas;

[0244] A cleaning position where the wandering time exceeds a first preset time.

[0245] In some embodiments, the control method of the cleaning robot disclosed in the present application further includes: after completing the target cleaning task, outputting a speed-up suggestion. The speed-up suggestion includes at least one of the following suggestions: setting the first cleaning area as a restricted area, changing the cleaning times of the second cleaning area, and changing the cleaning motion trajectory of the third cleaning area.

[0246] In some embodiments, the control method of the cleaning robot disclosed in the present application further includes: obtaining cleaning requirement information. After determining the cleaning requirement information, outputting a cleaning plan that meets the cleaning requirement according to the cleaning requirement information.

[0247] exist Figure 1 In the described method embodiment, the cleaning robot can obtain a target cleaning task; obtain target cleaning information corresponding to the target cleaning task according to the target cleaning task; obtain an estimated completion time for the target cleaning robot to perform the target cleaning task according to historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during the user's use of the cleaning robot, the cleaning robot can determine the estimated completion time corresponding to the target cleaning task according to the target cleaning information and historical cleaning data corresponding to the target cleaning task, and output the estimated completion time. Thus, the user can intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increase the interactive content output by the cleaning robot to the user, reduce the phenomenon that the cleaning robot fails to complete the expected target cleaning task before the user's expected time point, and thus improve the user's satisfaction with the cleaning robot.

[0248] See also Figure 2 , Figure 2 1 is a flow chart of a control method of a cleaning robot provided in an embodiment of the present application. Figure 2 As shown, the target cleaning information may include a target cleaning area. The control method of the cleaning robot may be applied to the cleaning robot, and the specific steps of step 103 in the control method of the cleaning robot may include the following detailed steps.

[0249] Step A1031: Obtain an estimated cleaning speed of the target cleaning robot performing the target cleaning task based on historical cleaning data.

[0250] The estimated cleaning speed may be a predicted time for predicting the time for a target cleaning robot to complete a target cleaning task based on historical cleaning data, and a cleaning speed corresponding to the target cleaning robot completing the target cleaning task is determined.

[0251] Step A1032: Obtain an estimated completion time for the target cleaning robot to perform the target cleaning task based on the estimated cleaning speed and the target cleaning area.

[0252] After the estimated cleaning speed of the target cleaning robot is determined based on the historical cleaning data, the cleaning time of the target cleaning robot can be predicted based on the estimated cleaning speed to obtain the estimated completion time of the target cleaning robot performing the target cleaning task.

[0253] As an embodiment, in step A1031, the step of obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task based on the historical cleaning data may include: obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot in the first preset period. After determining the historical average cleaning speed, the estimated cleaning speed of the target cleaning robot performing the target cleaning task may be obtained based on the historical average cleaning speed.

[0254] It should be noted that the first preset time period may be the length of time between the start of the target cleaning task and the end of the target cleaning task when the reference cleaning robot and / or the target cleaning robot performs any one (one) of a plurality of different target cleaning tasks. The historical cleaning data may include historical cleaning data of the reference cleaning robot within a plurality of first preset time periods.

[0255] As an embodiment, in step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot in the first preset period may include: obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset period. After determining the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period may be obtained according to the historical total cleaning area and the historical total cleaning time.

[0256] As an embodiment, in step A1031, the above-mentioned step of obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period may include: obtaining the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period. After determining the actual historical total cleaning area and the actual historical total cleaning time, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset time period according to the historical total cleaning area and the historical total cleaning time may be obtained by dividing the actual historical total cleaning area by the actual historical total cleaning time to obtain the historical average cleaning speed.

[0257] As an embodiment, in step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot in the first preset period may also include: obtaining the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot. After determining the actual historical total cleaning area and the actual historical total cleaning time, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period according to the historical total cleaning area and the historical total cleaning time may include: correcting the actual historical total cleaning area and the actual historical total cleaning time to obtain the corrected historical total cleaning area and the corrected historical total cleaning time. After determining the corrected historical total cleaning area and the corrected historical total cleaning time, the corrected historical total cleaning area may be divided by the corrected historical total cleaning time to obtain the historical average cleaning speed.

[0258] It should be noted that after determining the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot, it can be determined whether the historical cleaning data meets the first preset condition when performing the target cleaning task. In the case of determining that there is a target cleaning robot and / or at least one reference cleaning robot in the historical cleaning data that meets the first preset condition, it can be determined that the target cleaning robot and / or at least one reference cleaning robot enters the restricted area to clean and wanders in a single cleaning position for a period of time exceeding the first preset time when performing the target cleaning task. In this way, the historical cleaning data that meets the first preset condition cannot accurately represent the cleaning data under normal circumstances. Therefore, the historical total cleaning area and the historical total cleaning time can be corrected to determine the corrected historical total cleaning area and the corrected historical total cleaning time. After determining the corrected historical total cleaning area and the corrected historical total cleaning time, the historical average cleaning speed calculated after the historical cleaning data is corrected can be obtained according to the corrected historical total cleaning area and the corrected historical total cleaning time.

[0259] As an implementation, in step A1031, the above-mentioned step of correcting the actual historical total cleaning area and the actual historical total cleaning time may include: when a first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected. The first preset condition includes that the target cleaning robot and / or the reference cleaning robot has at least one of the following behaviors within the first preset time period: entering a restricted area for cleaning, and wandering at a single cleaning position for a time period exceeding the first preset time period.

[0260] As an embodiment, in step A1031, the step of correcting the actual historical total cleaning area and / or the actual historical total cleaning time when the first preset condition is met may include: judging, based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, whether the target cleaning robot and / or the reference cleaning robot has entered a restricted area for cleaning within the first preset time period and / or whether it has lingered in a single cleaning position for a time period exceeding the first preset time period.

[0261] If there is an act of entering the restricted area for cleaning and there is no act of wandering in a single cleaning position for a time period exceeding the first preset time period, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period is subtracted from the actual historical total cleaning area to obtain a revised historical total cleaning area. Also, the first restricted area cleaning time of the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period is subtracted from the actual historical total cleaning time to obtain a revised historical total cleaning time.

[0262] If there is a behavior of wandering at a single cleaning position for a duration exceeding the first preset duration and there is no behavior of entering a restricted area for cleaning, the actual historical total cleaning area is subtracted from the wandering cleaning area of ​​the cleaning position corresponding to each wandering duration of the target cleaning robot and / or the reference cleaning robot exceeding the first preset duration in the first preset period to obtain a revised historical total cleaning area. Also, the wandering duration of the target cleaning robot and / or the reference cleaning robot exceeding the first preset duration in the first preset period is subtracted from the actual historical total cleaning duration to obtain a revised historical total cleaning duration.

[0263] If there is a behavior of entering the restricted area for cleaning and there is a behavior of wandering at a single cleaning position for a duration exceeding the first preset duration, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset period and the wandering cleaning area of ​​the cleaning position corresponding to each wandering duration exceeding the first preset duration within the first preset period are subtracted from the actual historical total cleaning area to obtain a revised historical total cleaning area. And the first restricted area cleaning duration of the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset period and the wandering duration exceeding the first preset duration within the first preset period are subtracted from the actual historical total cleaning duration to obtain a revised historical total cleaning duration.

[0264] As an alternative embodiment, in step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot in the first preset period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot in the first preset period may also include: obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot in the first preset period based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks in the first preset period. After determining the multiple sub-historical average cleaning speeds, the historical average cleaning speeds of the target cleaning robot and the reference cleaning robot in the first preset period may be obtained based on the multiple sub-historical average cleaning speeds.

[0265] The sub-historical average cleaning speed may be used to represent the cleaning speeds of multiple reference cleaning robots when cleaning each historical cleaning task.

[0266] It should be noted that the average of multiple sub-historical average cleaning speeds in the historical cleaning data may be calculated to obtain a historical average cleaning speed that can be used to represent the target cleaning robot in the first preset time period.

[0267] As an implementation mode, in step A1031, the above-mentioned step of obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot in the first preset period of time according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks in the first preset period of time may include: obtaining the actual sub-historical cleaning areas and the actual sub-historical cleaning durations of the multiple historical cleaning tasks according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks in the first preset period of time. And dividing the multiple actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain multiple sub-historical average cleaning speeds. Alternatively, according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks in the first preset period of time, the actual sub-historical cleaning areas and the actual sub-historical cleaning durations of the multiple historical cleaning tasks are obtained. After determining the actual sub-historical cleaning area and the actual sub-historical cleaning duration, the actual sub-historical cleaning area and the actual sub-historical cleaning duration of at least one historical cleaning task may be corrected to obtain the corrected sub-historical cleaning area and the corrected sub-historical cleaning duration of the historical cleaning task. And divide the corrected sub-historical cleaning area by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

[0268] exist Figure 2In the described method embodiment, the cleaning robot can obtain a target cleaning task; obtain target cleaning information corresponding to the target cleaning task according to the target cleaning task; obtain an estimated completion time for the target cleaning robot to perform the target cleaning task according to historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during the user's use of the cleaning robot, the cleaning robot can determine the estimated completion time corresponding to the target cleaning task according to the target cleaning information and historical cleaning data corresponding to the target cleaning task, and output the estimated completion time. Thus, the user can intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increase the interactive content output by the cleaning robot to the user, reduce the phenomenon that the cleaning robot fails to complete the expected target cleaning task before the user's expected time point, and thus improve the user's satisfaction with the cleaning robot.

[0269] See also Figure 3 , Figure 3 1 is a flow chart of a control method of a cleaning robot provided in an embodiment of the present application. Figure 3 As shown, the target cleaning information may include a target cleaning map, and the target cleaning map may include at least one target cleaning area. The control method of the cleaning robot may be applied to the cleaning robot, and the specific steps of step 103 in the control method of the cleaning robot may also include the following detailed steps.

[0270] Step B1031: Obtain the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the historical cleaning data.

[0271] The sub-estimated completion time may be used to represent the time average of a plurality of required times corresponding to executing the corresponding historical cleaning tasks on each target cleaning area within the second preset time period.

[0272] Step B1032: Obtain the estimated completion time for the target cleaning robot to perform the target cleaning task according to the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map.

[0273] After determining the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map for the target cleaning robot to clean, the estimated completion time for executing the target cleaning task can be determined.

[0274] As an embodiment, in step B1031, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the historical cleaning data may include: obtaining a plurality of first sub-historical completion times corresponding to a plurality of historical cleaning tasks performed by the target cleaning robot on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the plurality of first sub-historical completion times corresponding to each target cleaning area.

[0275] As an implementation mode, in step B1031, the step of obtaining a plurality of first sub-historical completion times corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each target cleaning area in the second preset time period according to the historical cleaning data of the target cleaning robot in the second preset time period may include: obtaining a plurality of first actual sub-historical completion times corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each target cleaning area in the second preset time period according to the historical cleaning data of the target cleaning robot in the second preset time period. After determining the plurality of first actual sub-historical completion times, obtaining the sub-estimated completion times for the target cleaning robot to clean each target cleaning area according to the plurality of first sub-historical completion times corresponding to each target cleaning area, including: obtaining the sub-estimated completion times for the target cleaning robot to clean each target cleaning area according to the plurality of first actual sub-historical completion times corresponding to each target cleaning area.

[0276] As an implementation mode, in step B1031, the step of obtaining the multiple first sub-historical completion times corresponding to the multiple historical cleaning tasks performed by the target cleaning robot on each target cleaning area in the second preset period according to the historical cleaning data of the target cleaning robot in the second preset period may include: obtaining the multiple first actual sub-historical completion times corresponding to the multiple historical cleaning tasks performed by the target cleaning robot on each target cleaning area in the second preset period according to the historical cleaning data of the target cleaning robot in the second preset period. After determining the multiple first actual sub-historical completion times, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area according to the multiple first sub-historical completion times corresponding to each target cleaning area may include: correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area; obtaining the sub-estimated completion time for the target cleaning robot to clean the target cleaning area according to the multiple first corrected sub-historical completion times corresponding to the target cleaning area or according to at least one first corrected sub-historical completion time corresponding to the target cleaning area and at least one first actual sub-historical completion time.

[0277] As an embodiment, in step B1031, the above-mentioned step of correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area may include: when a second preset condition is met, correcting the first actual sub-historical completion time to obtain a first corrected sub-historical completion time; wherein, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when performing a historical cleaning task corresponding to a first actual sub-historical completion time: entering a restricted area for cleaning, and wandering at a single cleaning position for a period of time exceeding a first preset period of time.

[0278] As an embodiment, in step B1031, when the second preset condition is met, the first actual sub-historical completion time is corrected to obtain the first corrected sub-historical completion time, and the step may include: judging, based on the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, whether there is any behavior of entering the restricted area for cleaning and / or whether there is any behavior of wandering in a single cleaning position for a time period exceeding the first preset time period when the target cleaning robot performs the historical cleaning task on the target cleaning area within the second preset time period; if there is any behavior of entering the restricted area for cleaning and there is no behavior of wandering in a single cleaning position for a time period exceeding the first preset time period, then subtracting the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task from the first actual sub-historical completion time corresponding to the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task. Sub-historical completion time; if there is an act of wandering in a single cleaning position for a time exceeding a first preset time and there is no act of entering a restricted area for cleaning, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the wandering time when the target cleaning robot wanders in a single cleaning position for more than the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task; if there is an act of entering a restricted area for cleaning and there is an act of wandering in a single cleaning position for more than the first preset time, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, and the wandering time when the target cleaning robot wanders in a single cleaning position for more than the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

[0279] As an alternative embodiment, in step B1031, the step of obtaining the sub-estimated completion time for the target cleaning robot to execute each target cleaning area based on the historical cleaning data may include: obtaining the second sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area based on the historical cleaning data of the target cleaning robot's most recent cleaning of each target cleaning area; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area.

[0280] As an implementation mode, in step B1031, the step of obtaining the second sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each target cleaning area may include: obtaining the second actual sub-historical completion time for the target cleaning robot to perform the most recent cleaning on each target cleaning area according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each target cleaning area. After determining the second actual sub-historical completion time, the step of obtaining the sub-estimated completion time for the target cleaning robot to perform the cleaning on each target cleaning area according to the second sub-historical completion time corresponding to each target cleaning area may include: using the second actual sub-historical completion time of each target cleaning area as the sub-estimated completion time for the target cleaning robot to perform the cleaning on each target cleaning area; or correcting the second actual sub-historical completion time corresponding to at least one target cleaning area to obtain the second corrected sub-historical completion time, and using the second corrected sub-historical completion time as the sub-estimated completion time for the target cleaning robot to perform the cleaning on the target cleaning area.

[0281] exist Figure 3 In the described method embodiment, the cleaning robot can obtain a target cleaning task; obtain target cleaning information corresponding to the target cleaning task according to the target cleaning task; obtain an estimated completion time for the target cleaning robot to perform the target cleaning task according to historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, in the process of the user using the cleaning robot, the cleaning robot can determine the estimated completion time corresponding to the target cleaning task according to the target cleaning information and historical cleaning data corresponding to the target cleaning task, and output the estimated completion time. Thus, the user can intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increase the interactive content output by the cleaning robot to the user, reduce the phenomenon that the cleaning robot fails to complete the expected target cleaning task before the user's expected time point, and thus improve the user's satisfaction with the cleaning robot.

[0282] See also Figure 4 , Figure 4 1 is a flow chart of a control method of a cleaning robot provided in an embodiment of the present application. Figure 4 As shown, the target cleaning information may include a target cleaning map and a target cleaning area, the target cleaning map may include at least one target cleaning scene, and the target cleaning area includes a target scene cleaning area for each target cleaning scene. The control method of the cleaning robot can be applied to the cleaning robot, and the specific steps of step 103 in the control method of the cleaning robot may also include the following detailed steps.

[0283] Step C1031: Obtain an estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data.

[0284] The estimated scene cleaning speed may be used to indicate the cleaning speed of the target cleaning robot and / or the reference cleaning robot when cleaning the target cleaning scene. The target cleaning scene may be a different scene in which the target cleaning robot works, and the target cleaning scene may include a cooking scene in the kitchen, a home scene in the living room, and other different scenes.

[0285] Step C1032: Obtain an estimated completion time for the target cleaning robot to perform the target cleaning task according to the estimated scene cleaning speed and the target scene cleaning area corresponding to each target cleaning scene in the target cleaning map.

[0286] As an embodiment, in step C1031, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the historical cleaning data may include: obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the first historical scene average cleaning speed of each target cleaning scene.

[0287] As an embodiment, in step C1031, the step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period may include: obtaining the total cleaning area of ​​the historical scenes and the total cleaning time of the historical scenes cleaned by the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; obtaining the total cleaning area of ​​the historical scenes and the total cleaning time of the historical scenes corresponding to each target cleaning scene based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot The cleaning area and the total cleaning time of the historical scenes are used to obtain the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within a third preset time period; or, based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period, the sub-historical scene cleaning speeds of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks for each target cleaning scene within the third preset time period are obtained; based on the multiple sub-historical scene cleaning speeds corresponding to each target cleaning scene, the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period is obtained.

[0288] As an embodiment, in step C1031, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the historical cleaning data may also include: obtaining the second historical scene average cleaning speed of the target cleaning robot for the most recent cleaning of each target cleaning scene based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot; obtaining the estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene based on the second historical scene average cleaning speed of each target cleaning scene.

[0289] exist Figure 4In the described method embodiment, the cleaning robot can obtain a target cleaning task; obtain target cleaning information corresponding to the target cleaning task according to the target cleaning task; obtain an estimated completion time for the target cleaning robot to perform the target cleaning task according to historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, in the process of the user using the cleaning robot, the cleaning robot can determine the estimated completion time corresponding to the target cleaning task according to the target cleaning information and historical cleaning data corresponding to the target cleaning task, and output the estimated completion time. Thus, the user can intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increase the interactive content output by the cleaning robot to the user, reduce the phenomenon that the cleaning robot fails to complete the expected target cleaning task before the user's expected time point, and thus improve the user's satisfaction with the cleaning robot.

[0290] This embodiment also provides a cleaning control device, which can be used for a cleaning robot. The cleaning control device may include a duration and a controller. The memory may be used to store a computer program, the processor may be used to execute the computer program, and when executing the computer program, the steps of the control method of the cleaning robot are implemented.

[0291] This embodiment also provides a cleaning robot, which includes a robot body and the above-mentioned cleaning control device, and the cleaning control device is used to control the above-mentioned robot body to perform cleaning tasks.

[0292] This embodiment also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor (such as the above-mentioned controller), the processor implements the steps of the ventilation control method of the bellows device. The computer-readable storage medium can be an internal storage unit of the above-mentioned ventilation device, such as a hard disk or memory of the ventilation device; or the computer-readable storage medium can also be an external storage device of the ventilation device, such as a plug-in hard disk equipped on the ventilation device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc.

[0293] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: include: Get the target cleaning task; According to the target cleaning task, obtaining target cleaning information corresponding to the target cleaning task; Obtaining an estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information; Output the estimated completion time.

2. The control method of the cleaning robot according to claim 1, characterized in that: The target cleaning information includes at least one of the following information: a target cleaning area and a target cleaning map.

3. The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes a target cleaning area; The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes: Obtaining an estimated cleaning speed of the target cleaning robot performing the target cleaning task according to the historical cleaning data; According to the estimated cleaning speed and the target cleaning area, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

4. The control method of the cleaning robot according to claim 3, characterized in that: The step of obtaining an estimated cleaning speed of the target cleaning robot for performing the target cleaning task according to the historical cleaning data includes: Obtaining a historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period; According to the historical average cleaning speed, an estimated cleaning speed of the target cleaning robot performing the target cleaning task is obtained.

5. The control method of the cleaning robot according to claim 4, characterized in that: The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period comprises: According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot in the first preset time period, obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot in the first preset time period; According to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained.

6. The control method of the cleaning robot according to claim 5, characterized in that: The step of obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained; The obtaining, according to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: The actual historical total cleaning area is divided by the actual historical total cleaning time to obtain the historical average cleaning speed.

7. The control method of the cleaning robot according to claim 5, characterized in that: The step of obtaining the historical total cleaning area and the historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and the actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained; The obtaining, according to the historical total cleaning area and the historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: Correcting the actual historical total cleaning area and the actual historical total cleaning duration to obtain a corrected historical total cleaning area and the corrected historical total cleaning duration; The corrected historical total cleaning area is divided by the corrected historical total cleaning time to obtain the historical average cleaning speed.

8. The control method of the cleaning robot according to claim 7, characterized in that: The correcting of the actual historical total cleaning area and the actual historical total cleaning time includes: When the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected; The first preset condition includes that the target cleaning robot and / or the reference cleaning robot has at least one of the following behaviors within the first preset time period: entering a restricted area for cleaning, and wandering in a single cleaning position for a period exceeding a first preset time.

9. The control method of the cleaning robot according to claim 8, characterized in that: When the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected, including: According to the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, determine whether the target cleaning robot and / or the reference cleaning robot has entered a restricted area for cleaning within the first preset time period and / or has wandered at a single cleaning position for a time period exceeding a first preset time period; If there is an act of entering the restricted area for cleaning and there is no act of wandering at a single cleaning position for a time period exceeding a first preset time period, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period is subtracted from the actual historical total cleaning area to obtain the corrected historical total cleaning area; The actual historical total cleaning time is subtracted from the first restricted area cleaning time that the target cleaning robot and / or the reference cleaning robot enters the restricted area to clean within the first preset time period, to obtain the corrected historical total cleaning time; If there is a behavior of wandering at a single cleaning position for a duration exceeding a first preset duration and there is no behavior of entering a restricted area for cleaning, then the actual historical total cleaning area is subtracted from the wandering cleaning area of ​​the target cleaning robot and / or the reference cleaning robot at each cleaning position corresponding to the wandering duration exceeding the first preset duration within the first preset time period to obtain the corrected historical total cleaning area; Subtract the wandering time of the target cleaning robot and / or the reference cleaning robot that exceeds the first preset time period from the actual historical total cleaning time to obtain the corrected historical total cleaning time; If there is a behavior of entering the restricted area for cleaning and there is a behavior of wandering at a single cleaning position for a duration exceeding a first preset duration, the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot entering the restricted area for cleaning within the first preset time period and the wandering cleaning area of ​​the cleaning positions corresponding to each wandering duration exceeding the first preset time period within the first preset time period are subtracted from the actual historical total cleaning area to obtain the corrected historical total cleaning area; The actual total historical cleaning time is subtracted from the first restricted area cleaning time when the target cleaning robot and / or the reference cleaning robot enters the restricted area for cleaning within the first preset time period and the wandering time exceeding the first preset time within the first preset time period, to obtain the corrected total historical cleaning time.

10. The control method of the cleaning robot according to claim 4, characterized in that: The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period according to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period comprises: According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, a plurality of sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained respectively; The historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained according to the multiple sub-historical average cleaning speeds.

11. The control method of the cleaning robot according to claim 10, characterized in that: The method of obtaining a plurality of sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot in the first preset time period according to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks in the first preset time period respectively includes: According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, actual sub-historical cleaning areas and actual sub-historical cleaning durations of the plurality of historical cleaning tasks are obtained; Dividing a plurality of the actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain a plurality of the sub-historical average cleaning speeds; or, According to the historical cleaning data of the target cleaning robot and the reference cleaning robot performing a plurality of historical cleaning tasks within a first preset time period, actual sub-historical cleaning areas and actual sub-historical cleaning durations of the plurality of historical cleaning tasks are obtained; Correcting the actual sub-historical cleaning area and the actual sub-historical cleaning duration of at least one historical cleaning task to obtain a corrected sub-historical cleaning area and a corrected sub-historical cleaning duration of the historical cleaning task; The corrected sub-historical cleaning area is divided by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

12. The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area; The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes: Obtaining, based on the historical cleaning data, a sub-estimated completion time for the target cleaning robot to clean each target cleaning area; The estimated completion time for the target cleaning robot to perform the target cleaning task is obtained according to the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map.

13. The control method of the cleaning robot according to claim 12, characterized in that: The obtaining, based on the historical cleaning data, a sub-estimated completion time for the target cleaning robot to clean each target cleaning area includes: According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained; According to the multiple first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

14. The control method of the cleaning robot according to claim 13, characterized in that: The step of obtaining, based on the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each of the target cleaning areas in the second preset time period, includes: According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first actual sub-historical completion times corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained; The step of obtaining, according to the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area comprises: According to the multiple first actual sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

15. The control method of the cleaning robot according to claim 13, characterized in that: The step of obtaining, based on the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first sub-historical completion durations corresponding to the target cleaning robot performing a plurality of historical cleaning tasks on each of the target cleaning areas in the second preset time period, includes: According to the historical cleaning data of the target cleaning robot in the second preset time period, a plurality of first actual sub-historical completion times corresponding to the plurality of historical cleaning tasks performed by the target cleaning robot on each of the target cleaning areas in the second preset time period are obtained; The step of obtaining, according to the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area comprises: Correcting at least one of the first actual sub-historical completion time corresponding to one of the target cleaning areas to obtain at least one first corrected sub-historical completion time of the target cleaning area; Based on multiple first corrected sub-historical completion times corresponding to the target cleaning area or based on at least one first corrected sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area, the sub-estimated completion time for the target cleaning robot to clean the target cleaning area is obtained.

16. The control method of the cleaning robot according to claim 15, characterized in that: The step of correcting at least one of the first actual sub-historical completion durations corresponding to one of the target cleaning areas to obtain at least one first corrected sub-historical completion duration of the target cleaning area includes: When the second preset condition is met, the first actual sub-history completion time is corrected to obtain a first corrected sub-history completion time; Among them, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when executing a historical cleaning task corresponding to the first actual sub-historical completion time: entering a restricted area for cleaning, and wandering at a single cleaning position for a time period exceeding the first preset time period.

17. The control method of the cleaning robot according to claim 16, characterized in that: When the second preset condition is met, the first actual sub-history completion time is corrected to obtain a first corrected sub-history completion time, including: According to the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, determining whether the target cleaning robot has entered a restricted area for cleaning and / or has wandered at a single cleaning position for a time period exceeding a first preset time period when performing the historical cleaning task on the target cleaning area within the second preset time period; If there is a behavior of entering the restricted area for cleaning and there is no behavior of wandering at a single cleaning position for a time period exceeding a first preset time period, the first actual sub-historical completion time period corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time period when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, to obtain the first corrected sub-historical completion time period of the historical cleaning task; If there is an act of wandering at a single cleaning position for a time period exceeding a first preset time period and there is no act of entering a restricted area for cleaning, then the first actual sub-historical completion time period corresponding to the historical cleaning task is subtracted from the wandering time period of the target cleaning robot wandering at a single cleaning position for a time period exceeding the first preset time period when performing the historical cleaning task, to obtain the first corrected sub-historical completion time period of the historical cleaning task; If there is an act of entering a restricted area for cleaning and there is an act of wandering at a single cleaning position for a time period exceeding a first preset time period, then the first actual sub-historical completion time corresponding to the historical cleaning task will be subtracted from the second restricted area cleaning time when the target cleaning robot enters the restricted area for cleaning when performing the historical cleaning task, and the wandering time when the target cleaning robot wanders at a single cleaning position for more than the first preset time period when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

18. The control method of the cleaning robot according to claim 12, characterized in that: The step of obtaining the sub-estimated completion time for the target cleaning robot to execute each target cleaning area according to the historical cleaning data includes: According to the historical cleaning data of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas, a second sub-historical completion time of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas is obtained; According to the second sub-historical completion time corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

19. The control method of the cleaning robot according to claim 18, characterized in that: According to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas, the second sub-historical completion time of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas is obtained, including: According to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas, obtaining the second actual sub-historical completion time of the target cleaning robot performing the most recent cleaning on each of the target cleaning areas; The obtaining, according to the second sub-historical completion time corresponding to each target cleaning area, a sub-estimated completion time for the target cleaning robot to clean each target cleaning area includes: The second actual sub-historical completion time of each target cleaning area corresponds to the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area; or The second actual sub-historical completion time corresponding to at least one of the target cleaning areas is corrected to obtain a second corrected sub-historical completion time, and the second corrected sub-historical completion time is used as the sub-estimated completion time for the target cleaning robot to clean the target cleaning area.

20. The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes a target cleaning map and a target cleaning area, wherein the target cleaning map includes at least one target cleaning scene, and the target cleaning area includes a target scene cleaning area of ​​each target cleaning scene; The step of calculating the estimated completion time for the target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes: Obtaining, based on the historical cleaning data, an estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene; According to the estimated scene cleaning speed and the target scene cleaning area corresponding to each of the target cleaning scenes in the target cleaning map, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

21. The control method of the cleaning robot according to claim 20, characterized in that: The step of obtaining, based on the historical cleaning data, an estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene comprises: According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, obtaining a first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each target cleaning scene within the third preset time period; According to the first historical scene average cleaning speed of each of the target cleaning scenes, an estimated scene cleaning speed at which the target cleaning robot cleans each of the target cleaning scenes is obtained.

22. The control method of the cleaning robot according to claim 21, characterized in that: The step of obtaining, based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, a first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each target cleaning scene within the third preset time period, comprises: According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, the total cleaning area and the total cleaning time of the historical scenes performed by the target cleaning robot and / or the reference cleaning robot for cleaning each of the target cleaning scenes within the third preset time period are obtained; According to the total cleaning area of ​​the historical scenes corresponding to each of the target cleaning scenes and the total cleaning time of the historical scenes, obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each of the target cleaning scenes within the third preset time period; or, According to the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, obtaining a sub-historical scene cleaning speed of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks on each of the target cleaning scenes within the third preset time period; According to the cleaning speeds of the multiple sub-historical scenes corresponding to each of the target cleaning scenes, a first historical scene average cleaning speed at which the target cleaning robot and / or the reference cleaning robot cleans each of the target cleaning scenes within the third preset time period is obtained.

23. The control method of the cleaning robot according to claim 20, characterized in that: The step of obtaining, based on the historical cleaning data, an estimated scene cleaning speed of the target cleaning robot for cleaning each target cleaning scene comprises: Obtaining, according to the historical cleaning data of the target cleaning robot performing the most recent cleaning on each of the target cleaning scenes, a second historical scene average cleaning speed of the target cleaning robot performing the most recent cleaning on each of the target cleaning scenes; According to the second historical scene average cleaning speed of each of the target cleaning scenes, an estimated scene cleaning speed at which the target cleaning robot cleans each of the target cleaning scenes is obtained.

24. The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information also includes at least one of the following information: cleaning mode, working mode; The cleaning modes include at least two of a sweeping mode, a mopping mode, a simultaneous sweeping and mopping mode, and a sweep-first-then-mopping mode; The working mode includes at least a smart mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter of sweeping times, mopping times, and sweeping and mopping times; The step of obtaining target cleaning information corresponding to the target cleaning task according to the target cleaning task includes: According to the target cleaning task, a target cleaning mode and / or a target working mode corresponding to the target cleaning task is obtained; The step of obtaining an estimated completion time for a target cleaning robot to perform the target cleaning task based on the historical cleaning data and the target cleaning information includes: According to the historical cleaning data in the same mode as the target cleaning mode and / or the target working mode, an estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

25. The control method of the cleaning robot according to any one of claims 1 to 24, characterized in that: The outputting of the estimated completion time includes at least one of the following situations: announcing the estimated completion time by voice, and sending the estimated completion time to a mobile terminal.

26. The control method of the cleaning robot according to claim 25, characterized in that: The target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area; The sending the estimated completion time to the mobile terminal includes sending a target cleaning map indicating the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas to the mobile terminal.

27. The control method of the cleaning robot according to any one of claims 1 to 24, characterized in that: The control method further includes: during the execution of the target cleaning task, outputting an estimated remaining time required to complete the target cleaning task.

28. The control method of the cleaning robot according to claim 27, characterized in that: The output estimates the remaining time required to complete the target cleaning task, including: Obtaining the execution time of the target cleaning task; Subtract the executed time from the estimated completion time to obtain the estimated remaining time; Outputting the estimated remaining time; or, The output estimates the remaining time required to complete the target cleaning task, including: Obtaining the remaining cleaning area that needs to be performed in the target cleaning task; Obtaining the estimated remaining time according to the remaining cleaning area and the estimated cleaning speed of the target cleaning robot performing the target cleaning task; Outputting the estimated remaining time; or, The output estimates the remaining time required to complete the target cleaning task, including: Obtaining the remaining cleaning area that needs to be performed in the target cleaning task; Obtaining the estimated remaining time according to the sub-estimated completion time of the target cleaning robot cleaning each of the remaining cleaning areas; The estimated remaining time is output.

29. The control method of the cleaning robot according to any one of claims 1 to 24, characterized in that: The control method further comprises: During the execution of the target cleaning task, when the target cleaning robot wanders at a single cleaning location for longer than a second preset time and receives a user query on the remaining cleaning time, it outputs a prompt message representing the following signal: it is expected to take more time because the cleaning environment is too complex.

30. The control method of the cleaning robot according to claim 1, characterized in that: The control method further comprises: During the process of the target cleaning robot performing a cleaning task or after completing a cleaning task, saving and / or uploading preset cleaning data of the cleaning task; The preset cleaning data includes at least one of the following data: The cleaning area of ​​each target cleaning area in the cleaning task; The total cleaning area of ​​the cleaning task; The cleaning time of each target cleaning area in the cleaning task; The total cleaning time of the cleaning task; The cleaning times of each target cleaning area by the target cleaning robot in the cleaning task; The number of collisions of the target cleaning robot in each target cleaning area in the cleaning task; The total number of collisions of the target cleaning robot in the cleaning task; Information used to characterize the degree of dirtiness of each target cleaning area in the cleaning task; The number of times the target cleaning robot washes the mop in the cleaning task; The time for the target cleaning robot to wash the mop in the cleaning task; The moving trajectory of the target cleaning robot in the cleaning task.

31. The control method of the cleaning robot according to claim 30, characterized in that: The control method further comprises: According to the preset cleaning data, at least one of the following information is obtained: The degree of dirtiness of each cleaning area; How many times each cleaning area needs to be cleaned; The location of the obstacle; Target cleaning robot has difficulty moving areas; A cleaning position where the wandering time exceeds a first preset time.

32. The control method of the cleaning robot according to any one of claims 1 to 24 or 30 or 31, characterized in that: The control method further includes: after completing the target cleaning task, outputting a speed-up suggestion; The speed-up suggestion includes at least one of the following suggestions: setting the first cleaning area as a restricted area, changing the cleaning times of the second cleaning area, and changing the cleaning motion trajectory of the third cleaning area.

33. The control method of the cleaning robot according to any one of claims 1 to 24 or 30 or 31, characterized in that: The control method further comprises: Obtain cleaning demand information; According to the cleaning requirement information, a cleaning plan that meets the cleaning requirement is output.

34. A cleaning control device for a cleaning robot, characterized in that: The cleaning control device includes a memory and a processor; Wherein, the memory is used to store computer programs; The processor is used to: execute the computer program, and when executing the computer program, implement the steps of the control method of the cleaning robot as described in any one of claims 1 to 33.

35. A cleaning robot, characterized in that: It comprises a robot body and a cleaning control device as claimed in claim 32, wherein the cleaning control device is used to control the robot body to perform cleaning tasks.

36. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the control method of the cleaning robot as described in any one of claims 1 to 33.

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