Backwashing judgment method and device, self-moving robot and system and storage medium

Abstract

The invention relates to a backwashing judgment method and device, a self-moving robot, a system and a storage medium. The backwashing judgment method is applied to the self-moving robot and comprises the steps that first cleaning data of a cleaning assembly when the self-moving robot executes a sweeping and mopping task are obtained, and the cleaning data are used for representing the current cleaning degree of the cleaning assembly; according to the first cleaning data and preset second cleaning data, the dirt value of the cleaning assembly is obtained, and the second cleaning data is used for representing the cleanliness degree of the cleaning assembly in the clean state; and according to the dirt numerical value and a preset first dirt threshold value, whether the self-moving robot is controlled to backwash the cleaning assembly or not is judged. By means of the method, the backwash cleaning assembly can be judged and controlled more flexibly, and the working efficiency of the self-moving robot executing the sweeping and mopping task can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent cleaning technology, and in particular to a backwash determination method and device, a self-moving robot and system, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the development of intelligent cleaning technology, self-propelled robots, as a kind of intelligent cleaning equipment, can replace manual work to perform sweeping and mopping tasks in the sweeping and mopping area. In traditional technology, when self-propelled robots perform sweeping and mopping tasks, the judgment of controlling the backwashing cleaning components is not flexible enough. Summary of the invention

[0003] Based on this, it is necessary to provide a backwash judgment method and device, a self-moving robot and system, a computer-readable storage medium and a computer program product that can more flexibly judge and control the backwash cleaning component in response to the above technical problems.

[0004] In a first aspect, the present application provides a backwashing judgment method, which is applied to a self-propelled robot. The backwashing judgment method includes:

[0005] Acquire first cleaning data of the cleaning component when the mobile robot performs a sweeping and mopping task, the cleaning data being used to characterize a current cleanliness level of the cleaning component;

[0006] According to the first cleaning data and the preset second cleaning data, a dirtiness value of the cleaning component is obtained, wherein the second cleaning data is used to characterize the cleanliness of the cleaning component when it is in a clean state;

[0007] According to the dirtiness value and a preset first dirtiness threshold, it is determined whether to control the self-moving robot to backwash the cleaning component.

[0008] In one embodiment, the self-propelled robot further includes a spectral sensor for detecting the cleaning component, and the cleaning data includes spectral data; obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data includes:

[0009] According to the first spectral data and the second spectral data, spectral intensity change information corresponding to each wavelength is respectively obtained as the corresponding first dirtiness value.

[0010] In one embodiment, the first dirt threshold comprises a spectral dirt threshold; judging whether to control the self-moving robot to backwash the cleaning component according to the dirt value and the preset dirt threshold comprises:

[0011] When any first dirtiness value is not less than the spectral dirtiness threshold, controlling the self-moving robot to backwash the cleaning component; and / or

[0012] When each of the first dirtiness values ​​is less than the spectral dirtiness threshold, the self-moving robot is not controlled to backwash the cleaning component.

[0013] In one embodiment, the self-propelled robot further includes two sensing electrodes disposed on the cleaning component, and the cleaning data further includes electrical data between the two sensing electrodes; obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data includes:

[0014] According to the first electrical property data and the second electrical property data, electrical property change information between the two sensing electrodes is obtained as a second contamination value.

[0015] In one embodiment, the first dirt threshold further includes an electrical dirt threshold; judging whether to control the self-moving robot to backwash the cleaning component according to the dirt value and the preset dirt threshold includes:

[0016] When the second dirtiness value is not less than the electrical dirtiness threshold, controlling the self-moving robot to backwash the cleaning component; and / or

[0017] When the second dirtiness value is less than the electrical dirtiness threshold, the self-moving robot is not controlled to backwash the cleaning component.

[0018] In one embodiment, the backwash determination method further includes:

[0019] Obtaining a regional distribution map corresponding to a sweeping and mopping task, where the regional distribution map includes multiple sweeping and mopping areas;

[0020] According to the backwash data of the self-moving robot, a first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area is determined, and the first sweeping and mopping strategy includes at least one of sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density, and sweeping and mopping times.

[0021] In one embodiment, determining a first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the backwashing data of the self-moving robot includes:

[0022] Determine a first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the backwashing interval time of the self-moving robot in each sweeping and mopping area; or

[0023] According to the area of ​​each sweeping and mopping area and the number of backwashing times of the self-moving robot in each sweeping and mopping area, the first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area is determined.

[0024] In one embodiment, the backwash determination method further includes:

[0025] determining a second sweeping and mopping strategy of the self-moving robot according to the backwashing interval time of the self-moving robot, wherein the second sweeping and mopping strategy includes at least one of a sweeping and mopping speed, a sweeping and mopping intensity, a sweeping and mopping density, and a sweeping and mopping number;

[0026] The target sweeping and mopping trajectory is swept and mopped again based on the second sweeping and mopping strategy, where the target sweeping and mopping trajectory is the sweeping and mopping trajectory of the self-moving robot within the backwashing interval.

[0027] In one embodiment, the backwash determination method further includes:

[0028] After backwashing of the cleaning component is completed, the current cleanliness level of the cleaning component is obtained as third cleaning data;

[0029] Acquiring a dirtiness value of the cleaning component according to the third cleaning data and the second cleaning data;

[0030] When the dirtiness value is not less than a preset second dirtiness threshold, the self-moving robot is controlled to backwash the cleaning component again.

[0031] In one embodiment, the backwash determination method further includes:

[0032] When the dirtiness value is less than the second dirtiness threshold, the second cleaning data is updated according to the third cleaning data.

[0033] In one embodiment, the backwash determination method further includes:

[0034] After the cleaning component is repeatedly backwashed for a preset number of times, if the dirtiness value is still not less than the second dirtiness threshold, the user is prompted to replace the cleaning component.

[0035] In one embodiment, the backwash determination method further includes:

[0036] When the self-moving robot is controlled to backwash the cleaning component, a backwash strategy of the cleaning component is determined according to the dirtiness value, and the backwash strategy includes at least one of a backwash detergent, a backwash time, a backwash water amount, and a backwash water temperature.

[0037] In one embodiment, obtaining first cleaning data of a cleaning component when a mobile robot performs a sweeping and mopping task includes:

[0038] Periodically acquiring first cleaning data of the cleaning component when the mobile robot performs a sweeping and mopping task;

[0039] Determining whether to control the self-moving robot to backwash the cleaning component includes:

[0040] Periodically determine whether to control the self-moving robot to backwash the cleaning components.

[0041] In a second aspect, the present application further provides a self-moving robot, the self-moving robot comprising:

[0042] A control component for executing the steps of the above method;

[0043] A cleaning component connected to the control component;

[0044] The detection component is connected to the cleaning component and the control component respectively, and is used for detecting the first cleaning data and the second cleaning data of the cleaning component, and sending the first cleaning data and the second cleaning data to the control component.

[0045] In a third aspect, the present application further provides a self-moving robot system, the self-moving robot system comprising:

[0046] A self-moving robot as described above;

[0047] The base station is adapted for use with the self-moving robot, and the base station is provided with a backwashing area of ​​the self-moving robot.

[0048] In a fourth aspect, the present application further provides a backwashing judgment device, which is applied to a self-propelled robot, and the backwashing judgment device includes:

[0049] A cleaning data acquisition module, used to acquire first cleaning data of the cleaning component when the mobile robot performs a sweeping and mopping task, the cleaning data being used to characterize the current cleanliness of the cleaning component;

[0050] A dirtiness value acquisition module, used to acquire a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness of the cleaning component when it is in a clean state;

[0051] The control backwash judgment module is used to judge whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and the preset first dirtiness threshold.

[0052] In a fifth aspect, the present application also provides a self-moving robot, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0053] In a sixth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0054] In a seventh aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0055] The above-mentioned backwash judgment method and device, self-moving robot and system, computer-readable storage medium and computer program product obtain the first cleaning data of the cleaning component used to characterize the current cleanliness of the cleaning component when the self-moving robot performs the sweeping and mopping task, and obtain the dirtiness value of the cleaning component according to the first cleaning data and the second cleaning data used to characterize the cleanliness of the cleaning component when it is in a clean state, that is, according to the current cleanliness of the cleaning component and the cleanliness when it is in a clean state. Then, according to the current dirtiness value and the first dirtiness threshold, it is judged whether to control the self-moving robot to backwash the cleaning component. By adopting the above-mentioned backwash judgment method, by obtaining the dirtiness value characterizing the dirtiness of the cleaning component, and adaptively controlling the self-moving robot to backwash the cleaning component according to the dirtiness value and the first dirtiness threshold, it is possible to achieve more flexible judgment and control of backwashing the cleaning component. There is no need to use a fixed sweeping and mopping time or a fixed sweeping and mopping area as a judgment standard for controlling the backwashing of the cleaning component, which can avoid the failure to control the backwashing in time when the cleaning component is too dirty, and can also avoid excessive control of the backwashing when the cleaning component is relatively clean, and avoid waste of resources. Then, it is conducive to improving the work efficiency of the self-moving robot when performing sweeping and mopping tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 One of the flow charts of a backwash determination method in one embodiment;

[0058] Figure 2 A diagram showing changes in electrical data in an embodiment;

[0059] Figure 3 The second flowchart of the backwash determination method in one embodiment is shown;

[0060] Figure 4 The third flow chart of the backwash determination method in one embodiment;

[0061] Figure 5 The fourth flowchart of the backwash determination method in one embodiment;

[0062] Figure 6 FIG5 is a flow chart of a backwash determination method in one embodiment;

[0063] Figure 7 is a structural block diagram of a self-moving robot in one embodiment;

[0064] Figure 8 A schematic diagram of the structure of a self-moving robot system in one embodiment;

[0065] Fig. 9 is a structural block diagram of a backwash determination device in one embodiment;

[0066] Fig.10 1 is a diagram showing the internal structure of a self-moving robot in one embodiment.

[0067] Description of Figure Numbers:

[0068] Self-moving robot: 10; control component: 11; cleaning component: 12; detection component: 13; base station: 20; backwash area: 21; self-moving robot system: 100; backwash judgment device: 30; cleaning data acquisition module: 31; dirt value acquisition module: 32; control backwash judgment module: 33. DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0070] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0071] Example 1

[0072] like Figure 1 As shown, this embodiment provides a backwash judgment method, which is applied to a self-moving robot. The self-moving robot can be but is not limited to a sweeping robot, a mopping robot, a sweeping and mopping robot, and a food delivery machine.

[0073] Taking a sweeping robot as an example, the sweeping robot includes a control component, a power component, a cleaning component, a drive component, a motion component, and a detection component. Specifically, the control component is used to perform logical judgment, calculation and other operations based on the information identified and detected by the detection component, and control the sweeping robot to perform various tasks such as traveling, obstacle avoidance, recharging, sweeping, mopping, and rewashing cleaning components. The control component can be, but is not limited to, a single-chip microcomputer, which is not specifically limited here and depends on the actual situation. The power component is used to power the sweeping robot. When the power is less than a predetermined value, the control component controls the sweeping robot to recharge to ensure that the sweeping robot has sufficient power to perform other tasks. The cleaning component includes a cleaning member and a support frame for fixing the cleaning member. The cleaning member is used to clean the ground, including a roller brush, a mop, a side brush, and a negative pressure device. The cleaning component is detachably connected to the drive component through the support frame. After the drive component outputs a rotational force to the support frame, the support frame drives the cleaning member to rotate. The drive component includes a drive member and a metal rotating shaft directly connected to the drive member. The metal rotating shaft is detachably plugged into the support frame to drive the cleaning component to rotate. The motion component is used to drive the sweeping robot to move in different directions during the sweeping and mopping tasks. The detection component includes a variety of sensors or other components that can sense information, which can be used to detect spectral data, electrical data, etc. The detection component sends the detected information to the control component to control the sweeping robot to perform the corresponding tasks.

[0074] In traditional technology, when self-moving robots such as sweeping robots perform sweeping and mopping tasks, they generally use a fixed sweeping and mopping time or a fixed sweeping and mopping area as a judgment standard for controlling the backwashing cleaning components. Using this as a judgment standard may result in the self-moving robot failing to control the backwashing cleaning components in time when the cleaning components are too dirty because the self-moving robot has not reached the sweeping and mopping time or the sweeping and mopping area; it may also result in the self-moving robot frequently and excessively controlling the backwashing cleaning components when the cleaning components are relatively clean because the sweeping and mopping time or the sweeping and mopping area has been reached. In this case, it will also lead to a waste of time, water, electricity, detergents and other resources. Based on this, it is urgent to enable the self-moving robot to determine whether it needs to control the backwashing cleaning components in a more flexible way, so as to avoid the above problems as much as possible, and thereby improve the work efficiency of the self-moving robot when performing sweeping and mopping tasks.

[0075] like Figure 1 As shown, in order to more flexibly determine and control the backwash cleaning component, this embodiment provides a backwash determination method, which is applied to a self-moving robot such as a sweeping robot, including the following steps 110 to 130.

[0076] Step 110, obtaining first cleaning data of the cleaning component when the mobile robot performs the sweeping and mopping task, the cleaning data being used to characterize the current cleanliness level of the cleaning component.

[0077] Step 120, obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when it is in a clean state.

[0078] In one embodiment, the self-propelled robot further includes a spectral sensor for detecting the cleaning component, and the cleaning data includes spectral data. The above step 120, based on the first cleaning data and the preset second cleaning data, obtains the dirtiness value of the cleaning component, including the following steps: based on the first spectral data and the second spectral data, respectively obtains the spectral intensity change information corresponding to each wavelength spectrum as the corresponding first dirtiness value. Among them, the spectral data includes each wavelength spectrum and the spectral intensity corresponding to each wavelength spectrum, the first spectral data is each wavelength spectrum representing the current cleanliness of the cleaning component and the spectral intensity corresponding to each wavelength spectrum, and the second spectral data is each wavelength spectrum representing the cleanliness of the cleaning component when it is in a clean state and the spectral intensity corresponding to each wavelength spectrum.

[0079] Specifically, a spectral sensor is added to the mop tray of the cleaning component or other position where the spectral data on the mop can be sensed to detect the spectral data of the cleaning component. The spectral sensor illuminates the mop. When the mop is soaked by different stains or the degree of soaking of a single stain deepens and becomes dirty, the mop's absorption capacity of the irradiated light will change. The spectral sensor has at least three channels and can detect spectra of more than three wavelengths such as red, green, and blue. When the cleaning component is at different levels of dirtiness, the reflected light reflected after absorbing the irradiated light has differences in wavelength spectra and spectral intensities corresponding to each wavelength spectrum. The wavelength spectra of the cleanliness of the cleaning component when it is in a clean state and the spectral intensities corresponding to each wavelength spectrum are pre-stored, and the wavelength spectra of the current cleanliness of the cleaning component and the spectral intensities corresponding to each wavelength spectrum are collected and calibrated by the spectral sensor. The first spectral data of the current reflected light of the cleaning component is compared with the second spectral data of the reflected light when it is in a clean state. By obtaining the spectral intensity change information corresponding to each wavelength spectrum as the corresponding first dirtiness value, the first dirtiness value is used to characterize the current dirtiness of the cleaning component. Furthermore, the difference between the spectral intensity of the reflected light in the clean state and the spectral intensity of the current reflected light can be obtained, and then divided by the spectral intensity of the reflected light in the clean state, and the finally obtained ratio can be used as the spectral intensity change information, and also as the first dirtiness value. The acquisition of the spectral intensity change information corresponding to each wavelength spectrum is calculated based on the spectral intensity corresponding to each wavelength spectrum. For example, when the cleaning component is in a clean state, the spectral intensity of the red light is 120% and the spectral intensity of the green light is 100% after the cleanliness is normalized; the spectral intensity of the red light is 90% and the spectral intensity of the green light is 40% after the current cleanliness of the cleaning component is normalized; then the spectral intensity change information of the red light and the first dirtiness value are 25%, and the spectral intensity change information of the green light and the first dirtiness value are 60%.

[0080] In this embodiment, the spectral data of the cleaning component can be detected by a spectral sensor to obtain the spectral intensity change information corresponding to each wavelength spectrum of the cleaning component when compared with the clean state, and then the current dirtiness of the cleaning component can be obtained.

[0081] In one embodiment, the self-propelled robot further includes two sensing electrodes provided on the cleaning component, and the cleaning data further includes electrical data between the two sensing electrodes. The above step 120, obtaining the dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, further includes the following steps: obtaining electrical change information between the two sensing electrodes as the second dirtiness value according to the first electrical data and the second electrical data. The electrical data includes voltage, the first electrical data is the voltage representing the current cleanliness of the cleaning component, and the second spectral data is the voltage representing the cleanliness of the cleaning component when it is in a clean state.

[0082] Specifically, two sensing electrodes are added to the mop plate of the cleaning component or other positions where the electrical data on the mop can be sensed to detect the electrical data of the cleaning component. The two sensing electrodes can be used to detect the conductive performance of the cleaning component, that is, the electrical conductivity. The higher the degree of dirtiness of the cleaning component, the better the energy conduction performance and the higher the electrical conductivity. Since there is an inversely proportional relationship between the electrical conductivity and the voltage, the higher the degree of dirtiness of the cleaning component, the lower the voltage between the two sensing electrodes. In this embodiment, the change in the degree of dirtiness of the cleaning component can be characterized by the change in the voltage between the two sensing electrodes. The degree of cleanliness of the cleaning component when it is in a clean state is pre-stored, and the voltage between the corresponding sensing electrodes is collected and calibrated through the sensing electrodes. The current first electrical data of the cleaning component is compared with the second electrical data when it is in a clean state. By obtaining the electrical change information between the two sensing electrodes as the second dirtiness value, the second dirtiness value is also used to characterize the current degree of dirtiness of the cleaning component. Furthermore, the difference between the voltage in the clean state and the current voltage can be obtained, and then divided by the voltage in the clean state, and the finally obtained ratio can be used as the electrical property change information, and also as the second dirtiness value. Figure 2 As shown, A is the voltage between the corresponding sensing electrodes when the cleaning component is in a clean state, assuming it is 0.9V, and B is the process in which the voltage value decreases as the dirtiness of the cleaning component increases with the mopping time. Assuming that the voltage between the sensing electrodes corresponding to the cleaning component is currently 0.6V, the electrical change information and the second dirtiness value are 33.3%.

[0083] It should be noted that electrical data is not limited to voltage, such as electrical data can also include current. Since there is a proportional relationship between conductivity and current, the higher the degree of dirtiness of the cleaning component, the higher the current between the two sensing electrodes. In this embodiment, the change in the degree of dirtiness of the cleaning component can also be characterized by the change in the current between the two sensing electrodes. The difference is that since the current increases with the increase in the degree of dirtiness, when calculating the difference between the current in the clean state and the current current, the absolute value of the difference should be taken, and then the absolute value of the difference is divided by the current in the clean state, and the final ratio obtained is used as the electrical change information, which is also used as the second dirtiness value.

[0084] In this embodiment, the electrical data of the cleaning component can be detected by the sensing electrode to obtain the electrical change information of the cleaning component compared to the clean state, and then obtain the current dirtiness of the cleaning component.

[0085] Step 130 , judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

[0086] In one embodiment, the first dirtiness threshold comprises a spectral dirtiness threshold. The above step 130, judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and the preset dirtiness threshold, comprises the following steps: when any first dirtiness value is not less than the spectral dirtiness threshold, controlling the self-moving robot to backwash the cleaning component; and / or when each first dirtiness value is less than the spectral dirtiness threshold, not controlling the self-moving robot to backwash the cleaning component.

[0087] In this embodiment, as discussed in the above embodiments, the spectral intensity change information corresponding to each wavelength spectrum is obtained as the corresponding first dirtiness value, and the first dirtiness value is used to characterize the current dirtiness of the cleaning component. When there is a first dirtiness value corresponding to a wavelength spectrum that exceeds the spectral dirtiness threshold, it indicates that the cleaning component has a strong absorption capacity for at least one wavelength of light at this time, and the dirtiness is high, and the self-moving robot adaptively controls the backwashing of the cleaning component. When the first dirtiness values ​​corresponding to each wavelength spectrum are all less than the spectral dirtiness threshold, it indicates that the absorption capacity of the cleaning component for each wavelength of light is weak at this time, and the dirtiness is low, and the self-moving robot adaptively continues the sweeping and mopping task without controlling the backwashing of the cleaning component. Exemplarily, the spectral dirtiness threshold can be limited to a specific value within the range of 0 to 50%, such as 40%. As listed in the above embodiments, when the spectral intensity change information of red light and the first dirtiness value are 25%, and the spectral intensity change information of green light and the first dirtiness value are 60%, at this time, there is a first dirtiness value corresponding to green light that triggers the spectral dirtiness threshold, and the self-moving robot adaptively controls the backwashing of the cleaning component.

[0088] In one embodiment, the first dirtiness threshold value further includes an electrical dirtiness threshold value. The above step 130, judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and the preset dirtiness threshold value, includes the following steps: when the second dirtiness value is not less than the electrical dirtiness threshold value, controlling the self-moving robot to backwash the cleaning component; and / or when the second dirtiness value is less than the electrical dirtiness threshold value, not controlling the self-moving robot to backwash the cleaning component.

[0089] In the present embodiment, as discussed in the above-mentioned embodiments, the electrical change information between the two sensing electrodes is obtained as the second dirtiness value, and the second dirtiness value is also used to characterize the current dirtiness of the cleaning component. When the second dirtiness value exceeds the electrical dirtiness threshold, it indicates that the current voltage between the sensing electrodes has a larger decrease ratio compared to the voltage when the cleaning component is in a clean state, that is, the conductivity increase ratio is larger, that is, the current dirtiness of the cleaning component is higher, and at this time the self-mobile robot adaptively controls the backwashing of the cleaning component. When the second dirtiness value is less than the electrical dirtiness threshold, it indicates that the voltage decrease ratio is smaller, that is, the conductivity increase ratio is smaller, that is, the current dirtiness of the cleaning component is lower, and the self-mobile robot adaptively continues the sweeping and mopping tasks without controlling the backwashing of the cleaning component. Exemplarily, the electrical dirtiness threshold can also be limited to a specific value within the range of 0 to 50%, such as 33.3%. As listed in the above-mentioned embodiments, when the second dirtiness value is 33.3%, the second dirtiness value triggers the electrical dirtiness threshold, and the self-mobile robot controls the backwashing of the cleaning component. Figure 2 As shown, C is the second dirtiness value corresponding to the dirtiness of the cleaning component, which triggers the electrical dirtiness threshold. At this time, the self-mobile robot adaptively controls the backwashing of the cleaning component. Then, during the backwashing process, the dirtiness of the cleaning component decreases, and the voltage between the two sensing electrodes shows an upward trend until it reaches the voltage corresponding to D. At this time, it indicates that the cleaning component has been backwashed to the original clean state, and the voltage between the sensing electrodes and the conductivity of the cleaning component have both returned to the corresponding values ​​when they were in the clean state.

[0090] In this embodiment, the above-mentioned backwash judgment method is adopted, and the first dirtiness value or the second dirtiness value characterizing the degree of dirtiness of the cleaning component is correspondingly obtained through the spectral sensor or the sensing electrode, and the self-moving robot is adaptively controlled to backwash the cleaning component according to the dirtiness value and the first dirtiness threshold, so that more flexible judgment and control of backwashing the cleaning component can be achieved. There is no need to use a fixed sweeping and mopping time or a fixed sweeping and mopping area as a judgment standard for controlling the backwashing of the cleaning component. It can avoid the failure to control the backwashing in time when the cleaning component is too dirty, and it can also avoid excessive control of the backwashing when the cleaning component is relatively clean, and avoid waste of resources. Furthermore, it is beneficial to improve the work efficiency of the self-moving robot when performing sweeping and mopping tasks.

[0091] like Figure 3 As shown, in one embodiment, the backwash determination method includes the following steps 310 to 350. Among them, steps 310 to 330 correspond to the aforementioned steps 110 to 130 one by one, and the specific discussion of steps 310 to 330 can refer to the aforementioned steps 110 to 130, which will not be repeated here.

[0092] Step 310, obtaining first cleaning data of the cleaning component when the mobile robot performs the sweeping and mopping task, the cleaning data being used to characterize the current cleanliness level of the cleaning component.

[0093] Step 320, obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when it is in a clean state.

[0094] Step 330 , judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

[0095] Step 340, obtaining a regional distribution map corresponding to the sweeping and mopping tasks, the regional distribution map including multiple sweeping and mopping areas, such as the kitchen, bedroom, balcony, etc.

[0096] Step 350, determining a first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the backwashing data of the self-moving robot, wherein the first sweeping and mopping strategy includes at least one of sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density, and sweeping and mopping times.

[0097] In one of the embodiments, the above step 350, based on the backwash data of the self-mobile robot, determines the first sweeping and mopping strategy of the self-mobile robot in each sweeping and mopping area, including the following steps: determining the first sweeping and mopping strategy of the self-mobile robot in each sweeping and mopping area according to the backwash interval time of the self-mobile robot in each sweeping and mopping area; or determining the first sweeping and mopping strategy of the self-mobile robot in each sweeping and mopping area according to the area of ​​each sweeping and mopping area and the number of backwashes of the self-mobile robot in each sweeping and mopping area. Among them, the backwash interval time refers to the time interval from the start of the sweeping and mopping task after the last controlled backwash is completed to the next controlled backwash. Specifically, according to the backwash interval time, it can be known that the length of time it takes for the cleaning component to go from a clean state to when the degree of dirtiness triggers the first dirtiness threshold, thereby inferring the dirtiness of the corresponding sweeping and mopping area when executing the sweeping and mopping task. Further, if the interval time of backwashing when the self-mobile robot performs the sweeping and mopping task in the kitchen is less than the preset interval time, it indicates that the kitchen belongs to a heavily polluted area. At this time, the first sweeping and mopping strategy when the self-mobile robot performs the sweeping and mopping task in the kitchen in the future can be determined, such as at least one of a slow sweeping and mopping speed, a strong sweeping and mopping intensity, a large sweeping and mopping density, and a large number of sweeping and mopping times. If the interval time of backwashing when the self-mobile robot performs the sweeping and mopping task in the bedroom exceeds the preset interval time, it indicates that the bedroom belongs to a lightly polluted area. At this time, the first sweeping and mopping strategy when the self-mobile robot performs the sweeping and mopping task in the bedroom in the future can be determined, such as at least one of a fast sweeping and mopping speed, a weak sweeping and mopping intensity, a small sweeping and mopping density, and a small number of sweeping and mopping times. Similarly, according to the area of ​​each sweeping and mopping area and the number of backwashing times of the self-mobile robot in each sweeping and mopping area, the dirtiness of the corresponding sweeping and mopping area when performing the sweeping and mopping task can also be inferred. If the sweeping and mopping task is performed in the kitchen and backwashed 5 times, it indicates that the kitchen belongs to a heavily polluted area. If the sweeping and mopping task is performed in the kitchen and backwashed 1 time, it can be indicated that the kitchen belongs to a lightly polluted area. However, affected by the area of ​​the sweeping and mopping area, the larger the area, the more times the backwashing may be, but the dirtiness of this sweeping and mopping area is not necessarily very dirty. Therefore, the area of ​​each sweeping and mopping area and the times the self-moving robot backwashes in each sweeping and mopping area can be comprehensively considered to infer whether the corresponding sweeping and mopping area when performing the sweeping and mopping task belongs to a heavily dirty area or a lightly dirty area, and then determine the first sweeping and mopping strategy when the self-moving robot performs the sweeping and mopping task in the corresponding sweeping and mopping area in the future.

[0098] In this embodiment, the first sweeping and mopping strategy such as the sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density and sweeping and mopping times when the self-mobile robot performs sweeping and mopping tasks in the corresponding sweeping and mopping areas in the future can be intelligently determined based on the backwashing interval of each sweeping and mopping area such as the kitchen and bedroom, or based on the area of ​​each sweeping and mopping area and the number of backwashes of the self-mobile robot in each sweeping and mopping area, which is conducive to more intelligent and efficient execution of sweeping and mopping tasks.

[0099] like Figure 4As shown, in one embodiment, the backwash determination method includes the following steps 410 to 450. Among them, steps 410 to 430 correspond to the aforementioned steps 110 to 130 one by one, and the specific discussion of steps 410 to 430 can refer to the aforementioned steps 110 to 130, which will not be repeated here.

[0100] Step 410, obtaining first cleaning data of the cleaning component when the mobile robot performs the sweeping and mopping task, the cleaning data being used to characterize the current cleanliness level of the cleaning component.

[0101] Step 420, obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when it is in a clean state.

[0102] Step 430 , judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

[0103] Step 440, according to the backwash interval of the self-mobile robot, the second sweeping and mopping strategy of the self-mobile robot is determined, and the second sweeping and mopping strategy includes at least one of sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density and sweeping and mopping times. Among them, the backwash interval refers to the time interval between the start of the sweeping and mopping task after the last control backwash is completed and the next control backwash. Specifically, according to the backwash interval, it can be known that the length of time that the cleaning component has experienced from the clean state to the dirtiness level triggering the first dirtiness threshold, from which the dirtiness of the corresponding sweeping and mopping area when performing the sweeping and mopping task can be inferred. Further, if the backwash interval is less than the preset interval time when the self-mobile robot performs the sweeping and mopping task in the kitchen, it indicates that the kitchen belongs to a heavily polluted area. At this time, it can be determined that the self-mobile robot returns to the kitchen to continue sweeping and mopping after backwashing during the execution of the sweeping and mopping task, such as at least one of a slower sweeping and mopping speed, a stronger sweeping and mopping intensity, a larger sweeping and mopping density, and a larger number of sweeping and mopping times. If the interval time of backwashing when the self-moving robot performs the sweeping and mopping task in the bedroom exceeds the preset interval time, it indicates that the bedroom belongs to a lightly polluted area. At this time, it can be determined that the self-moving robot will return to the bedroom to continue sweeping and mopping after backwashing during the sweeping and mopping task, such as at least one of faster sweeping and mopping speed, weaker sweeping and mopping intensity, lower sweeping and mopping density, and fewer sweeping and mopping times.

[0104] Step 450, based on the second sweep and mop strategy, sweep and mop the target sweep and mop trajectory again, the target sweep and mop trajectory being the sweep and mop trajectory of the self-moving robot during the backwash interval. Specifically, after determining the sweep and mop trajectory that returns to before backwashing after backwashing and continuing the second sweep and mop strategy of sweeping and mopping, the self-moving robot can sweep and mop the target sweep and mop trajectory again based on the second sweep and mop strategy.

[0105] In this embodiment, according to the backwashing interval of each sweeping and mopping track in the kitchen, bedroom, etc., the second sweeping and mopping strategy such as the sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density and number of sweeping and mopping times of the self-mobile robot when it returns to the sweeping and mopping track after backwashing to continue sweeping and mopping can be intelligently determined during the sweeping and mopping task. This is conducive to performing sweeping and mopping tasks more intelligently and efficiently.

[0106] like Figure 5 As shown, in one embodiment, the backwash determination method includes the following steps 510 to 560. Among them, steps 510 to 530 correspond to the aforementioned steps 110 to 130 one by one, and the specific discussion of steps 510 to 530 can refer to the aforementioned steps 110 to 130, which will not be repeated here.

[0107] Step 510, obtaining first cleaning data of the cleaning component when the mobile robot performs the sweeping and mopping task, the cleaning data being used to characterize the current cleanliness level of the cleaning component.

[0108] Step 520, obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when it is in a clean state.

[0109] Step 530 , judging whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

[0110] Step 540: After backwashing of the cleaning component is completed, the current cleanliness level of the cleaning component is obtained as the third cleaning data.

[0111] Step 550, obtaining a dirtiness value of the cleaning component according to the third cleaning data and the second cleaning data. Specifically, the third cleaning data of the cleaning component after backwashing is compared with the second cleaning data when in a clean state, and then obtaining a dirtiness value for characterizing the current dirtiness of the cleaning component after backwashing.

[0112] Step 560, when the dirtiness value is not less than the preset second dirtiness threshold, the self-moving robot is controlled to backwash the cleaning component again. Specifically, when the dirtiness value exceeds the preset second dirtiness threshold, it indicates that the current dirtiness of the cleaning component after backwashing is still high and has not reached the standard of backwashing to a clean state. At this time, the self-moving robot needs to be adaptively controlled to backwash the cleaning component again. Exemplarily, the second dirtiness threshold can be limited to 20%, and when the dirtiness value is 25%, the self-moving robot needs to be controlled to backwash the cleaning component again.

[0113] In this embodiment, the control of backwashing the cleaning component also has the situation that the backwashing fails to meet the standard. In order to avoid the self-moving robot failing to backwash the cleaning component and performing the sweeping and mopping task again, which leads to incomplete sweeping and mopping and low sweeping and mopping efficiency, a second dirt threshold can be set, and a dirt value for characterizing the current dirtiness of the cleaning component after backwashing is obtained. When the dirt value triggers the second dirt threshold, the self-moving robot controls the backwashing of the cleaning component again to backwash the cleaning component clean.

[0114] In one of the embodiments, the backwash determination method further includes the following steps: when the dirtiness value is less than the second dirtiness threshold, updating the second cleaning data according to the third cleaning data.

[0115] In this embodiment, due to the fact that stubborn stains are difficult to clean and the age of the mop corresponding to the cleaning component, it is allowed that there is a small difference between the cleanliness of the cleaning component after backwashing and the cleanliness of the cleaning component in the clean state. That is, when the dirtiness value is less than the second dirtiness threshold, the dirtiness corresponding to the dirtiness value can be regarded as the dirtiness range allowed to exist, that is, it is not required that the cleaning component after backwashing has the same cleanliness as when it is in the clean state. Further, in order to facilitate the calculation of the dirtiness value next time, the third cleaning data representing the current cleanliness of the cleaning component after backwashing should replace the second cleaning data representing the cleanliness of the cleaning component when it is in the clean state. When the dirtiness value is calculated next time, the third cleaning data should be used to represent the cleanliness of the cleaning component when it is in the clean state. It can be understood that when the dirtiness of the cleaning component after backwashing is within the allowable dirtiness range, the cleaning data in the clean state before backwashing should continue to be updated with the current cleaning data after backwashing, so as to serve as the comparison basis for the cleaning data when the cleaning component is backwashed next time.

[0116] In one of the embodiments, the backwash determination method further includes the following steps: after the cleaning component is repeatedly backwashed a preset number of times, if the dirtiness value is still not less than the second dirtiness threshold, prompting the user to replace the cleaning component.

[0117] In this embodiment, when the dirtiness value exceeds the preset second dirtiness threshold, it indicates that the current dirtiness level of the cleaning component after backwashing is still high. At this time, the self-moving robot adaptively controls to backwash the cleaning component again. Then, the dirtiness value is obtained again and it is determined whether the dirtiness value exceeds the second dirtiness threshold. If it still exceeds, the self-moving robot continues to control to backwash the cleaning component again. When the number of repeated judgments and backwashing exceeds the preset number, it can be inferred that the cleaning component can no longer meet the backwashing cleanliness standard. At this time, in order to ensure that the cleaning component can be effectively used for cleaning and to ensure the efficiency of the self-moving robot in performing sweeping and mopping tasks, the user can be prompted to replace the cleaning component.

[0118] In one of the embodiments, the backwash judgment method also includes the following steps: when controlling the self-moving robot to backwash the cleaning component, determining the backwash strategy of the cleaning component according to the dirtiness value, the backwash strategy including at least one of the backwash detergent, backwash time, backwash water consumption and backwash water temperature.

[0119] In this embodiment, the degree of dirtiness of the cleaning component can be known according to the dirtiness value, and the backwashing strategy of the cleaning component can be determined according to the dirtiness degree. Exemplarily, when the dirtiness value is large and the dirtiness degree is high, the backwashing strategy of the cleaning component can be determined as follows: adding backwashing detergent, a longer backwashing time, a higher backwashing water consumption, and backwashing with warm water. When the dirtiness value is relatively small and the dirtiness degree is relatively low, the backwashing strategy of the cleaning component can be determined as follows: no backwashing detergent is added, the backwashing time is short, the backwashing water consumption is low, and backwashing with cold water. It can be understood that the purpose of the above example is to show that different backwashing strategies can be determined according to different dirtiness values, but the content of the backwashing strategy is not absolutely limited, such as the type of detergent added, the specific water temperature of warm water, the specific water level of water consumption, etc. can also be determined according to the dirtiness value. According to the dirtiness value, the self-mobile robot adaptively adjusts the backwashing strategy of the cleaning component, which can improve the backwashing efficiency and avoid the waste of resources such as water, electricity, and detergents.

[0120] like Figure 6 As shown, in one embodiment, the backwash determination method includes the following steps 610 to 630. Among them, step 620 corresponds to the aforementioned step 120 one by one, and the specific discussion of step 620 can refer to the aforementioned step 120, which will not be repeated here.

[0121] Step 610: periodically obtain first cleaning data of the cleaning component when the mobile robot performs sweeping and mopping tasks, and the cleaning data is used to represent the current cleanliness level of the cleaning component.

[0122] Step 620, obtaining a dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when it is in a clean state.

[0123] Step 630 , periodically determining whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

[0124] In this embodiment, the first cleaning data used to characterize the current cleanliness level of the cleaning component is periodically obtained, and then it is periodically determined whether to control the self-moving robot to backwash the cleaning component. Instead of constantly obtaining the first cleaning data and making a judgment, this is beneficial to saving electricity and adaptively controlling the backwashing of the cleaning component while avoiding waste of resources.

[0125] It should be understood that although the flowcharts involved in the above-mentioned embodiments are Figure 1 , Figure 3-Figure 6 The steps in the embodiment are shown in sequence according to the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 1 , Figure 3-Figure 6 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0126] Example 2

[0127] like Figure 7 As shown, the embodiment of the present application further provides a self-moving robot 10, which includes a control component 11, a cleaning component 12 and a detection component 13. The control component 11 is used to perform the steps of the backwash judgment method as described above. The cleaning component 12 is connected to the control component 11. The detection component 13 is connected to the cleaning component 12 and the control component 11, respectively, and is used to detect the first cleaning data and the second cleaning data of the cleaning component 12, and send the first cleaning data and the second cleaning data to the control component 11.

[0128] In this embodiment, the control component 11 receives the first cleaning data and the second cleaning data of the cleaning component 12 detected by the detection component 13, and obtains the dirtiness value of the cleaning component 12 according to the first cleaning data used to characterize the current cleanliness of the cleaning component 12 and the second cleaning data used to characterize the cleanliness of the cleaning component 12 when it is in a clean state. Then, according to the current dirtiness value and the first dirtiness threshold, it is determined whether to control the self-moving robot 10 to backwash the cleaning component 12, so as to adaptively control the self-moving robot 10 to backwash the cleaning component 12, and realize more flexible judgment and control of backwashing the cleaning component 12. The self-moving robot 10 in this embodiment does not need to use a fixed sweeping and mopping time or a fixed sweeping and mopping area as a judgment standard for controlling the backwashing of the cleaning component 12, which can avoid the failure to control the backwashing in time when the cleaning component 12 is too dirty, and can also avoid excessive control of the backwashing when the cleaning component 12 is relatively clean, and avoid waste of resources, which is conducive to improving the work efficiency of the self-moving robot 10 when performing sweeping and mopping tasks.

[0129] Example 3

[0130] like Figure 8As shown, the embodiment of the present application further provides a self-moving robot system 100, which includes the self-moving robot 10 and the base station 20 as described above, the base station 20 is adapted for use with the self-moving robot 10, and the base station 20 is provided with a backwashing area 21 of the self-moving robot 10. In this embodiment, the self-moving robot 10 adaptively controls the backwashing of the cleaning component, that is, controls the backwashing area 21 returned to the base station 20 to control the backwashing, so that the cleaning component can be backwashed clean.

[0131] Example 4

[0132] like Fig. 9 As shown, the embodiment of the present application also provides a backwash judgment device 30, which is applied to a self-moving robot. The backwash judgment device 30 includes a cleaning data acquisition module 31, a dirtiness value acquisition module 32 and a control backwash judgment module 33. The cleaning data acquisition module 31 is used to obtain the first cleaning data of the cleaning component when the self-moving robot performs a sweeping and mopping task, and the cleaning data is used to characterize the current cleanliness of the cleaning component. The dirtiness value acquisition module 32 is used to obtain the dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data, and the second cleaning data is used to characterize the cleanliness of the cleaning component when it is in a clean state. The control backwash judgment module 33 is used to determine whether to control the self-moving robot to backwash the cleaning component according to the dirtiness value and the preset first dirtiness threshold.

[0133] In one embodiment, the self-propelled robot also includes a spectral sensor for detecting the cleaning component, and the cleaning data includes spectral data; the above-mentioned dirt value acquisition module 32 is also used to obtain the spectral intensity change information corresponding to each wavelength as the corresponding first dirt value based on the first spectral data and the second spectral data.

[0134] In one embodiment, the first dirt threshold includes a spectral dirt threshold; the above-mentioned control backwash judgment module 33 is also used to control the self-moving robot to backwash the cleaning component when any first dirt value is not less than the spectral dirt threshold; and / or when each first dirt value is less than the spectral dirt threshold, not controlling the self-moving robot to backwash the cleaning component.

[0135] In one embodiment, the self-propelled robot also includes two sensing electrodes arranged in the cleaning component, and the cleaning data also includes electrical data between the two sensing electrodes; the above-mentioned dirt value acquisition module 32 is also used to obtain the electrical change information between the two sensing electrodes as the second dirt value based on the first electrical data and the second electrical data.

[0136] In one embodiment, the first dirtiness threshold also includes an electrical dirtiness threshold; the above-mentioned control backwash judgment module 33 is also used to control the self-moving robot to backwash the cleaning component when the second dirtiness value is not less than the electrical dirtiness threshold; and / or when the second dirtiness value is less than the electrical dirtiness threshold, not controlling the self-moving robot to backwash the cleaning component.

[0137] In one embodiment, the backwash judgment device 30 further includes a distribution map acquisition module and a first sweeping and mopping strategy module. The distribution map acquisition module is used to acquire a regional distribution map corresponding to the sweeping and mopping task, and the regional distribution map includes multiple sweeping and mopping areas. The first sweeping and mopping strategy module is used to determine the first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the backwash data of the self-moving robot, and the first sweeping and mopping strategy includes at least one of sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density, and sweeping and mopping times.

[0138] In one of the embodiments, the above-mentioned first sweeping and mopping strategy module is also used to determine the first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the backwashing interval time of the self-moving robot in each sweeping and mopping area; or to determine the first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area according to the area of ​​each sweeping and mopping area and the number of backwashing times of the self-moving robot in each sweeping and mopping area.

[0139] In one embodiment, the backwashing judgment device 30 further includes a second sweeping and mopping strategy module and a second sweeping and mopping module. The second sweeping and mopping strategy module is used to determine the second sweeping and mopping strategy of the self-moving robot according to the backwashing interval time of the self-moving robot, and the second sweeping and mopping strategy includes at least one of sweeping and mopping speed, sweeping and mopping intensity, sweeping and mopping density, and sweeping and mopping times. The second sweeping and mopping module is used to sweep and mop the target sweeping and mopping trajectory again based on the second sweeping and mopping strategy, and the target sweeping and mopping trajectory is the sweeping and mopping trajectory of the self-moving robot during the backwashing interval time.

[0140] In one embodiment, the backwash judgment device 30 further includes a backwash data acquisition module, a backwash value acquisition module and a re-backwash module. The backwash data acquisition module is used to acquire the current cleanliness of the cleaning component as the third cleaning data after completing the backwash of the cleaning component. The backwash value acquisition module is used to acquire the dirtiness value of the cleaning component according to the third cleaning data and the second cleaning data. The re-backwash module is used to control the self-moving robot to re-backwash the cleaning component when the dirtiness value is not less than the preset second dirtiness threshold.

[0141] In one embodiment, the backwash determination device 30 further includes a data updating module, which is used to update the second cleaning data according to the third cleaning data when the dirtiness value is less than the second dirtiness threshold.

[0142] In one embodiment, the backwash determination device 30 further includes a component replacement module for prompting the user to replace the cleaning component if the dirtiness value is still not less than the second dirtiness threshold after the cleaning component is repeatedly backwashed a preset number of times.

[0143] In one embodiment, the backwash judgment device 30 also includes a backwash strategy determination module, which is used to determine the backwash strategy of the cleaning component according to the dirtiness value when controlling the self-moving robot to backwash the cleaning component, and the backwash strategy includes at least one of the backwash detergent, backwash time, backwash water consumption and backwash water temperature.

[0144] In one embodiment, the cleaning data acquisition module 31 is also used to periodically acquire the first cleaning data of the cleaning component when the self-mobile robot performs sweeping and mopping tasks. The control backwashing judgment module 33 is also used to periodically judge whether to control the self-mobile robot to backwash the cleaning component.

[0145] Each module in the backwash determination device 30 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in the self-propelled robot in the form of hardware, or can be stored in a memory in the self-propelled robot in the form of software, so that the processor can call and execute operations corresponding to each module.

[0146] Example 5

[0147] like Fig.10 As shown, an embodiment of the present application also provides a self-moving robot, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above-mentioned backwash judgment method when executing the computer program.

[0148] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the present application scheme, and does not constitute a limitation on the self-moving robot to which the present application scheme is applied. The specific self-moving robot may include Fig.10 More or fewer components may be shown, or certain components may be combined, or may have a different arrangement of components.

[0149] Example 6

[0150] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the backwash determination method are implemented.

[0151] Example 7

[0152] The embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned backwash determination method when executed by a processor.

[0153] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0154] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A backwash judgment method, characterized in that: Applied to a self-moving robot, the method comprises: Acquire first cleaning data of the cleaning component when the self-moving robot performs a sweeping and mopping task, wherein the cleaning data is used to characterize a current cleanliness level of the cleaning component; Acquire a dirtiness value of the cleaning component according to the first cleaning data and preset second cleaning data, wherein the second cleaning data is used to characterize the cleanliness level of the cleaning component when the cleaning component is in a clean state; According to the dirtiness value and a preset first dirtiness threshold, it is determined whether to control the self-propelled robot to backwash the cleaning component.

2. The method according to claim 1, characterized in that The self-propelled robot further includes a spectral sensor for detecting the cleaning component, and the cleaning data includes spectral data; and obtaining the dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data includes: According to the first spectral data and the second spectral data, spectral intensity change information corresponding to each wavelength is respectively obtained as the corresponding first dirtiness value.

3. The method according to claim 2, characterized in that The first dirt threshold comprises a spectral dirt threshold; and judging whether to control the self-propelled robot to backwash the cleaning component according to the dirt value and the preset dirt threshold comprises: When any of the first dirtiness values ​​is not less than the spectral dirtiness threshold, controlling the self-moving robot to backwash the cleaning component; and / or When each of the first dirtiness values ​​is smaller than the spectral dirtiness threshold, the self-moving robot is not controlled to backwash the cleaning component.

4. The method according to claim 1, characterized in that: The self-propelled robot further includes two sensing electrodes disposed on the cleaning component, and the cleaning data further includes electrical data between the two sensing electrodes; and obtaining the dirtiness value of the cleaning component according to the first cleaning data and the preset second cleaning data includes: According to the first electrical property data and the second electrical property data, electrical property change information between the two sensing electrodes is obtained as a second contamination value.

5. The method according to claim 4, characterized in that The first dirt threshold also includes an electrical dirt threshold; and judging whether to control the self-propelled robot to backwash the cleaning component according to the dirt value and the preset dirt threshold includes: When the second dirtiness value is not less than the electrical dirtiness threshold, controlling the self-moving robot to backwash the cleaning component; and / or When the second dirtiness value is less than the electrical dirtiness threshold, the self-moving robot is not controlled to backwash the cleaning component.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Acquire a regional distribution map corresponding to the sweeping and mopping task, where the regional distribution map includes multiple sweeping and mopping areas; According to the backwash data of the self-moving robot, a first sweeping and mopping strategy of the self-moving robot in each of the sweeping and mopping areas is determined, wherein the first sweeping and mopping strategy includes at least one of a sweeping and mopping speed, a sweeping and mopping intensity, a sweeping and mopping density, and a sweeping and mopping number of times.

7. The method according to claim 6, characterized in that Determining the first sweeping and mopping strategy of the self-moving robot in each of the sweeping and mopping areas according to the backwashing data of the self-moving robot includes: determining the first sweeping and mopping strategy of the self-moving robot in each of the sweeping and mopping areas according to a backwashing interval of the self-moving robot in each of the sweeping and mopping areas; or The first sweeping and mopping strategy of the self-moving robot in each sweeping and mopping area is determined according to the area of ​​each sweeping and mopping area and the number of backwashing times of the self-moving robot in each sweeping and mopping area.

8. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: determining a second sweeping and mopping strategy of the self-moving robot according to the backwashing interval time of the self-moving robot, wherein the second sweeping and mopping strategy includes at least one of a sweeping and mopping speed, a sweeping and mopping intensity, a sweeping and mopping density, and a sweeping and mopping number; The target sweeping and mopping trajectory is swept and mopped again based on the second sweeping and mopping strategy, where the target sweeping and mopping trajectory is the sweeping and mopping trajectory of the self-propelled robot within the backwashing interval.

9. The method according to claim 1, characterized in that: The method further comprises: After backwashing of the cleaning component is completed, obtaining the current cleanliness level of the cleaning component as third cleaning data; Acquiring the dirtiness value of the cleaning component according to the third cleaning data and the second cleaning data; When the dirtiness value is not less than a preset second dirtiness threshold, the self-moving robot is controlled to backwash the cleaning component again.

10. The method according to claim 9, characterized in that The method further comprises: When the dirtiness value is less than the second dirtiness threshold, the second cleaning data is updated according to the third cleaning data.

11. The method according to claim 9 or 10, characterized in that: The method further comprises: After the cleaning component is repeatedly backwashed for a preset number of times, if the dirtiness value is still not less than the second dirtiness threshold, the user is prompted to replace the cleaning component.

12. The method according to claim 1, characterized in that The method further comprises: When the self-moving robot is controlled to backwash the cleaning component, a backwash strategy of the cleaning component is determined according to the dirtiness value, and the backwash strategy includes at least one of a backwash detergent, a backwash duration, a backwash water amount, and a backwash water temperature.

13. The method according to claim 1, characterized in that The obtaining of first cleaning data of the cleaning component when the self-moving robot performs the sweeping and mopping task includes: periodically acquiring the first cleaning data of the cleaning component when the self-moving robot performs the sweeping and mopping task; The determining whether to control the self-moving robot to backwash the cleaning component comprises: Periodically determine whether to control the self-moving robot to backwash the cleaning component.

14. A self-propelled robot, characterized in that: The self-moving robot comprises: A control component for executing the steps of the method according to any one of claims 1 to 13; A cleaning component connected to the control component; The detection component is connected to the cleaning component and the control component respectively, and is used to detect the first cleaning data and the second cleaning data of the cleaning component, and send the first cleaning data and the second cleaning data to the control component.

15. A self-propelled robot system, characterized in that: The self-mobile robot system comprises: The self-moving robot according to claim 14; A base station is adapted for use with the self-moving robot, and the base station is provided with a backwashing area of ​​the self-moving robot.

16. A backwash determination device, characterized in that: Applied to a self-moving robot, the device comprises: A cleaning data acquisition module, used to acquire first cleaning data of the cleaning component when the self-moving robot performs a sweeping and mopping task, wherein the cleaning data is used to characterize the current cleanliness level of the cleaning component; A dirtiness value acquisition module, used for acquiring a dirtiness value of the cleaning component according to the first cleaning data and preset second cleaning data, wherein the second cleaning data is used for representing the cleanliness level of the cleaning component when the cleaning component is in a clean state; The control backwash judgment module is used to judge whether to control the self-propelled robot to backwash the cleaning component according to the dirtiness value and a preset first dirtiness threshold.

17. A self-propelled robot, comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 13 are implemented.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

19. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

Images