Accumulated water detecting and processing method of cleaning robot

Abstract

The invention relates to an accumulated water detection and treatment method for a cleaning robot, and the method comprises the steps: detecting the real-time water amount of a sewage tank in a cleaning task execution process; when the real-time water amount meets the preset water accumulation condition, it is determined that accumulated water exists in the cleaned area of the cleaning task; wherein the preset water accumulation condition comprises that the time consumed for increasing the first water volume is shorter than the first preset time, and the time consumed for increasing the first water volume is the time consumed by the real-time water volume of the sewage tank to reach the first preset water volume; or the second water volume increase time consumption is less than the second preset time, and the second water volume increase time consumption is the time for increasing the second preset water volume by the real-time water volume. The water inlet speed of the sewage tank is determined by detecting the time for the real-time water volume of the sewage tank to reach the first preset water volume or the time for the real-time water volume to increase the second preset water volume, so that whether the water accumulation risk exists in the area where the cleaning robot is located or not is determined, and the water accumulation detection flexibility is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of self-moving robots, and in particular to a method for detecting and treating water accumulation of a cleaning robot. Background Art

[0002] As a smart cleaning device in modern family life, cleaning robots can automatically perform cleaning tasks, freeing users' hands and time. However, when cleaning robots perform cleaning tasks, they may encounter water pipe leaks and other situations that cause a lot of water to accumulate on the ground. If the accumulated water is not discovered in time, it may cause water seepage on the ground and even water to enter the robot, affecting its service life.

[0003] In the prior art, water accumulation detection is usually carried out by utilizing the characteristics of the ground. For example, patent CN110146897A discloses a detection device and a robot, which emits a first light beam toward the ground, and a receiving device receives a second light beam generated by the reflection of the first light beam by the ground, and performs photoelectric conversion on the second light beam. Then, a processor detects whether there is water accumulation on the ground based on the electrical signal corresponding to the second light beam, thereby realizing water accumulation detection at various locations on the ground.

[0004] However, the above method can only determine whether there is water accumulation at the current location of the robot, and cannot detect the water accumulation in the area where the robot is located. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a water accumulation detection and processing method for a cleaning robot to improve the flexibility of water accumulation detection.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for detecting water accumulation of a cleaning robot, wherein the cleaning robot includes a sewage tank, and the method includes:

[0007] During the execution of the cleaning task, detecting the real-time water volume of the sewage tank;

[0008] When the real-time water volume meets the preset water accumulation condition, determining that water is accumulated in the cleaned area of ​​the cleaning task;

[0009] Wherein, the preset water accumulation conditions include:

[0010] The time taken to increase the first water volume is less than the first preset time, and the first water volume increase time is the time taken for the real-time water volume in the sewage tank to reach the first preset water volume; or, the time taken to increase the second water volume is less than the second preset time, and the second water volume increase time is the time taken for the real-time water volume to increase to the second preset water volume.

[0011] In some embodiments, the first preset water volume is a full water volume, and detecting the real-time water volume of the sewage tank includes:

[0012] Detecting whether the real-time water volume reaches the full water volume of the sewage tank; and / or,

[0013] The ratio of the second preset water volume to the time consumed for the second water volume to increase is calculated to obtain the increase rate of the real-time water volume.

[0014] In some embodiments, the cleaning robot includes a clean water tank, and the method further includes:

[0015] During the execution of the cleaning task, detecting a rate of reduction of clean water in the clean water tank;

[0016] If the difference between the real-time increasing rate of the water volume in the sewage tank and the decreasing rate of the clean water is greater than a preset rate threshold, it is determined that there is accumulated water in the cleaned area of ​​the cleaning task.

[0017] In some embodiments, before detecting the real-time water volume of the sewage tank, the method further includes:

[0018] According to the configuration information of the user, the water accumulation detection sensitivity of each room is obtained, where the water accumulation detection sensitivity is related to the first preset time and / or the second preset time;

[0019] According to the water accumulation detection sensitivity, the preset water accumulation conditions corresponding to each of the rooms are determined.

[0020] In some embodiments, when the real-time water volume meets a preset water accumulation condition, determining that there is water accumulation in the cleaned area of ​​the cleaning task includes:

[0021] When the real-time water volume meets the preset water accumulation condition of the room where the cleaning robot is located, the severity of the water accumulation is determined according to the time taken by the cleaning robot to meet the preset water accumulation condition of the room, and the severity of the water accumulation is inversely proportional to the time taken by the cleaning robot to meet the preset water accumulation condition of the room;

[0022] Sending waterlogging warning information corresponding to the severity of the waterlogging to the user.

[0023] In some embodiments, the sewage tank includes a water volume detection device, and detecting the real-time water volume of the sewage tank includes:

[0024] A water volume detection device is used to detect the real-time water volume of the sewage tank. The water volume detection device is a Hall sensor detection device or a capacitive sensor detection device.

[0025] In some embodiments, the Hall sensing detection device includes a plurality of Hall sensors, and the capacitive sensing detection device includes a plurality of capacitive sensors;

[0026] The multiple Hall sensors or the multiple capacitive sensors are distributed in the sewage tank in a vertical direction, and each sensor is spaced apart by a preset distance.

[0027] In a second aspect, an embodiment of the present disclosure provides a method for treating accumulated water of a cleaning robot, comprising:

[0028] Determine a cleaning path that the cleaning robot passes through before a preset water accumulation condition is met;

[0029] When the time taken to meet the preset water accumulation condition is within a first preset range, generating an actual cleaning range based on the cleaning path and the body parameters of the cleaning robot;

[0030] generating a reference cleaning range based on a straight length of the cleaning path and body parameters of the cleaning robot;

[0031] When the ratio of the actual cleaning range area to the reference cleaning range area is less than a preset area ratio, a water accumulation area is generated according to the cleaning path and a preset expansion radius;

[0032] Control the cleaning robot to return to the station to empty the sewage tank and then continue to perform the cleaning task.

[0033] In some embodiments, the method further comprises:

[0034] When the ratio of the actual cleaning range area to the reference cleaning range area is greater than or equal to the preset area ratio, the cleaning robot is controlled to return to the station to empty the sewage tank, and then continue to perform the cleaning task according to the preset cleaning path.

[0035] In some embodiments, the method further comprises:

[0036] When the time taken to meet the preset water accumulation condition is within a second preset range, the cleaning robot is controlled to clean the water accumulation area again, and the time length corresponding to the second preset range is not less than the time length corresponding to the first preset range;

[0037] During the re-cleaning process, the water accumulation condition of the water accumulation area is re-determined according to the real-time water volume of the sewage tank.

[0038] The disclosed embodiments provide a method for detecting and handling water accumulation in a cleaning robot. The method determines the water inflow speed of the sewage tank by detecting the time taken for the real-time water level in the sewage tank to reach a first preset water level or the time taken for the real-time water level to increase to a second preset water level, thereby determining whether there is a risk of water accumulation in the area where the cleaning robot is located, thereby improving the flexibility of water accumulation detection.

[0039] In some embodiments, by setting a variety of preset water accumulation conditions and corresponding detection logic, water accumulation detection can be applied to different water accumulation scenarios, thereby improving the comprehensiveness and accuracy of water accumulation detection.

[0040] In some embodiments, by setting a different water accumulation detection sensitivity for each room, targeted detection can be performed on certain rooms to avoid missed reports caused by a small amount of water accumulation, thereby improving the accuracy of water accumulation detection.

[0041] In some embodiments, the time taken to meet preset water accumulation conditions is used to determine the severity of water accumulation in the environment. When the severity of water accumulation is too high, a water accumulation area is delineated to control the cleaning robot to bypass the area with severe water accumulation, thereby preventing the cleaning robot from being damaged while working in the area with severe water accumulation, thereby extending the service life of the robot.

[0042] In some embodiments, when the severity of waterlogging is low, a secondary inspection is performed on the waterlogged area to re-evaluate the degree of waterlogging in the waterlogged area to avoid underreporting, thereby further improving the accuracy and flexibility of waterlogging detection.

[0043] In some embodiments, the water full speed of the sewage tank is calibrated in advance to avoid erroneous judgments caused by inconsistent water full speeds of different models; at the same time, the water full speeds at different gears are calibrated to adapt to different working gears of the cleaning robot, thereby improving the universality and stability of water accumulation detection and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0045] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A flow chart of a method for detecting water accumulation in a cleaning robot provided in an embodiment of the present disclosure;

[0047] Figure 2 A flow chart of a method for treating accumulated water in a cleaning robot provided in an embodiment of the present disclosure;

[0048] Figure 3 A schematic diagram comparing an actual cleaning range and a reference cleaning range provided in an embodiment of the present disclosure;

[0049] Figure 4A schematic diagram of the expansion of the cleaning path provided by the embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram of a method for treating accumulated water provided by an embodiment of the present disclosure;

[0051] Figure 6 A schematic diagram of the structure of a water accumulation detection device for a cleaning robot provided in an embodiment of the present disclosure;

[0052] Figure 7 A schematic diagram of the structure of a water accumulation treatment device of a cleaning robot provided in an embodiment of the present disclosure;

[0053] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0056] The disclosed embodiment provides a method for detecting water accumulation of a cleaning robot, which is described below in conjunction with specific embodiments.

[0057] Figure 1 The present invention provides a flowchart of a method for detecting water accumulation in a cleaning robot according to an embodiment of the present invention. The method can be applied to a cleaning robot, wherein the cleaning robot includes a sewage tank.

[0058] It is understandable that the water accumulation detection method for the cleaning robot provided in the embodiments of the present disclosure can also be applied in other scenarios.

[0059] Below Figure 1 The water accumulation detection method of the cleaning robot shown in the figure is introduced, and the specific steps of the method are as follows:

[0060] S101. During the execution of the cleaning task, the real-time water volume of the sewage tank is detected.

[0061] The accumulated water on the ground may be the accumulated water before cleaning, or the water sprayed by the cleaning robot to assist cleaning during the cleaning process. When performing the cleaning task, the cleaning robot needs to suck the accumulated water on the cleaned ground into the sewage tank to ensure that the ground is as dry as possible after cleaning.

[0062] Under normal circumstances, when the sewage tank is full, the cleaning robot needs to be controlled to return to the base station to empty the sewage tank and continue to perform the cleaning task. In the disclosed embodiment, in addition to detecting the fullness of the sewage tank, it is also necessary to detect the real-time water volume of the sewage tank in real time to know the amount of water in the sewage tank at each detection time point.

[0063] Specifically, the sewage tank includes a water volume detection device. In this step, the water volume detection device is used to detect the real-time water volume of the sewage tank. The water volume detection device is a Hall sensor detection device or a capacitive sensor detection device.

[0064] Wherein, the Hall sensing detection device includes a plurality of Hall sensors, and the capacitive sensing detection device includes a plurality of capacitive sensors; the plurality of Hall sensors or the plurality of capacitive sensors are distributed in the sewage tank in a vertical direction, and each sensor is spaced at a preset distance.

[0065] The Hall sensor device uses the Hall effect to detect the real-time water level in the sewage tank. The Hall effect refers to the fact that when current passes through a conductor in a magnetic field, the magnetic field will deflect the charges in the conductor, causing the charges to accumulate on one side of the conductor, thereby generating a potential difference on both sides of the conductor, called the Hall voltage. The circuit inside the Hall sensor can capture the Hall voltage.

[0066] In real-time water volume detection, the Hall sensor is usually fixedly mounted on the side wall of the container and brought into contact with or close to the liquid; at the same time, a magnet or magnetic float is mounted on the float, which moves up and down with the rise and fall of the real-time water volume. When the real-time water volume rises, the float rises with it, driving the magnet or magnetic float to move with it. This movement changes the magnetic field distribution around the magnet, causing the magnetic field strength of the Hall sensor to change; when the real-time water volume decreases, the magnet or magnetic float will also move down, which will also change the magnetic field strength of the Hall sensor. When the magnetic field strength changes, a Hall voltage proportional to the magnetic field strength will be output, and the Hall sensor can use this to determine the real-time water volume in the sewage tank.

[0067] The capacitive sensor contains a component that can detect changes in capacitance. When the dielectric constant or distance between the water in the sewage tank and the sensor changes, it will cause the sensor capacitance to change. The capacitance change is captured by the circuit inside the sensor and converted into an electrical signal output, thereby realizing the detection of real-time water volume.

[0068] When the real-time water level rises, the dielectric constant between the water and the sensor changes, causing the capacitance value of the sensor to increase. The circuit inside the capacitive sensor converts the change in capacitance value into an electrical signal output, which can be further processed to obtain the real-time water level detection result.

[0069] S102. When the real-time water volume meets the preset water accumulation condition, it is determined that there is water accumulation in the cleaned area of ​​the cleaning task; wherein the preset water accumulation condition includes: the time taken for the first water volume to increase is less than the first preset time, and the first water volume increase time is the time taken for the real-time water volume in the sewage tank to reach the first preset water volume; or, the time taken for the second water volume to increase is less than the second preset time, and the second water volume increase time is the time taken for the real-time water volume to increase by the second preset water volume.

[0070] The time taken by the real-time water volume to reach the first preset water volume is less than the first preset time, which means that the real-time water volume in the sewage tank quickly reaches the first preset water volume in a short period of time, that is, the real-time water volume increases too fast. At this time, it can be considered that there is accumulated water in the cleaned area of ​​the cleaning task.

[0071] Specifically, the first preset water volume may be the full water volume of the sewage tank, or any water volume below the full water volume of the sewage tank, and is set according to actual needs of the user.

[0072] And / or, the time taken for the real-time water volume to increase by the second preset water volume is less than the second preset time, indicating that the real-time water volume in the sewage tank quickly increases by the second preset water volume in a short period of time. At this time, it can be considered that there is accumulated water in the cleaned area of ​​the cleaning task.

[0073] Specifically, the second preset water volume can be any water volume less than the full water volume. For example, the second preset water volume is set to 300 ml. If the water volume in the sewage tank exceeds 300 ml within the second preset time, it is considered that there is water accumulation in the area passed by the cleaning robot in the previous time period.

[0074] The disclosed embodiment detects the real-time water volume of the sewage tank during the execution of the cleaning task; when the real-time water volume meets the preset water accumulation condition, determines that there is water accumulation in the cleaned area of ​​the cleaning task; wherein the preset water accumulation condition includes: the time taken for the first water volume to increase is less than the first preset time, the first water volume increase time is the time taken for the real-time water volume of the sewage tank to reach the first preset water volume; or, the time taken for the second water volume to increase is less than the second preset time, the second water volume increase time is the time taken for the real-time water volume to increase by the second preset water volume, and the water inlet speed of the sewage tank is determined by detecting the time taken for the real-time water volume of the sewage tank to reach the first preset water volume or the time taken for the real-time water volume to increase by the second preset water volume, thereby determining whether there is a risk of water accumulation in the area where the cleaning robot is located, thereby improving the flexibility of water accumulation detection.

[0075] In some embodiments, the first preset water volume is the full water volume, and detecting the real-time water volume of the sewage tank includes: detecting whether the real-time water volume reaches the full water volume of the sewage tank; and / or calculating the ratio of the second preset water volume to the time consumed for the second water volume to increase, to obtain the increase rate of the real-time water volume.

[0076] By detecting whether the real-time water volume has reached the full water volume of the sewage tank, on the one hand, it can determine whether it is necessary to control the cleaning robot to return to the station for sewage discharge; on the other hand, it can also determine whether there is water accumulation in the cleaned area based on the time taken for the real-time water volume in the sewage tank to reach the full water volume (i.e., the time taken for the first water volume to increase).

[0077] By calculating the ratio of the second preset water volume to the time taken to increase the second water volume, the rate of increase of the real-time water volume in the sewage tank can be obtained. Furthermore, if the real-time water volume increase rate is greater than the preset rate threshold, it means that a large amount of water has entered the sewage tank in a short period of time, and there is water accumulation in the cleaned area.

[0078] In other embodiments, the cleaning robot includes a clean water tank, and the method further includes: during the execution of the cleaning task, detecting the clean water reduction rate of the clean water tank; if the difference between the real-time water volume increase rate of the sewage tank and the clean water reduction rate is greater than a preset rate threshold, it is determined that there is accumulated water in the cleaned area of ​​the cleaning task.

[0079] The clean water tank of the cleaning robot is used to spray an appropriate amount of water onto the ground during the cleaning task to improve the cleaning effect. The water sprayed on the ground will also be collected in the sewage tank during the subsequent cleaning process. When there is no other water accumulation on the ground, the rate of decrease of clean water in the clean water tank should be consistent with the rate of increase of the real-time water volume in the sewage tank.

[0080] When there is water on the ground, the amount of water collected in the sewage tank includes the amount of water sprayed from the clean water tank and the water on the ground. At this time, the increase rate of the real-time water volume in the sewage tank is greater than the decrease rate of the clean water in the clean water tank. However, a small amount of water on the ground is a normal situation in a cleaning scene. Therefore, when the increase rate of the real-time water volume in the sewage tank is greater than the decrease rate of the clean water, the difference between the increase rate of the real-time water volume and the decrease rate of the clean water is further calculated.

[0081] When the difference between the two is greater than the preset rate threshold, it means that the real-time water volume increase rate in the sewage tank has exceeded the normal range, and it is determined that there is a large amount of water accumulation in the cleaned area; when the difference is not greater than the preset rate threshold, it is determined that there is no water accumulation or only a small amount of water accumulation in the cleaned area, and the cleaning robot can continue to perform the cleaning task normally.

[0082] The disclosed embodiments set a variety of preset water accumulation conditions and corresponding detection logics, so that water accumulation detection can be applicable to different water accumulation scenarios, thereby improving the comprehensiveness and accuracy of water accumulation detection.

[0083] On the basis of any of the above embodiments, before detecting the real-time water volume in the sewage tank, the method further includes: obtaining the water accumulation detection sensitivity of each room according to the user's configuration information, wherein the water accumulation detection sensitivity is related to the first preset time and / or the second preset time; and determining the preset water accumulation conditions corresponding to each room according to the water accumulation detection sensitivity.

[0084] In actual usage scenarios, since the possibility of water accumulation and water accumulation monitoring requirements are different in different rooms, users can set the water accumulation detection sensitivity that cannot be passed for each room, adjust the first preset time and the second preset time, and set different preset water accumulation conditions for each room.

[0085] Specifically, the higher the water accumulation detection sensitivity is, the shorter the first preset time and / or the second preset time is.

[0086] Optionally, the first preset time is the product of the first standard preset time and the warning multiple. The higher the water accumulation detection sensitivity, the lower the warning multiple, and the corresponding first preset time is shorter; the lower the water accumulation detection sensitivity, the higher the warning multiple, and the corresponding first preset time is longer.

[0087] Optionally, the second preset time is the product of the second standard preset time and the warning multiple. The higher the water accumulation detection sensitivity, the lower the warning multiple, and the corresponding second preset time is shorter; the lower the water accumulation detection sensitivity, the higher the warning multiple, and the corresponding second preset time is longer.

[0088] Optionally, the first preset time and the second preset time are also related to the cleaning gear of the cleaning robot. The higher the cleaning gear, the greater the amount of water the cleaning robot sprays onto the ground through the clean water tank, and the corresponding amount of water entering the sewage tank will also increase. In the disclosed embodiment, different first standard preset times and second standard preset times are set for different cleaning gears, and the first standard preset time and the second standard preset time are proportional to the cleaning gear. The specific setting method is:

[0089] The speed at which the sewage tank of the cleaning robot is filled with water is calibrated in the experimental scenario. First, an experimental map is constructed in a dry scenario to record the time G0, G1...GN (0 to N are gears) it takes for the sewage tank of the cleaning robot to be filled with water at each gear when performing cleaning tasks in the dry scenario. When the clean water tank is emptied back to the base station for water replenishment and sewage discharge during a single cleaning process, the time taken for the water replenishment and sewage discharge process needs to be subtracted. Calibration of the sewage tank of the cleaning robot in a dry scenario can confirm the speed at which the robot is filled with water on dry ground, avoiding inconsistent water filling speeds due to differences in machine models, which can cause misjudgment.

[0090] Further, pour enough water into the above-mentioned dry scene to construct a water accumulation scene, and record again the time J0, J1...JN (0 to N are gears) taken for the sewage tank of the cleaning robot to be full of water at each gear when the cleaning robot performs a cleaning task in the water accumulation scene. Based on the time taken for the sewage tank to be full of water at different gears, different first standard preset times and second standard preset times can be set for different gears. That is, the longer the gear takes for the sewage tank to be full of water, the longer the corresponding first standard preset time and second standard preset time will be.

[0091] The disclosed embodiment calibrates the water full speed of the sewage tank in advance to avoid erroneous judgments caused by inconsistent water full speeds of different models; at the same time, the water full speeds at different gears are calibrated to adapt to different working gears of the cleaning robot, thereby improving the universality and stability of water accumulation detection and processing.

[0092] For rooms with different water accumulation detection sensitivities, under the same water accumulation conditions, the shorter the first preset time and / or the second preset time, the easier it is for the cleaning robot to meet the preset water accumulation conditions, thereby making the severity of the preset water accumulation conditions in different rooms different, achieving differentiated water accumulation detection in each room and improving the flexibility of water accumulation detection.

[0093] For example, for rooms prone to water accumulation, such as kitchens and bathrooms, the sensitivity of water accumulation detection should be appropriately lowered to relax the preset water accumulation conditions and avoid false alarms under normal water accumulation conditions; for rooms that need to be monitored for water leaks, such as bedrooms and study rooms, the sensitivity of water accumulation detection should be increased to avoid missed alarms.

[0094] Furthermore, when the real-time water volume meets the preset water accumulation condition, it is determined that there is water accumulation in the cleaned area of ​​the cleaning task, including: when the real-time water volume meets the preset water accumulation condition of the room where the cleaning robot is located, determining the severity of the water accumulation according to the time taken by the cleaning robot to meet the preset water accumulation condition of the room, the severity of the water accumulation being inversely proportional to the time taken by the cleaning robot to meet the preset water accumulation condition of the room; and sending water accumulation warning information corresponding to the severity of the water accumulation to the user.

[0095] The time taken by the cleaning robot to meet the preset water accumulation condition of the room in which it is located refers to the time taken from the last time the cleaning robot returned to the base station to empty the sewage tank to the time when the cleaning robot meets the preset water accumulation condition of the room in which it is located.

[0096] Optionally, if the cleaning robot cleaned rooms with different water accumulation detection sensitivities after returning to the base station to empty the sewage tank last time, after switching rooms, the preset water accumulation condition of "the second water volume increase time is less than the second preset time" is used to continue water accumulation detection.

[0097] The shorter the time the cleaning robot takes to meet the preset water accumulation conditions of the room it is in, the more serious the water accumulation in the room the cleaning robot is currently located; the longer the time the cleaning robot takes to meet the preset water accumulation conditions of the room it is currently located, the less serious the water accumulation in the room the cleaning robot is currently located.

[0098] Correspondingly, the water accumulation warning information sent to the user is also divided into different levels of urgency. The more serious the water accumulation is, the more urgent the water accumulation warning information sent to the user is.

[0099] The disclosed embodiment sets different water accumulation detection sensitivities for each room, thereby enabling targeted key detection of certain rooms, avoiding missed reports caused by a small amount of water accumulation, and improving the accuracy of water accumulation detection.

[0100] Figure 2 This is a flow chart of a method for treating accumulated water in a cleaning robot provided by an embodiment of the present disclosure. Figure 2 As shown, the method includes the following steps:

[0101] S201, determining a cleaning path that the cleaning robot passes through before a preset water accumulation condition is met.

[0102] The cleaning path that the cleaning robot passes through before the preset water accumulation condition is met, that is, the cleaning path that the cleaning robot passes through within a preset time period before the preset water accumulation condition is met, that is, the cleaning path that is most likely to cause the cleaning robot to meet the preset water accumulation condition.

[0103] S202: When the time taken to meet the preset water accumulation condition is within a first preset range, an actual cleaning range is generated based on the cleaning path and body parameters of the cleaning robot.

[0104] The severity of water accumulation in the cleaning path and its surrounding environment can be determined by the time the cleaning robot takes to meet the preset water accumulation conditions in the room.

[0105] The preset ranges of multiple time dimensions such as the first preset range are calibrated in advance, and the cleaning robot is controlled to clean the drying test scene, and the time taken for the sewage tank to be full of water at different gears is recorded; the cleaning robot is controlled to clean the water accumulation test scene, and the time taken for the sewage tank to be full of water at different gears is recorded; according to the time taken for the sewage tank to be full of water at different gears in the drying test scene and the water accumulation test scene, the preset ranges of multiple time dimensions of the cleaning robot at each gear are determined, such as the first preset range, the second preset range, the third preset range, etc. Each preset range corresponds to a different time length and a different degree of water accumulation severity.

[0106] The time taken by the cleaning robot to meet the preset water accumulation condition in the room can be further quantified by the multiple of the time taken for the sewage tank to be full of water at this gear in the drying experiment scene. The shorter the time taken by the cleaning robot to meet the preset water accumulation condition in the room, the lower the multiple of the time taken to meet the full water tank at this gear, and the shorter the time length corresponding to the preset range of each time dimension. For example, the first preset range can be 0-X times the time taken for the sewage tank to be full of water at this gear in the drying experiment scene, the second preset range can be XY times the time taken for the sewage tank to be full of water at this gear in the drying experiment scene, and so on, where X and Y are positive numbers, and X is less than Y.

[0107] The actual cleaning range is the effective cleaning area of ​​the cleaning robot along the cleaning path. During the cleaning task, the cleaning robot will follow the pre-planned cleaning path and use the cleaning device on the body to clean. Therefore, the actual cleaning range is the area covered by the cleaning range of the cleaning parts with the cleaning path traversed by the cleaning robot within the preset time period before the preset water accumulation condition is met as the center.

[0108] S203: Generate a reference cleaning range based on the straight length of the cleaning path and body parameters of the cleaning robot.

[0109] The cleaning path that the cleaning robot travels within a preset time period before the preset water accumulation condition is met may be a curve, but it still has a fixed length. At the same time, due to the tortuosity of the cleaning path (usually a bow-sweeping path), the cleaning ranges of the cleaning robot at different times may overlap, so the area of ​​the actual cleaning range is less than or equal to the reference cleaning range.

[0110] Figure 3 Schematic diagram of the comparison between the actual cleaning range and the reference cleaning range provided in the embodiment of the present disclosure. Figure 3 As shown, the straight path P0 is obtained by straightening the actual cleaning path P1, and the lengths of the two are equal, both D; the area covered by the radius of the straight path P0 and the cleaning range of the cleaning member is the reference cleaning range M0, and the area covered by the radius of the cleaning path P1 and the cleaning range of the cleaning member is the actual cleaning range M1.

[0111] S204: When the ratio of the actual cleaning range area to the reference cleaning range area is less than a preset area ratio, a water accumulation area is generated according to the cleaning path and a preset expansion radius.

[0112] When the ratio of the actual cleaning range area to the reference cleaning range area is less than the preset area ratio, it means that there may be deep water accumulation in the actual cleaning range, which may affect the normal operation and service life of the cleaning robot. The area after the cleaning path is expanded needs to be marked as a water accumulation area.

[0113] Figure 4A schematic diagram of the cleaning path expansion provided by the embodiment of the present disclosure. Figure 4 As shown, the cleaning robot meets the preset water accumulation condition at point P2, and path P1 is the cleaning path that the cleaning robot passes through within a preset time period before meeting the preset water accumulation condition. Path P1 is expanded with a preset expansion radius A, and the resulting area C is the water accumulation area.

[0114] Optionally, the current severity of waterlogging and the waterlogging area are reported to the user to remind the user to handle it in time.

[0115] S205, controlling the cleaning robot to return to the station to empty the sewage tank and then continue to perform the cleaning task.

[0116] Among them, continuing to perform the cleaning task includes controlling the cleaning robot to return to the position when the preset water accumulation condition was last met, and then continuing to perform the cleaning task.

[0117] Optionally, since the water in the water accumulation area is deep, the cleaning robot is controlled to bypass the water accumulation area in the process of returning to the position when the preset water accumulation condition was last met, that is, the cleaning robot is controlled to return along the edge of the water accumulation area to the position when the preset water accumulation condition was last met.

[0118] Based on the above embodiment, when the ratio of the actual cleaning range area to the reference cleaning range area is greater than or equal to the preset area ratio, the cleaning robot is controlled to return to the station to empty the sewage tank, and then continue to perform the cleaning task according to the preset cleaning path.

[0119] When the ratio of the actual cleaning range area to the reference cleaning range area is greater than or equal to the preset area ratio, it means that the water accumulation is shallow and the coverage area is large, which does not affect the normal operation and service life of the robot, and the cleaning task can be performed normally; and after the sewage tank is full, the cleaning robot is controlled to return to the station to empty the sewage tank, and return to the position where the sewage tank is full to continue the cleaning task according to the preset cleaning path.

[0120] In other embodiments, when the time used to meet the preset water accumulation condition is within a second preset range, the cleaning robot is controlled to clean the water accumulation area again, and the time length corresponding to the second preset range is not less than the time length corresponding to the first preset range; during the re-cleaning process, the water accumulation situation in the water accumulation area is re-determined based on the real-time water volume in the sewage tank.

[0121] Among them, when the time used to meet the preset water accumulation condition is within the second preset range, the generation and marking method of the water accumulation area is consistent with the above embodiment, and will not be repeated here.

[0122] When the time used to meet the preset water accumulation condition is within the second preset range, it means that a small amount of suspected slight water accumulation is detected within the range of the cleaning path. At this time, the cleaning robot is controlled to clean the water accumulation area again. On the one hand, a secondary water accumulation detection can be performed in the water accumulation area to improve the accuracy of water accumulation detection; on the other hand, if there is indeed a small amount of water in the water accumulation area, it can be removed through the re-cleaning process.

[0123] Meanwhile, during the re-cleaning process, the water accumulation condition of the water accumulation area is re-determined according to the real-time water volume of the sewage tank, including obtaining the time taken for the real-time water volume of the sewage tank to meet the preset water accumulation condition during the re-cleaning process.

[0124] In other embodiments, when the time taken to meet the preset water accumulation condition is within a third preset range, the cleaning robot is controlled to return to the station to empty the sewage tank, and then return to the position where the sewage tank is full to continue to perform the cleaning task according to the preset cleaning path; the time length corresponding to the third preset range is not less than the time length corresponding to the second preset range. Optionally, when the time taken to meet the preset water accumulation condition is within the third preset range, the cleaning robot is controlled to clean the room where the water accumulation condition is met, and repeatedly confirm whether there is water accumulation in the room.

[0125] The above-mentioned method for treating accumulated water is introduced below with reference to specific examples.

[0126] Figure 5 A schematic diagram of a method for treating accumulated water provided by an embodiment of the present disclosure. Figure 5 As shown, in room R1, the cleaning robot completes the drainage of the sewage tank at time T1, starts to perform the cleaning task along the cleaning path P1 from the base station, arrives at position P2 at time T2 and meets the water accumulation detection condition. The time difference between time T1 and time T2 is T3, that is, the time taken by the cleaning robot to meet the water accumulation detection condition is T3.

[0127] In the disclosed embodiment, the cleaning gear of the cleaning robot is denoted as N, and the calibrated time required for the sewage tank to be full of water in the corresponding water accumulation scenario is JN. When T3 is set to be less than 2 times JN, it is determined that the time taken to meet the preset water accumulation condition is within the first preset range; when T3 is greater than or equal to 2 times JN and less than 3 times JN, it is determined that the time taken to meet the preset water accumulation condition is within the second preset range; when T3 is greater than or equal to 3 times JN and less than 4 times JN, it is determined that the time taken to meet the preset water accumulation condition is within the third preset range; when T3 is greater than or equal to 4 times JN, it is determined that there is no water accumulation.

[0128] Specifically, when T3 is less than 2 times JN, it is determined that the time used to meet the preset water accumulation condition is within the first preset range, indicating that there may be a large amount of water accumulation on the ground. It is necessary to mark the water accumulation area corresponding to the cleaning path P1, and send an early warning message to the user to control the cleaning robot to return to the base station to discharge sewage.

[0129] At the same time, the ratio of the actual cleaning range M0 area corresponding to the cleaning path P1 to the reference cleaning range M1 area is determined. If the ratio is less than the preset area ratio (for example, two-thirds), it means that there may be deep water accumulation in a small area, which will affect the normal operation and service life of the robot. After controlling the cleaning robot to return to the base station to drain sewage, it bypasses the water accumulation area and continues to perform the cleaning task; if the ratio is greater than or equal to the preset area ratio, it means that the current water accumulation may be shallow and the area is relatively large, which will not affect the normal operation and service life of the robot, and the cleaning task will continue to be performed according to the cleaning path.

[0130] When T3 is greater than or equal to 2 times JN and less than 3 times JN, it is determined that the time used to meet the preset water accumulation condition is within the second preset range, then the water accumulation area corresponding to the cleaning path P1 is determined, and the cleaning robot is controlled to return to the base station to drain sewage and clean the water accumulation area, and it is confirmed for the second time whether there is water accumulation in the water accumulation area.

[0131] When T3 is greater than or equal to 3 times JN and less than 4 times JN, it is determined that the time used to meet the preset water accumulation condition is within the third preset range, and the cleaning robot is controlled to return to the base station to drain sewage and then return to position P2 to clean R1, and repeatedly confirm whether there is water accumulation in room R1.

[0132] If T3 is greater than or equal to 4 times JN, it is determined that there is no water accumulation, and the cleaning robot is controlled to return to the base station to discharge sewage and then perform the cleaning task normally.

[0133] The disclosed embodiment determines the severity of water accumulation in the environment by utilizing the time taken to meet preset water accumulation conditions, and demarcates a water accumulation area when the severity of water accumulation is too high, so as to control the cleaning robot to bypass the area with severe water accumulation, thereby preventing the cleaning robot from being damaged while working in the area with severe water accumulation and extending the service life of the robot.

[0134] In addition, the embodiment of the present disclosure further improves the accuracy and flexibility of water accumulation detection by performing a secondary inspection on the water accumulation area when the severity of the water accumulation is low, re-evaluating the degree of water accumulation in the water accumulation area, avoiding underreporting.

[0135] Figure 6The schematic diagram of the structure of the water accumulation detection device of the cleaning robot provided in the embodiment of the present disclosure. The water accumulation detection device of the cleaning robot can be the cleaning robot as described in the above embodiment, or the water accumulation detection device of the cleaning robot can be a component or assembly in the cleaning robot. The water accumulation detection device of the cleaning robot provided in the embodiment of the present disclosure can execute the processing flow provided in the embodiment of the water accumulation detection method of the cleaning robot, and the cleaning robot includes a sewage tank, such as Figure 6 As shown, the water accumulation detection device 60 of the cleaning robot includes: a detection module 61 and a first determination module 62; the detection module 61 is used to detect the real-time water volume of the sewage tank during the execution of the cleaning task; the first determination module 62 is used to determine that there is water accumulation in the cleaned area of ​​the cleaning task when the real-time water volume meets the preset water accumulation condition; wherein the preset water accumulation condition includes: the first water volume increase time is less than the first preset time, and the first water volume increase time is the time taken for the real-time water volume of the sewage tank to reach the first preset water volume; or, the second water volume increase time is less than the second preset time, and the second water volume increase time is the time taken for the real-time water volume to increase by the second preset water volume.

[0136] Optionally, the first preset water volume is the full water volume; the detection module 61 is used to detect whether the real-time water volume reaches the full water volume of the sewage tank; and / or, calculate the ratio of the second preset water volume to the time consumed for the second water volume to increase, to obtain the increase rate of the real-time water volume.

[0137] Optionally, the cleaning robot includes a clean water tank, and the detection module 61 is also used to detect the clean water reduction rate of the clean water tank during the execution of the cleaning task; the first determination module 62 is also used to determine that there is accumulated water in the cleaned area of ​​the cleaning task if the difference between the real-time water volume increase rate of the sewage tank and the clean water reduction rate is greater than a preset rate threshold.

[0138] Optionally, the water accumulation detection device 60 of the cleaning robot also includes an acquisition module 63 and a second determination module 64; the acquisition module 63 is used to obtain the water accumulation detection sensitivity of each room according to the user's configuration information, and the water accumulation detection sensitivity is related to the first preset time and / or the second preset time; the second determination module 64 is used to determine the preset water accumulation conditions corresponding to each room according to the water accumulation detection sensitivity.

[0139] Optionally, the first determination module 62 is also used to determine the severity of water accumulation according to the time taken by the cleaning robot to meet the preset water accumulation condition of the room when the real-time water volume meets the preset water accumulation condition of the room where the cleaning robot is located, and the severity of water accumulation is inversely proportional to the time taken by the cleaning robot to meet the preset water accumulation condition of the room; and send water accumulation warning information corresponding to the severity of water accumulation to the user.

[0140] Optionally, the sewage tank includes a water volume detection device, and the detection module 61 is used to detect the real-time water volume of the sewage tank using the water volume detection device, and the water volume detection device is a Hall sensor detection device or a capacitive sensor detection device.

[0141] Optionally, the Hall sensing detection device includes a plurality of Hall sensors, and the capacitive sensing detection device includes a plurality of capacitive sensors; the plurality of Hall sensors or the plurality of capacitive sensors are distributed in the sewage tank in a vertical direction, and each sensor is spaced at a preset distance.

[0142] Figure 6 The water accumulation detection device of the cleaning robot in the illustrated embodiment can be used to implement the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0143] Figure 7 The schematic diagram of the structure of the water accumulation treatment device of the cleaning robot provided in the embodiment of the present disclosure. The water accumulation treatment device of the cleaning robot can be the cleaning robot as described in the above embodiment, or the water accumulation treatment device of the cleaning robot can be a component or assembly in the cleaning robot. The water accumulation treatment device of the cleaning robot provided in the embodiment of the present disclosure can execute the treatment process provided in the embodiment of the water accumulation treatment method of the cleaning robot, and the cleaning robot includes a sewage tank, such as Figure 7 As shown, the water accumulation treatment device 70 of the cleaning robot includes: a third determination module 71, a first generation module 72, a second generation module 73, a third generation module 74, and a control module 75; the third determination module 71 is used to determine the cleaning path that the cleaning robot passes through before satisfying the preset water accumulation condition; the first generation module 72 is used to generate an actual cleaning range based on the cleaning path and the body parameters of the cleaning robot when the time taken to satisfy the preset water accumulation condition is within a first preset range; the second generation module 73 is used to generate a reference cleaning range based on the straight length of the cleaning path and the body parameters of the cleaning robot; the third generation module 74 is used to generate a water accumulation area according to the cleaning path and a preset expansion radius when the ratio of the actual cleaning range area to the reference cleaning range area is less than a preset area ratio; the control module 75 is used to control the cleaning robot to return to the station to empty the sewage tank and continue to perform the cleaning task.

[0144] Optionally, the control module 75 is also used to control the cleaning robot to return to the station to empty the sewage tank and continue to perform the cleaning task according to the preset cleaning path when the ratio of the actual cleaning range area to the reference cleaning range area is greater than or equal to the preset area ratio.

[0145] Optionally, the control module 75 is also used to control the cleaning robot to clean the water accumulation area again when the time used to meet the preset water accumulation condition is within a second preset range, and the time length corresponding to the second preset range is not less than the time length corresponding to the first preset range; the water accumulation treatment device 70 of the cleaning robot also includes a fourth determination module 76, which is used to redetermine the water accumulation situation of the water accumulation area according to the real-time water volume in the sewage tank during the re-cleaning process.

[0146] Figure 7 The accumulated water treatment device of the cleaning robot in the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0147] Figure 8 Schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. The electronic device may be a cleaning robot as described in the above embodiment. The electronic device provided in an embodiment of the present disclosure may execute the processing flow provided in the embodiment of the water accumulation detection method of the cleaning robot, such as Figure 8 As shown, the electronic device 80 includes: a memory 81, a processor 82, a computer program and a communication interface 83; wherein the computer program is stored in the memory 81 and is configured so that the processor 82 executes the water accumulation detection and processing method of the cleaning robot as described above.

[0148] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the water accumulation detection and processing method of the cleaning robot described in the above embodiment.

[0149] In addition, an embodiment of the present disclosure also provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the water accumulation detection and processing method of the cleaning robot as described above is implemented.

[0150] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0151] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting water accumulation of a cleaning robot, characterized in that: The cleaning robot includes a sewage tank, and the method includes: During the execution of the cleaning task, detecting the real-time water volume of the sewage tank; When the real-time water volume meets the preset water accumulation condition, determining that water is accumulated in the cleaned area of ​​the cleaning task; Wherein, the preset water accumulation conditions include: The time taken to increase the first water volume is less than the first preset time, and the first water volume increase time is the time taken for the real-time water volume in the sewage tank to reach the first preset water volume; or, the time taken to increase the second water volume is less than the second preset time, and the second water volume increase time is the time taken for the real-time water volume to increase to the second preset water volume.

2. The method according to claim 1, characterized in that The first preset water volume is the full water volume, and detecting the real-time water volume of the sewage tank includes: Detecting whether the real-time water volume reaches the full water volume of the sewage tank; and / or, The ratio of the second preset water volume to the time consumed for the second water volume to increase is calculated to obtain the increase rate of the real-time water volume.

3. The method according to claim 1, characterized in that: The cleaning robot includes a clean water tank, and the method further includes: During the execution of the cleaning task, detecting a rate of reduction of clean water in the clean water tank; If the difference between the real-time increasing rate of the water volume in the sewage tank and the decreasing rate of the clean water is greater than a preset rate threshold, it is determined that there is accumulated water in the cleaned area of ​​the cleaning task.

4. The method according to claim 1, characterized in that: Before detecting the real-time water volume of the sewage tank, the method further comprises: According to the configuration information of the user, the water accumulation detection sensitivity of each room is obtained, where the water accumulation detection sensitivity is related to the first preset time and / or the second preset time; According to the water accumulation detection sensitivity, the preset water accumulation conditions corresponding to each of the rooms are determined.

5. The method according to claim 1, characterized in that When the real-time water volume meets the preset water accumulation condition, determining that there is water accumulation in the cleaned area of ​​the cleaning task includes: When the real-time water volume meets the preset water accumulation condition of the room where the cleaning robot is located, the severity of the water accumulation is determined according to the time taken by the cleaning robot to meet the preset water accumulation condition of the room, and the severity of the water accumulation is inversely proportional to the time taken by the cleaning robot to meet the preset water accumulation condition of the room; Sending waterlogging warning information corresponding to the severity of the waterlogging to the user.

6. The method according to claim 1, characterized in that The sewage tank includes a water volume detection device, and the detection of the real-time water volume of the sewage tank includes: A water volume detection device is used to detect the real-time water volume of the sewage tank. The water volume detection device is a Hall sensor detection device or a capacitive sensor detection device.

7. The method according to claim 6, characterized in that The Hall sensing detection device includes a plurality of Hall sensors, and the capacitive sensing detection device includes a plurality of capacitive sensors; The multiple Hall sensors or the multiple capacitive sensors are distributed in the sewage tank in a vertical direction, and each sensor is spaced apart by a preset distance.

8. A method for treating accumulated water of a cleaning robot, characterized in that: The method for treating accumulated water comprises: Determine a cleaning path that the cleaning robot passes through before a preset water accumulation condition is met; When the time taken to meet the preset water accumulation condition is within a first preset range, generating an actual cleaning range based on the cleaning path and the body parameters of the cleaning robot; generating a reference cleaning range based on a straight length of the cleaning path and body parameters of the cleaning robot; When the ratio of the actual cleaning range area to the reference cleaning range area is less than a preset area ratio, a water accumulation area is generated according to the cleaning path and a preset expansion radius; Control the cleaning robot to return to the station to empty the sewage tank and then continue to perform the cleaning task.

9. The method according to claim 8, characterized in that The method further comprises: When the ratio of the actual cleaning range area to the reference cleaning range area is greater than or equal to the preset area ratio, the cleaning robot is controlled to return to the station to empty the sewage tank, and then continue to perform the cleaning task according to the preset cleaning path.

10. The method according to claim 8, characterized in that The method further comprises: When the time taken to meet the preset water accumulation condition is within a second preset range, the cleaning robot is controlled to clean the water accumulation area again, and the time length corresponding to the second preset range is not less than the time length corresponding to the first preset range; During the re-cleaning process, the water accumulation condition of the water accumulation area is re-determined according to the real-time water volume of the sewage tank.

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