Cleaning control method, cleaning robot and computer readable storage medium

Abstract

The invention discloses a cleaning control method, a cleaning robot and a computer readable storage medium, and belongs to the field of household cleaning instruments.The cleaning control method comprises the following steps that in response to an instruction returned to a base station, the cleaning robot is controlled to move towards the base station, the suction wind speed of a fan of the cleaning robot is set as a first wind power value; the relative position of the cleaning robot and the base station is detected; if the relative position reaches a preset first condition, the pose of the cleaning robot is adjusted, so that the cleaning robot is back to the base station; and the cleaning robot is controlled to move close to the base station, the suction wind speed of the draught fan is adjusted from the first wind power value to a second wind power value, and the second wind power value is larger than the first wind power value. According to the cleaning control method, the suction wind speed of the fan is adjusted to the second wind power value when the cleaning robot retreats, so that garbage falling from the mop cloth can be sucked into the dust suction opening, and the cleaning effect of the cleaning robot is further optimized.

Description

Technical Field

[0001] The present invention relates to the field of household cleaning instruments, and in particular to a cleaning control method, a cleaning robot and a computer-readable storage medium. Background Art

[0002] In recent years, with the development of social economy and the improvement of family living standards, furniture cleaning has gradually entered the era of intelligence and mechanization. The cleaning robots that have emerged can liberate people from home cleaning work, effectively reduce people’s workload in home cleaning, and alleviate people’s fatigue during home cleaning.

[0003] Existing cleaning robots often include cleaning parts such as a side sweeper, a vacuum cleaner, and a crawler mop, wherein the rotating shaft of the crawler mop is arranged horizontally. During operation, the cleaning robot moves forward while rotating the mop to clean the floor. After the cleaning robot has been working for a period of time, garbage will accumulate on the side of the crawler mop close to the vacuum cleaner. The mop keeps rotating and continuously provides upward support for the garbage, so the garbage will not fall off.

[0004] However, when the cleaning robot returns to the base station to charge, it enters the base station in a backward position. At this time, the mop stops rotating and the accumulated garbage is likely to fall off during the retreat process. The fallen garbage affects the cleaning environment of the base station or the vicinity of the base station, making it impossible for the cleaning robot to completely clean up the garbage, affecting the cleaning effect of the cleaning robot. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a cleaning control method applied to a cleaning robot, which can adjust the suction wind speed of the fan to a second wind force value when the cleaning robot retreats, so that the garbage dropped on the mop can be sucked into the dust suction port, thereby comprehensively cleaning the garbage and improving the cleaning effect.

[0006] The present invention also provides a cleaning robot capable of implementing the above cleaning control method.

[0007] The present invention also provides a computer-readable storage medium storing the cleaning control method.

[0008] According to the cleaning control method of the first aspect of the present invention, the method comprises the following steps:

[0009] In response to the instruction returned to the base station, the cleaning robot is controlled to move toward the base station, and the suction wind speed of the fan of the cleaning robot is set to a first wind force value;

[0010] Obtaining the relative position of the cleaning robot and the base station;

[0011] If the relative position reaches a preset first condition, adjusting the posture of the cleaning robot so that the cleaning robot faces away from the base station;

[0012] Control the cleaning robot to move back to the base station, and adjust the suction wind speed of the fan from a first wind force value to a second wind force value, so as to suck the garbage shaken off by the cleaning robot into the cleaning robot;

[0013] Wherein, the second wind force value is greater than the first wind force value.

[0014] The cleaning control method according to the embodiment of the present invention has at least the following beneficial effects:

[0015] The cleaning control method of the embodiment of the present invention adjusts the suction wind speed of the fan to a second wind force value when the cleaning robot retreats, so that the garbage dropped on the mop can be sucked into the dust suction port, thereby further optimizing the cleaning effect of the cleaning robot, avoiding the impact of the garbage dropped on the mop on the environment near the base station, and improving the consumer's user experience.

[0016] According to some embodiments of the present invention, the method of controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from a first wind force value to a second wind force value includes:

[0017] Controlling the cleaning robot to move back toward the base station;

[0018] Obtaining the relative position of the cleaning robot and the base station;

[0019] When the relative position reaches a preset third condition, the suction wind speed of the fan is adjusted from the first wind force value to the second wind force value.

[0020] According to some embodiments of the present invention, after controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the method further includes:

[0021] If the relative position reaches a preset second condition, the suction wind speed of the fan is adjusted from the second wind force value to a third wind force value, wherein the third wind force value is smaller than the second wind force value.

[0022] According to some embodiments of the present invention, after controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the method further includes:

[0023] Using a visual sensor installed in front of the cleaning robot to detect whether there is garbage in the entrance area of ​​the base station;

[0024] If the garbage exists in the entrance area, the cleaning robot is controlled to move in the entrance area.

[0025] According to some embodiments of the present invention, the method of controlling the cleaning robot to move in the entrance area includes:

[0026] If the garbage exists in the entrance area, controlling the cleaning robot to move forward and backward multiple times;

[0027] Among them, the paths of multiple forward and backward movements are different cleaning paths.

[0028] According to some embodiments of the present invention, the method of controlling the cleaning robot to move in the entrance area includes:

[0029] If the garbage exists in the entrance area, the cleaning robot is controlled to move outside the base station to clean the base station along the edge.

[0030] According to some embodiments of the present invention, the method for adjusting the posture of the cleaning robot includes:

[0031] Controlling the cleaning robot to rotate and / or move, and when the recharging signal received by the cleaning robot meets a first critical condition, recording the first posture of the cleaning robot;

[0032] Controlling the cleaning robot to continue rotating and / or moving, and when the recharging signal received by the cleaning robot meets a preset second critical condition, recording a second posture of the cleaning robot;

[0033] Determine a starting point for the back movement of the cleaning robot according to the first posture and the second posture;

[0034] The cleaning robot is controlled to rotate and / or move to a starting point of the backward movement.

[0035] According to some embodiments of the present invention, in controlling the cleaning robot to rotate and / or move, when the recharging signal received by the cleaning robot meets the first critical condition, after recording the first posture of the cleaning robot, the method further includes:

[0036] The cleaning robot is controlled to move and / or rotate at a reduced speed.

[0037] According to the second aspect of the present invention, the cleaning robot includes: a body, a fan and a mop, the bottom of the body is provided with a dust suction port and a mop installation port, the fan is arranged in the dust suction port, the mop is arranged in the mop installation port, the body is further provided with a memory and a processor, the memory stores a computer program, and the processor calls the computer program from the memory to execute the cleaning control method as described in any one of the above embodiments.

[0038] According to the computer-readable storage medium of the third aspect of the present invention, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the cleaning control method described in any one of the above embodiments is implemented.

[0039] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0041] Figure 1 A top view of a cleaning robot according to an embodiment of the present invention entering a base station;

[0042] Figure 2 is a side view of a cleaning robot according to an embodiment of the present invention;

[0043] Figure 3 A schematic flow chart of a cleaning control method according to an embodiment of the present invention;

[0044] Figure 4 Another schematic diagram of a cleaning control method according to an embodiment of the present invention;

[0045] Figure 5 Another schematic diagram of a cleaning control method according to an embodiment of the present invention;

[0046] Figure 6 Another schematic diagram of a cleaning control method according to an embodiment of the present invention;

[0047] Figure 7 Another schematic diagram of a cleaning control method according to an embodiment of the present invention;

[0048] Figure 8 Another schematic diagram of a cleaning control method according to an embodiment of the present invention;

[0049] Fig. 9 This is a schematic diagram of a cleaning robot according to an embodiment of the present invention facing a base station (before adjusting the posture);

[0050] Fig.10 This is a schematic diagram of the state of the cleaning robot under the first critical condition when adjusting the posture of the cleaning robot according to the embodiment of the present invention;

[0051] Fig.11 This is a schematic diagram of the state of the cleaning robot under the second critical condition when adjusting the posture of the cleaning robot according to the embodiment of the present invention;

[0052] Fig.12 This is a schematic diagram of a state where the cleaning robot according to an embodiment of the present invention faces away from the base station (after adjusting the posture);

[0053] Fig.13 A schematic flow chart of a method for adjusting posture according to an embodiment of the present invention;

[0054] Fig.14 Another schematic flow chart of the method for adjusting posture according to an embodiment of the present invention.

[0055] Reference numerals:

[0056] Cleaning robot 100 ; body 110 ; fan 120 ; mop 130 ; suction port 140 ; ​​mop installation port 150 ; driving wheel 160 ; signal receiver 170 ; base station 200 ; ramp 220 ; signal transmitter 230 . DETAILED DESCRIPTION

[0057] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0058] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0059] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0060] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0061] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0062] The embodiment of the first aspect of the present application proposes a cleaning control method, which can be applied to a cleaning robot 100 with a mopping cleaning function to clean up the garbage dropped by the robot during the alignment and pile return process. Figure 1 and Figure 2 As shown, the cleaning robot 100 includes a body 110, and a dust suction port 140 and a mop installation port 150 are provided at the bottom of the body 110. The dust suction port 140 is connected to the fan 120 in the body 110, and can generate suction wind flowing from the dust suction port 140 into the body 110. A roller brush can also be provided at the dust suction port 140, and the roller brush cooperates with the suction wind to absorb dust or garbage on the moving path. The mop installation port 150 is used to install the mop 130, and the mop 130 can rotate to wipe the floor, wherein the rotation direction of the mop 130 is as follows: Figure 2 Counterclockwise direction shown.

[0063] For the convenience of subsequent understanding, the cleaning robot 100 is set to have a cleaning mode, a pile-finding mode, and an alignment mode. In the cleaning mode, the cleaning robot 100 moves forward while rotating the mop 130 to clean the floor. It should be noted that the forward and backward directions of the cleaning robot 100 are as follows: Figure 1 and Figure 2 As shown. Figure 2 In the embodiment, the mop 130 is located at the rear end of the cleaning robot 100, the fan 120 is located in the middle of the cleaning robot, and the mop installation port 150 and the dust suction port 140 are arranged in sequence along the forward direction. In the pile-seeking mode, the cleaning robot 100 aims to move to the front of the base station 200 and adjust its posture to face away from the base station 200. In the alignment mode, the cleaning robot 100 can retreat to the base station 200 to perform operations such as charging, adding clean water, recycling sewage, and cleaning with the mop 130.

[0064] In the prior art, such as Figure 2As shown, after the cleaning robot 100 works in the cleaning mode for a period of time, garbage will accumulate on the side of the mop 130 close to the suction port 140 (garbage accumulates on the Figure 2 In the area A shown in the figure, the mop 130 keeps rotating during the forward cleaning process, continuously providing upward support force to the garbage, so the garbage will not fall at this time. When the cleaning robot 100 returns to the base station 200 to charge in the alignment mode, the cleaning robot 100 retreats into the base station 200. At this time, the mop 130 stops rotating, and the accumulated garbage is easy to fall during the retreat process. In addition, due to the height difference between the charging platform in the base station 200 and the ground, when the cleaning robot 100 retreats to the base station 200 through the slope 220, the shaking of the fuselage 110 increases the probability of garbage falling. The fallen garbage affects the cleaning environment of the base station 200 or the vicinity of the base station 200, making it impossible for the cleaning robot 100 to completely clean up the garbage, affecting the cleaning effect of the cleaning robot 100.

[0065] Specifically, Figure 3 As shown, the cleaning control method in the first embodiment of the present application includes the following steps:

[0066] S100, in response to the instruction returned to the base station, controlling the cleaning robot to move toward the base station, and setting the suction wind speed of the fan of the cleaning robot to a first wind force value;

[0067] In this step, the instruction to return to the base station 200 can be issued by the target object through the terminal device, or it can be issued by the cleaning robot 100 itself, wherein the target object includes consumers, sales personnel, product testers or other personnel, without limitation. Specifically, while the cleaning robot 100 is cleaning garbage, the power supply module of the cleaning robot 100 monitors the battery power of the cleaning robot 100. When the battery power is less than the preset value, the cleaning robot 100 issues an instruction to return to the base station 200 for charging; the cleaning robot 100 may also issue an instruction to return to the base station 200 in the following scenarios: when the cleaning robot 100 detects that the dirt level of the ground is less than its preset value, or when the cleaning robot 100 detects that the dirt level of the mop 130 is greater than its preset value and needs to be cleaned, or when the cleaning robot 100 detects that there is not enough clean water, or when the cleaning robot 100 detects that the sewage is full, etc.

[0068] When the cleaning robot 100 receives the instruction to return to the base station 200, the cleaning robot 100 switches from the cleaning mode to the pile-seeking mode, and the suction wind speed of the fan 120 of the cleaning robot 100 is adjusted to a first wind speed value, which is often less than the working wind speed in the cleaning mode. In some specific embodiments, in order to reduce power consumption in the pile-seeking mode, the first wind speed value is set to 0, and the fan 120 of the cleaning robot 100 is turned off.

[0069] S200, obtaining the relative position of the cleaning robot and the base station;

[0070] In this step, the cleaning robot 100 moves forward while adjusting its own forward direction to gradually approach the base station 200. During the forward process, the relative position of the cleaning robot 100 and the base station 200 is obtained.

[0071] S300: If the relative position reaches a preset first condition, adjusting the posture of the cleaning robot so that the cleaning robot faces away from the base station;

[0072] In this step, the preset first condition may be that the cleaning robot 100 is located in front of the set range of the base station 200, that is, when the cleaning robot 100 is within the preset range of the base station 200 and is located in front of the base station 200, the first condition is met. During the pile-seeking process of the cleaning robot 100, the cleaning robot 100 may first enter the preset range of the base station 200 and then move in front of the base station 200, or may first move in front of the base station 200 and then move forward to the preset range of the base station 200. When the cleaning robot 100 reaches the first condition, the cleaning robot 100 stops moving forward and adjusts the orientation of the cleaning robot 100 by rotating so that it is set with its back to the base station 200 (refer to Figure 1 The cleaning robot 100 is switched from the pile-finding mode to the alignment mode.

[0073] In some embodiments, during the process of searching for piles, the cleaning robot 100 continuously adjusts its own posture through map information or the location information of the base station 200 obtained by sensors, so that when the cleaning robot 100 meets the first condition, the cleaning robot 100 is set facing the base station 200. Therefore, the cleaning robot 100 needs to rotate 180° when adjusting its posture so that its back is facing the base station 200, so as to facilitate the positioning and pile action.

[0074] S400, control the cleaning robot to move back to the base station, and adjust the suction wind speed of the fan from a first wind force value to a second wind force value, so as to suck the garbage shaken off by the cleaning robot into the cleaning robot; wherein the second wind force value is greater than the first wind force value.

[0075] In this step, during the retreat of the cleaning robot 100, the suction wind speed of the fan 120 is adjusted from the first wind force value to the second wind force value, the second wind force value is greater than the first wind force value, and in some embodiments, the second wind force value is the wind force value when the fan 120 is fully turned on. In the alignment pile mode, the cleaning robot 100 faces away from the base station 200 and moves close to the base station 200, that is, the cleaning robot 100 performs the alignment pile action by retreating. During the retreat process, the mop 130 stops, and the garbage between the mop 130 and the suction port 140 falls onto the retreat path of the cleaning robot 100. When the cleaning robot 100 continues to retreat until the garbage is below the suction port 140, the garbage is sucked into the suction port 140.

[0076] Based on the above, the cleaning control method of the first aspect of the present application adjusts the suction wind speed of the fan 120 to the second wind force value when the cleaning robot 100 retreats, so that the garbage dropped on the mop 130 can be sucked into the dust suction port 140, thereby further optimizing the cleaning effect of the cleaning robot 100, avoiding the garbage dropped on the mop 130 from affecting the environment near the base station 200, and improving the consumer's user experience.

[0077] In some embodiments, the cleaning robot 100 can turn on the fan 120 to the second wind speed value during the process of moving backwards from the base station. Alternatively, the relative position of the cleaning robot 100 and the base station 200 is continuously obtained during the backward movement, and when the relative position reaches a preset third condition, the suction wind speed of the fan 120 is adjusted to the second wind speed value. Specifically, Figure 4 As shown, in the step of controlling the cleaning robot to move back to the base station, adjusting the suction wind speed of the fan from the first wind force value to the second wind force value to suck the garbage shaken off by the cleaning robot into the cleaning robot, the following steps are included:

[0078] S410, controlling the cleaning robot to move back toward the base station;

[0079] S420, obtaining the relative position of the cleaning robot and the base station;

[0080] It is understandable that the cleaning robot 100 can use detection components such as laser radar, camera, infrared sensor, etc. to scan the space to be cleaned to generate map information based on the detected environmental information, and store the map information in the terminal device, base station 200 or the cleaning robot 100. In response to the instruction returned to the base station 200, the cleaning robot 100 retrieves the map information and performs path planning to control the cleaning robot 100 to move toward the base station 200 and obtain the relative position of the cleaning robot 100 and the base station 200.

[0081] Alternatively, the cleaning robot 100 can transmit data with the base station 200. The cleaning robot 100 can be provided with an infrared sensor. When the infrared sensor of the cleaning robot 100 receives an infrared return signal sent by the base station 200 and representing the position information of the base station 200, the relative position of the cleaning robot 100 and the base station 200 is determined according to the infrared return signal.

[0082] S430: When the relative position reaches a preset third condition, the suction wind speed of the fan is adjusted from the first wind force value to the second wind force value.

[0083] It can be understood that the third condition can be the distance value between the cleaning robot 100 and the base station 200. For example, when the cleaning robot 100 retreats to a set distance from the base station 200, the suction wind speed of the fan 120 is adjusted to the second wind force value; or, the third condition can also be the distance value between the cleaning robot 100 and a special road section.

[0084] The special road section may be a slope 220 section. Specifically, due to the height difference between the charging platform of the base station 200 and the ground, when the cleaning robot 100 enters the base station 200 with its back facing, it will pass through the slope 220 and enter the base station 200. It is easy for garbage to fall off when the cleaning robot 100 goes up and down the slope 220. Therefore, after obtaining the relative position of the cleaning robot 100 and the base station 200, the position of the slope 220 can be used as a reference. When the cleaning robot 100 enters the slope 220, the suction wind speed of the fan 120 is adjusted from the first wind force value to the second wind force value.

[0085] The special road section may also be a rugged road section, a stepped road section, etc. The cleaning robot 100 can obtain the relative distance between the cleaning robot 100 and the road section in real time based on the detected map information, thereby adjusting the suction wind speed of the fan 120 to the second wind force value in advance.

[0086] In some embodiments, after the cleaning robot 100 cleans the mop 130 in the base station 200, water often remains on the bottom plate of the base station 200. If the fan 120 is still turned on after entering the base station 200, the residual water may be sucked into the dust suction port 140, wetting the garbage stored and collected in the body 110, causing the garbage to adhere to the dust box in the body 110 and not easily fall off. Figure 5 As shown, after controlling the cleaning robot to move close to the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the cleaning control method further includes:

[0087] S500: If the relative position reaches a preset second condition, the suction wind speed of the fan is adjusted from the second wind force value to a third wind force value, wherein the third wind force value is smaller than the second wind force value.

[0088] Based on this step, the preset second condition may be that the distance between the cleaning robot 100 and the base station 200 is less than the set distance, that is, when the cleaning robot 100 retreats to a set distance from the base station 200, the suction wind speed of the fan 120 is adjusted from the second wind force value to the third wind force value. Among them, the third wind force value is less than the second wind force value. The third wind force value can be an appropriate wind force value that can absorb garbage but not moisture, or it can be 0 (that is, the fan 120 is turned off). It is understandable that the second condition may also be that the cleaning robot 100 moves to the entrance of the base station 200 or a preset position in the base station 200, that is, when the cleaning robot 100 moves to the preset position, the suction wind speed of the fan 120 is adjusted from the second wind force value to the third wind force value to avoid adsorbing moisture.

[0089] It is understandable that the entrance area of ​​the base station 200 includes the area where the slope 220 meets the ground, the area where the slope 220 is located, and the area where the charging platform meets the slope 220. When the cleaning robot 100 passes through the above-mentioned area, the body 110 shakes and garbage is more likely to fall. Alternatively, in other embodiments, there is a small step at the entrance area where the base station 200 meets the ground. When the cleaning robot 100 enters the base station, it needs to pass through the step, so that the body 110 shakes and causes garbage to fall.

[0090] To this end, in some embodiments, garbage at the entrance area is cleaned up in a targeted manner to prevent garbage from falling into the entrance area and affecting the environment near the base station 200. Specifically, Figure 6 As shown, after controlling the cleaning robot to move back to the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the following steps are also included:

[0091] S500, using a visual sensor installed in front of the cleaning robot to detect whether there is garbage in the entrance area of ​​the base station;

[0092] In this step, a visual sensor is used to detect whether there is garbage in the entrance area of ​​the base station 200. The garbage may be garbage shaken off during the alignment process of the cleaning robot 100, or it may be garbage that was not cleaned up in the cleaning mode.

[0093] S600: If there is garbage in the entrance area, control the cleaning robot to move in the entrance area of ​​the base station.

[0094] In this step, if there is garbage in the entrance area, the cleaning robot 100 is controlled to move to the entrance area of ​​the base station 200 and clean up the garbage. If there is no garbage in the entrance area, the cleaning robot 100 is kept in the position of the base station 200 and switched to the charging mode.

[0095] Specifically, Figure 7 As shown, the method for controlling the cleaning robot to move in the entrance area includes the following steps:

[0096] S610: If there is garbage in the entrance area, control the cleaning robot to move forward and backward multiple times, wherein the paths of the multiple forward and backward movements are different cleaning paths.

[0097] Taking the ramp 220 provided at the entrance area as an example, after the cleaning robot 100 receives the cleaning instruction for the entrance area, specifically, the cleaning robot 100 first moves out of the base station 200 along the first direction and moves to the area where the ramp 220 is connected to the ground, and during the movement, the suction wind speed of the fan 120 is adjusted to the second wind force value to clean up the garbage on the path. Then the cleaning robot 100 retreats to the base station 200, and after rotating a certain angle, it moves out of the base station 200 in the second direction and moves to the area where the ramp 220 is connected to the ground, and performs cleaning and retreating actions. This is repeated many times, and each time the cleaning robot 100 moves out of the base station in a different direction, so that its cleaning path forms a fan-shaped cleaning range with the base station 200 as the arc center and the ramp 220 as the radius, covering the entrance area.

[0098] Or, if Figure 8 As shown, the method for controlling the cleaning robot to move in the entrance area includes the following steps:

[0099] S610: If there is garbage in the entrance area, control the cleaning robot to move outside the base station and clean the edges of the base station.

[0100] It can be understood that the cleaning robot 100 obtains its relative position with the base station 200 through visual sensors, infrared sensors, etc., switches to the cleaning mode and moves around the base station 200 based on the edge of the base station 200, thereby cleaning up the garbage near the base station 200.

[0101] In some embodiments, Fig. 9 and Fig.10 As shown, the cleaning robot 100 is provided with a recharging signal receiver 170, and the base station 200 is provided with a plurality of recharging signal transmitters 230. It is understandable that the recharging signal transmitter 230 can form a triangular signal range in front of the base station 200, and the recharging signal can be a light signal, a sound wave signal, etc. When the cleaning robot 100 is within the signal range of any recharging signal transmitter 230, the recharging signal receiver 170 on the body 110 can receive the recharging signal and determine the posture state of the cleaning robot 100 by steps such as identifying the emission source of the recharging signal.

[0102] Specifically, Figures 9 to 13 As shown, it should be noted that Figures 9 to 12In the diagram of FIG. , the direction mark in the lower left corner represents the orientation state of the cleaning robot 100. For example, in Fig. 9 In the embodiment, the front end of the cleaning robot 100 is close to the base station 200, and the rear end is far away from the base station 200, that is, the cleaning robot 100 is arranged facing the base station 200. Fig.12 In the embodiment, the rear end of the cleaning robot 100 is close to the base station 200 and the front end is far away from the base station 200, that is, the cleaning robot 100 is arranged with its back to the base station 200. Specifically, the method for adjusting the posture of the cleaning robot includes the following steps:

[0103] S310, controlling the cleaning robot to rotate and / or turn, and when the recharging signal received by the cleaning robot meets the first critical condition, recording the first posture of the cleaning robot;

[0104] Combined with Fig. 9 and Fig.10 As shown in the figure, two signal transmitters 230 are respectively arranged on the base station 200. For the convenience of subsequent distinction, they are named as the first transmitter and the second transmitter from left to right, and the signal range of each transmitter is a triangle that gradually expands in the direction away from the signal transmitter 230. The signal receiver 170 is arranged at the rear end of the cleaning robot 100 and is located on the central axis of the cleaning robot 100.

[0105] It is understandable that in the previous step, the cleaning robot 100 moves toward the base station 200 to present the Fig. 9 To this end, the cleaning robot 100 needs to rotate and / or move to adjust to a posture facing away from the base station 200. For example, the cleaning robot 100 rotates counterclockwise. Fig.10 As shown, the signal receiver 170 can first receive the signal from the second transmitter. As the cleaning robot 100 rotates, the signal receiver 170 rotates to the edge of the signal range of the first transmitter, and can just receive the signal from the first transmitter and the signal from the second transmitter, and record the posture of the cleaning robot 100 in the first critical state.

[0106] S320, controlling the cleaning robot to continue rotating and / or moving, and when the recharging signal received by the cleaning robot meets a preset second critical condition, recording a second posture of the cleaning robot;

[0107] It can be understood that the cleaning robot 100 continues to rotate in the same direction, and the signal receiver 170 enters the overlapping area of ​​the signal range of the first transmitter and the second transmitter. In this overlapping area, the signal receiver 170 on the cleaning robot 100 can receive signals from both the first transmitter and the second transmitter.

[0108] like Fig.11 As shown, the cleaning robot 100 continues to rotate counterclockwise until the signal receiver 170 rotates to the edge of the signal range of the second transmitter. If it continues to rotate counterclockwise, it exceeds the signal range of the second transmitter, thereby triggering the second critical condition of the cleaning robot 100 and recording the position of the cleaning robot 100 at this time.

[0109] S330, determining a starting point for the back movement of the cleaning robot according to the first posture and the second posture;

[0110] S340, controlling the cleaning robot to rotate and / or move to a starting point of backward movement.

[0111] It is understandable that if Fig.12 As shown, based on the first posture and the second posture, the central axis of the first transmitter and the second transmitter can be determined, and by rotating the cleaning robot 100 so that the signal receiver 170 is on the central axis, the posture of the starting point of its back movement is determined, and the cleaning robot 100 can retreat straight back from the starting point to the base station 200.

[0112] Further, such as Fig.14 As shown, after the above step S310, the following steps are also included:

[0113] S315: Control the cleaning robot to slow down and move and / or rotate.

[0114] It is understandable that the cleaning robot 100 often has a larger angle range or movement range from the position where it just starts to rotate or move to the position where the first critical condition is triggered. During this early rotation or movement process, the rotation speed or movement speed of the cleaning robot 100 can be appropriately increased. When the recharging signal received by the cleaning robot 100 meets the first critical condition, the movement and / or rotation speed of the cleaning robot 100 is reduced, thereby avoiding the cleaning robot 100 having excessive inertia and causing the cleaning robot 100 to trigger the second critical condition. The posture recorded by the processor is different from the actual posture.

[0115] In some embodiments, in the step of controlling the cleaning robot to move toward the base station and setting the suction wind speed of the fan of the cleaning robot to the first wind force value in response to the instruction returned to the base station, the steps are further divided into the following steps:

[0116] S110, in response to the instruction returned to the base station, setting the suction wind speed of the fan of the cleaning robot to a first wind force value;

[0117] S120: Control the cleaning robot to move toward the base station based on the pre-acquired map information, or control the cleaning robot to move toward the base station based on the collected position information of the base station.

[0118] During the cleaning process before this step, the cleaning robot 100 can use detection components such as laser radar, camera, infrared sensor, etc. to scan the space to be cleaned, so as to generate map information based on the detected environmental information, and store the map information in the terminal device, base station 200 or cleaning robot 100. In response to the instruction returned to the base station 200, the cleaning robot 100 retrieves the map information and performs path planning to control the cleaning robot 100 to move toward the base station 200. Alternatively, the cleaning robot 100 can transmit data with the base station 200, and the cleaning robot 100 can be provided with an infrared sensor. When the infrared sensor of the cleaning robot 100 receives the infrared recharge signal sent by the base station 200 representing the location information of the base station, the cleaning robot 100 is controlled to adjust the moving direction according to the received infrared recharge signal, so that the cleaning robot 100 moves to a position that meets the first condition.

[0119] In the cleaning mode of the cleaning robot 100, the faster the mop 130 rotates, the greater the forward resistance of the cleaning robot 100, and the higher the energy consumption of the cleaning robot 100, the shorter its working time, and the slower the mop 130 rotates, the worse the cleaning effect of the cleaning robot 100. Therefore, in order to balance the relationship between the energy consumption, resistance and cleaning effect of the cleaning robot 100, improvements are made in the following embodiments.

[0120] In some embodiments (for the convenience of subsequent distinction, this embodiment is named as the first embodiment), before responding to the instruction returned to the base station, controlling the cleaning robot to move toward the base station, and setting the suction wind speed of the fan of the cleaning robot to the first wind force value, the cleaning control method further includes:

[0121] S10, receiving first ground dirt information detected by a visual sensor in the cleaning robot;

[0122] S20: Based on the first floor dirtiness information, control the mop of the cleaning robot to operate at a predetermined rotation speed.

[0123] According to the first ground dirt information, the dirt level of the ground can be determined. For example, if the ground is relatively dirty and is determined to be the first level, the mop 130 is controlled to work at a fully open speed, or if there is only a small amount of garbage on the ground, it is determined to be the third level, and the mop 130 is controlled to work at a slower speed. It can be understood that the correspondence between the dirt level and the ground dirt information can be set arbitrarily, and the examples described here should not be regarded as limiting the correspondence.

[0124] In some other embodiments (for the convenience of subsequent distinction, this embodiment is named as the second embodiment), before responding to the instruction returned to the base station, controlling the cleaning robot to move toward the base station, and setting the suction wind speed of the fan of the cleaning robot to the first wind force value, the cleaning control method further includes:

[0125] S10, receiving sewage turbidity information detected by an infrared sensor or an electrode sheet in the cleaning robot, wherein the sewage turbidity information is used to indicate the turbidity degree of sewage in a sewage box in the cleaning robot;

[0126] Specifically, a transmitting and receiving infrared sensor is provided in the water inlet pipe of the sewage box of the cleaning robot 100. Based on the principle that liquids with different turbidity have different light transmittances, the turbidity of the sewage is judged by the strength of the received infrared signal. Alternatively, an electrode sheet is provided in the sewage box. Based on the principle that liquids with different turbidity have different current values ​​passing through, the turbidity of the sewage in the sewage box is judged by the size of the received current.

[0127] S20, obtaining second ground dirtiness information based on the sewage turbidity information;

[0128] Specifically, based on the above sewage turbidity information (specifically, the signal strength value or the current value), the turbidity level is obtained by looking up the table, and different turbidity levels correspond to different dirtiness levels. Alternatively, based on the above sewage turbidity information (specifically, the signal strength value or the current value), the turbidity value is calculated by substituting it into the set function, and different value intervals correspond to different dirtiness levels.

[0129] S30: Based on the second floor dirtiness information, control the mop of the cleaning robot to operate at a predetermined rotation speed.

[0130] In some other embodiments (for the convenience of subsequent distinction, this embodiment is named as the third embodiment), before responding to the instruction returned to the base station, controlling the cleaning robot to move toward the base station, and setting the suction wind speed of the fan of the cleaning robot to the first wind force value, the cleaning control method further includes:

[0131] S10, receiving the mop rotation resistance information detected by the pressure sensor in the cleaning robot;

[0132] S20, obtaining third floor dirtiness information based on the mop rotation resistance information;

[0133] S30: Based on the third floor dirtiness information, control the mop of the cleaning robot to operate at a predetermined rotation speed.

[0134] Specifically, the mop 130 of the cleaning robot 100 is also connected to a pressure sensor, which can detect the rotation resistance information of the mop 130, thereby obtaining the third ground dirtiness information, and thereby controlling the rotation speed of the mop 130 of the cleaning robot 100. The dirtier the ground, the faster the rotation speed of the mop 130, and the cleaner the ground, the slower the rotation speed of the mop 130 or even stops.

[0135] In some other embodiments (for the convenience of subsequent distinction, this embodiment is named as the fourth embodiment), before responding to the instruction returned to the base station, controlling the cleaning robot to move toward the base station, and setting the suction wind speed of the fan of the cleaning robot to the first wind force value, the cleaning control method further includes:

[0136] S10, detecting area attribute information of a second area where the cleaning robot is located;

[0137] S20. According to the area attribute information, control the mop of the cleaning robot to operate at a predetermined rotation speed.

[0138] Specifically, the regional attribute refers to the function corresponding to the region, such as the kitchen, living room, dining room and bedroom. Different regions are often not the same in terms of dirtiness. For example, the kitchen floor often has kitchen residues, oil stains and other garbage that are difficult to remove. The mop 130 needs to work at the maximum speed to ensure a good cleaning effect. The bedroom floor often has hair and other garbage that is easy to remove. The mop 130 can ensure a good cleaning effect at a lower speed. Furthermore, the rotation speed of the mop corresponding to the kitchen, living room and dining room can be higher than the rotation speed of the mop corresponding to the bedroom.

[0139] The acquisition of regional attribute information can be set by the consumer on the terminal, or obtained through a preset regional division module within the cleaning robot 100.

[0140] It should be noted that the above-mentioned first to fourth embodiments are parallel embodiments. It can be understood that the above-mentioned embodiments can also be combined. For example, after detecting the area attribute information of the second area (i.e., the area to be cleaned), the mop 130 of the cleaning robot 100 is controlled to operate at an initial rotation speed, and then during the cleaning process, the cleaning robot 100 can also adjust the rotation speed of the mop 130 in real time according to the rotation resistance information of the mop 130.

[0141] In some embodiments, if the suction wind speed of the fan 120 is too high, the frictional resistance of the cleaning robot 100 will be greater, making it more difficult to move. If the suction wind speed of the fan 120 is too low, the garbage on the ground may not be sucked clean. In addition, if the suction wind speed of the fan 120 is set unreasonably, it may also cause the driving wheel 160 of the cleaning robot 100 to slip, affecting the path planning of the cleaning robot 100. To this end, in this embodiment, after adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the cleaning control method also includes the following steps:

[0142] S700, detecting the moving resistance value of the cleaning robot;

[0143] S710, if the movement resistance value is greater than the preset resistance threshold, adjusting the suction wind speed of the fan from the second wind force value to a fourth wind force value, wherein the fourth wind force value is less than the second wind force value;

[0144] S720: If the movement resistance value is less than or equal to the preset resistance threshold, adjust the suction wind speed of the fan from the second wind force value to a fifth wind force value, wherein the fifth wind force value is greater than the second wind force value.

[0145] It should be explained that step S710 and step S720 are steps to be performed after judgment. The moving resistance value of the cleaning robot 100 is detected by the pressure sensor to adjust the suction wind speed in time, thereby balancing the suction wind speed and the moving resistance, so that the cleaning robot 100 can move smoothly and have a better cleaning effect.

[0146] The second embodiment of the present application proposes a cleaning robot 100, which includes a body 110, a fan 120 and a mop 130. A dust suction port 140 and a mop mounting port 150 are provided at the bottom of the body 110. The fan 120 is arranged in the dust suction port 140, and the mop 130 is arranged in the mop mounting port 150. A memory and a processor are also provided in the body 110. The memory stores a computer program, and the processor calls the computer program from the memory to execute the cleaning control method of any of the above embodiments.

[0147] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0148] The memory can be a memory stick, TF card (Trans-flash Card), etc., which can store all the information in the electronic device of the device, including the input raw data, computer programs, intermediate operation results and final operation results. It stores and retrieves information according to the location specified by the controller.

[0149] The third aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement any of the cleaning control methods mentioned in the above embodiments.

[0150] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cleaning control method applied to a cleaning robot, characterized in that: The method comprises the following steps: In response to the instruction returned to the base station, the cleaning robot is controlled to move toward the base station, and the suction wind speed of the fan of the cleaning robot is set to a first wind force value; Obtaining the relative position of the cleaning robot and the base station; If the relative position reaches a preset first condition, adjusting the posture of the cleaning robot so that the cleaning robot faces away from the base station; Control the cleaning robot to move back to the base station, and adjust the suction wind speed of the fan from a first wind force value to a second wind force value, so as to suck the garbage shaken off by the cleaning robot into the cleaning robot; Wherein, the second wind force value is greater than the first wind force value.

2. The cleaning control method according to claim 1, characterized in that: The method of controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from a first wind force value to a second wind force value includes: Controlling the cleaning robot to move back toward the base station; Obtaining the relative position of the cleaning robot and the base station; When the relative position reaches a preset third condition, the suction wind speed of the fan is adjusted from the first wind force value to the second wind force value.

3. The cleaning control method according to claim 1, characterized in that: After controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the method further includes: If the relative position reaches a preset second condition, the suction wind speed of the fan is adjusted from the second wind force value to a third wind force value, wherein the third wind force value is smaller than the second wind force value.

4. The cleaning control method according to claim 1, characterized in that: After controlling the cleaning robot to move back toward the base station and adjusting the suction wind speed of the fan from the first wind force value to the second wind force value, the method further includes: Using a visual sensor installed in front of the cleaning robot to detect whether there is garbage in the entrance area of ​​the base station; If the garbage exists in the entrance area, the cleaning robot is controlled to move in the entrance area.

5. The cleaning control method according to claim 4, characterized in that: The method of controlling the cleaning robot to move in the entrance area comprises: If the garbage exists in the entrance area, controlling the cleaning robot to move forward and backward multiple times; Among them, the paths of multiple forward and backward movements are different cleaning paths.

6. The cleaning control method according to claim 4, characterized in that: The method of controlling the cleaning robot to move in the entrance area comprises: If the garbage exists in the entrance area, the cleaning robot is controlled to move outside the base station to clean the base station along the edge.

7. The cleaning control method according to any one of claims 1 to 6, characterized in that: The method for adjusting the posture of the cleaning robot comprises: Controlling the cleaning robot to rotate and / or move, and when the recharging signal received by the cleaning robot meets a first critical condition, recording the first posture of the cleaning robot; Controlling the cleaning robot to continue rotating and / or moving, and when the recharging signal received by the cleaning robot meets a preset second critical condition, recording a second posture of the cleaning robot; Determine a starting point for the back movement of the cleaning robot according to the first posture and the second posture; The cleaning robot is controlled to rotate and / or move to a starting point of the backward movement.

8. The cleaning control method according to claim 7, characterized in that: In controlling the cleaning robot to rotate and / or move, when the recharging signal received by the cleaning robot meets the first critical condition, after recording the first posture of the cleaning robot, the method further includes: The cleaning robot is controlled to move and / or rotate at a reduced speed.

9. A cleaning robot, characterized in that: include: A body, a fan and a mop, wherein a dust suction port and a mop mounting port are provided at the bottom of the body, the fan is arranged in the dust suction port, and the mop is arranged in the mop mounting port. A memory and a processor are also arranged in the body, the memory stores a computer program, and the processor retrieves the computer program from the memory to execute the cleaning control method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the cleaning control method according to any one of claims 1 to 8 is implemented.

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