Cleaning method and device based on wet rolling brush, controller and cleaning system

Abstract

The embodiment of the invention provides a cleaning method and device based on a wet rolling brush, a controller and a cleaning system. The method comprises the steps that a controller can periodically obtain a cleaning map and a target area in the cleaning operation execution process of cleaning equipment; the controller can determine a unit area corresponding to the target area in the clean map according to the position information of the target area. The controller may acquire a marker of the unit region. If the mark is a cleaned area, the controller can continue to acquire the historical cleaning time of the unit area. The controller can judge whether the target area is dry or not in combination with the environment information after the historical cleaning time is obtained. And if the target area is not dry, the controller can control the cleaning equipment to stop discharging water in the process of cleaning the target area. The method is used for improving the cleaning effect of the cleaning equipment.

Description

Technical Field

[0001] The present application relates to the field of equipment control, and in particular to a cleaning method, device, controller and cleaning system based on a wet roller brush. Background Art

[0002] With the rapid development of smart home cleaning technology, cleaning equipment such as vacuum cleaners and floor scrubbers, as important tools for daily household cleaning, are receiving increasing attention for their technological innovation.

[0003] At present, for cleaning equipment such as double-roller brush floor scrubbers with dry front and wet rear, the front dry roller brush can be used to initially clean large particles and dust on the ground, and the rear wet roller brush can be used for deep cleaning and mopping.

[0004] However, for more stubborn stains, current cleaning equipment can only clean by repeatedly mopping the floor, which easily causes excessive moisture on the floor, resulting in poor cleaning results. Summary of the invention

[0005] The embodiments of the present application provide a cleaning method, device, controller and cleaning system based on a wet roller brush, so as to improve the cleaning effect of the cleaning equipment.

[0006] In a first aspect, an embodiment of the present application provides a cleaning method based on a wet roller brush, comprising:

[0007] Acquire a cleaning map and a target area to be cleaned by a cleaning device; the cleaning map includes a cleaned area; the cleaned area is an area where a cleaning operation is performed within a preset time period;

[0008] If it is determined that the position corresponding to the target area in the cleaning map is a cleaned area according to the position information of the target area, then the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information of the target area are obtained; the historical cleaning time represents the time of the most recent cleaning of the cleaned area corresponding to the target area;

[0009] If it is determined that the target area is not dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, the cleaning device is controlled to stop discharging water.

[0010] The present application achieves better cleaning of the floor by judging whether the target area to be cleaned is a cleaned area and whether it has been dried, thereby avoiding repeated cleaning of the floor without drying, resulting in excessive floor humidity.

[0011] Optionally, determining that the target area is not dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information includes:

[0012] Determine the completion time of the cleaned area corresponding to the target area according to the time difference between the historical cleaning time and the current time;

[0013] Determine the drying time required for drying the cleaned area corresponding to the target area according to the environmental information and a preset first mapping table; the first mapping table indicates a mapping relationship between the environmental information and the drying time;

[0014] If the completed time is less than the drying time, it is determined that the target area is not dry.

[0015] This application realizes dynamic judgment of whether the target area is dry by acquiring the historical cleaning time and environmental information of the target area, thereby improving the judgment accuracy.

[0016] Optionally, the method further includes:

[0017] If the completed time is greater than or equal to the drying time, it is determined that the target area is dried.

[0018] This application realizes dynamic judgment of whether the target area is dry by acquiring the historical cleaning time and environmental information of the target area, thereby improving the judgment accuracy.

[0019] Optionally, the environmental information includes temperature and / or humidity; determining the drying time required for drying according to the environmental information and a preset first mapping table includes:

[0020] Classifying the temperature and / or the humidity according to a preset threshold value to obtain a temperature grade and / or a humidity grade;

[0021] According to the temperature level and / or the humidity level, the corresponding drying time is searched in the first mapping table.

[0022] This application realizes dynamic judgment of whether the target area is dry by acquiring the temperature and humidity of the target area, thereby improving the judgment accuracy.

[0023] Optionally, obtaining a cleaning map and a target area to be cleaned by the cleaning equipment includes:

[0024] Rapidly scan and establish a surrounding map by using a scanning device provided on the cleaning device;

[0025] According to the historical cleaning information of the cleaning device, the cleaned area is added to the surrounding map to obtain the cleaning map; the historical cleaning information includes the historical cleaning track and track time;

[0026] According to the orientation of the cleaning device, the area in front of the cleaning device is determined as the target area.

[0027] This application establishes a cleaning map and realizes flexible setting of the target area based on the cleaning map.

[0028] Optionally, the method further includes:

[0029] Determining the positional relationship between the cleaning device and the cleaning base station by means of a sensing device disposed on the cleaning device and the cleaning base station;

[0030] The cleaning map and the target area are located in a global map according to the positional relationship between the cleaning device and the cleaning base station.

[0031] This application realizes accurate positioning of the global map by sensing the positional relationship between the cleaning equipment and the cleaning base station, thereby improving the positioning accuracy of the target area and the cleaning area.

[0032] Optionally, the method comprises:

[0033] If it is determined that the target area is dry based on the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, or if it is determined that the position corresponding to the target area in the cleaning map is an uncleaned area based on the position information of the target area, the cleaning device is controlled to clean the target area.

[0034] The present application realizes indoor cleaning by cleaning the already dried target area or the uncleaned target area.

[0035] Optionally, controlling the cleaning device to clean the target area includes:

[0036] Obtain the water output of the target area;

[0037] After controlling the cleaning device to output the cleaning liquid according to the water output, the target area is cleaned.

[0038] This application achieves more effective cleaning of the target area and improves the cleaning effect by obtaining the water output of the target area.

[0039] Optionally, obtaining the water output of the target area includes:

[0040] Obtaining the ground material of the target area;

[0041] The water output is determined according to the ground material and a preset second mapping table; the second mapping table represents a mapping relationship between the ground material and the water output.

[0042] The present application determines the water output of the target area by acquiring the ground material of the target area, thereby improving the flexibility of setting the water output.

[0043] Optionally, obtaining the ground material of the target area includes:

[0044] Acquire a ground image of the target area;

[0045] The ground image is input into a preset material recognition model to identify the ground material of the target area.

[0046] This application determines the ground material of the target area through image recognition, improves the intelligence of the cleaning equipment, reduces the user's input information settings in the early setting stage, and improves the user experience.

[0047] Optionally, the method comprises:

[0048] If it is determined that the target area is dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, after the target area is cleaned, the historical cleaning time is updated according to the current time at the position corresponding to the target area in the cleaning map;

[0049] or,

[0050] If it is determined that the position corresponding to the target area in the cleaning map is an uncleaned area based on the position information of the target area, then after the target area is cleaned, the position corresponding to the target area in the cleaning map is marked as a cleaned area, and the historical cleaning time recorded at the current moment is used.

[0051] This application, by updating the historical cleaning equipment and the cleaned mark, can achieve more accurate judgment of the cleaning area and whether it is dry, thereby improving the cleaning effect.

[0052] In a second aspect, an embodiment of the present application provides a cleaning device based on a wet roller brush, comprising:

[0053] The acquisition module is used to acquire the cleaning map and the target area to be cleaned by the cleaning device. The cleaning map includes the cleaned area. The cleaned area is the area where the cleaning operation is performed within a preset time.

[0054] The control module is used to determine that the position corresponding to the target area in the cleaning map is a cleaned area based on the position information of the target area, and then obtain the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map, and the environmental information of the target area. The historical cleaning time represents the time when the cleaned area corresponding to the target area was cleaned most recently. If it is determined that the target area is not dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, the cleaning device is controlled to stop discharging water.

[0055] In a third aspect, an embodiment of the present application provides a controller, including: a memory, a processor;

[0056] The memory stores computer-executable instructions;

[0057] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0060] The wet roller brush-based cleaning method, device, controller and cleaning system provided in the embodiments of the present application periodically obtain a cleaning map and a target area during a cleaning operation performed by a cleaning device; determine a unit area corresponding to the target area in the cleaning map based on location information of the target area; obtain a mark of the unit area, and determine whether the unit area is a cleaned area based on the mark; if the unit area is a cleaned area, continue to obtain the historical cleaning time and environmental information of the unit area; determine whether the target area is dry based on the historical cleaning time and the environmental information; if the target area is not dry, control the cleaning device to stop discharging water during the cleaning of the target area, thereby improving the cleaning effect of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0062] Figure 1 A schematic diagram of the structure of a cleaning system provided in this application;

[0063] Figure 2 A schematic diagram of a cleaning method based on a wet roller brush provided in this application Figure 1 ;

[0064] Figure 3 A schematic diagram of a cleaning method based on a wet roller brush provided in this application Figure 2 ;

[0065] Figure 4 A schematic structural diagram of a cleaning device based on a wet roller brush provided in the present application;

[0066] Figure 5 A schematic diagram of the structure of a controller provided in this application.

[0067] Reference numerals:

[0068] 100 - cleaning system; 110 - cleaning base station; 120 - cleaning equipment; 121 - floor brush; 130 - controller. DETAILED DESCRIPTION

[0069] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0070] Figure 1 A schematic diagram of the cleaning system provided for this application, such as Figure 1As shown, the cleaning system 100 includes a cleaning base station 110 and a cleaning device 120. The cleaning device 120 may be a floor scrubber, a vacuum cleaner, or the like. A floor brush 121 may be provided in the cleaning device 120. A roller brush may be provided in the floor brush. Optionally, when the cleaning device 120 is a vacuum cleaner, at least one dry roller brush is provided in the floor brush 121. The dry roller brush may be used to pat the floor to lift the dust on the floor, so that the vacuum cleaner can better remove the dust on the floor. Optionally, when the cleaning device 120 is a floor scrubber, at least one wet roller brush is provided in the floor brush 121. The wet roller brush may continuously output cleaning liquid through a water pump to achieve a mopping effect, remove stains stuck to the floor, or remove liquid stains on the floor that cannot be lifted. Optionally, when the floor brush 121 of the cleaning device 120 includes a dry roller brush and a wet roller brush, the floor brush 121 can simultaneously perform the two functions of dust cleaning and floor cleaning, thereby improving the cleaning effect on the floor. Optionally, when the floor brush 121 includes both a dry roller brush and a wet roller brush, they are usually arranged in the order of dry first and wet later.

[0071] However, when the floor brush 121 includes a wet roller brush, if the user uses the cleaning device to repeatedly mop the floor in one area for a long time, it may cause an increase in water stains in the area, or even cause water to accumulate in the area, making it difficult to dry the floor. In addition, when the floor brush 121 also includes a dry roller brush, water stains or accumulated water in the area may be sucked into the dust cup of the cleaning device during the dry roller brush operation. Furthermore, the liquid sucked into the dust cup may enter the motor, causing damage to the cleaning device, thereby affecting the efficiency of the cleaning device.

[0072] In order to solve the above problems, the present application proposes a cleaning method based on a wet roller brush. After obtaining the target area to be cleaned by the cleaning device, the controller can determine whether the target area is a cleaned area. If the target area is a cleaned area, the controller can further determine whether the target area has been dried. If the target area is not dry yet, the controller can stop the water discharge when the cleaning device cleans the target area to avoid water accumulation on the ground in the target area. It should be noted that, usually when the floor brush 121 includes a dry roller brush and a wet roller brush, it can be considered that when the dry roller brush is used to vacuum the floor after a mopping, no liquid will be inhaled. Only when a certain area is repeatedly mopped, resulting in water stains or water accumulation, the dry roller brush is used for vacuuming, and liquid will be inhaled to cause abnormalities. Therefore, the setting of the present application can not only avoid water stains or water accumulation on the ground, but also prevent liquid from being sucked into the dust cup when the floor brush 121 includes a dry roller brush.

[0073] Furthermore, if the target area is already dry, or the target area is not a cleaned area, the controller can determine the water output according to the actual situation of the ground, so that the cleaning device can use the wet roller brush to complete the mopping cleaning of the target area. The control of the water output can further improve the cleaning effect of the wet roller brush on the ground and improve the cleaning efficiency.

[0074] Optionally, the cleaning system may further include a controller 130. Optionally, the controller 130 may be arranged in a cleaning base station. Alternatively, the controller 130 may be arranged in a cleaning device. Alternatively, the controller 130 may be arranged independently of the cleaning base station and the cleaning device. The controller 130 is used to realize the positioning of the target area, and to determine whether the target area is a cleaned area, whether the target area is dry, and to determine the amount of water discharged from the target area during the cleaning process. Optionally, the controller 130 may be communicatively connected or physically connected to the actuators in the cleaning base station and the cleaning device to realize the control of the cleaning device and the actuators in the cleaning base station.

[0075] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0076] Figure 2 Schematic diagram of the cleaning process based on a wet roller brush provided in this application Figure 1 ,like Figure 2 As shown, with the controller as the execution subject, the method includes:

[0077] S201, obtaining a cleaning map and a target area to be cleaned by a cleaning device. The cleaning map includes a cleaned area. The cleaned area is an area where a cleaning operation is performed within a preset time period.

[0078] In the present embodiment, the controller can periodically obtain the cleaning map and the target area during the cleaning operation performed by the cleaning device. The target area can be the area that the cleaning device is about to clean. Optionally, the cleaning map can be a rasterized map. Optionally, a grid in the cleaning map can be a unit area. The area can be processed as a whole in the map. For example, when the unit area is a cleaned area, it is considered that the entire area of ​​the unit area has been cleaned. For another example, the historical cleaning time set for the unit area is a time point. When calculating, it can be considered that the unit area has completed the cleaning of the entire area at this time point.

[0079] The target area acquired by the controller may be a unit area. Optionally, the target area may be an area in front of the cleaning device. That is, the target area may be a unit area in front of the cleaning device. Optionally, the unit area has a fixed length and width.

[0080] In one example, a scanning device may be provided in the cleaning device. Optionally, the scanning device may be a sensor device such as a laser radar sensor, an ultrasonic sensor, etc. Alternatively, the scanning device may also be a visual device such as a depth camera, a visual camera, etc.

[0081] Optionally, the process of obtaining the cleaning map and the target area may specifically include the following steps:

[0082] Step 1: Use a scanning device installed on the cleaning device to quickly scan and create a surrounding map.

[0083] In this step, the controller can quickly scan the environment around the cleaning device through a scanning device provided on the cleaning device, and obtain scanning information. The controller can establish a surrounding map based on the scanning information. Optionally, the surrounding map may include a map within a preset radius with the cleaning device as the center point. Optionally, the preset radius may be determined based on the scanning radius of the scanning device. Optionally, during the scanning process of the scanning device, if a certain direction is blocked by obstacles such as tables, chairs, cabinets, walls, etc., the boundary of the direction in the generated surrounding map is the obstacle.

[0084] Optionally, the controller may rasterize the surrounding map after generating the surrounding map. Optionally, the rasterization may divide the surrounding map into a plurality of unit areas.

[0085] In one implementation, during the rasterization process, the controller may perform the rasterization based on the location and orientation of the cleaning device, that is, the front of the cleaning device is a complete unit area, and the cleaning device is located at the center point of the boundary of the unit area.

[0086] In another implementation, during the rasterization process, the controller may start from a certain corner of the surrounding map. For example, the controller may start rasterization from the upper left corner of the surrounding map.

[0087] Step 2: According to the historical cleaning information of the cleaning equipment, the cleaned area is added to the surrounding map to obtain a cleaning map. The historical cleaning information includes the historical cleaning track and track time.

[0088] In this step, historical cleaning information may be stored in the controller. The historical cleaning information includes at least a historical cleaning track and a track time. Optionally, the historical cleaning track may include multiple track points. Each track point may be represented as an offset corresponding to the current position of the cleaning device. And, each track point may correspond to a track time. Optionally, the controller may restore the area that has been cleaned in the surrounding map based on the historical cleaning track. Optionally, the controller may determine that a preset range centered on the track point is the area that has been cleaned.

[0089] Optionally, the controller may mark each unit area in the surrounding map according to the area that has been cleaned. The mark includes whether the unit area is a cleaned area. And, when the unit area is a cleaned area, the historical cleaning time of the cleaned area is recorded. Optionally, the controller may determine that the unit area is a cleaned area when the area of ​​the area that has been cleaned in the unit area is greater than a preset ratio. Optionally, when the unit area includes at least one track point, the controller may use the track time corresponding to the latest track point in the at least one track point as the historical cleaning time of the unit area.

[0090] Step 3: According to the direction of the cleaning device, determine the area in front of the cleaning device as the target area.

[0091] In this step, the controller can obtain the direction of the cleaning device. The controller can determine that the area in front of the cleaning device is the target area. The target area can be a complete unit area. For example, when the cleaning device is located at the boundary line of the unit area, the controller can determine that the unit area in front of the cleaning device is the target area based on the direction of the cleaning device. Optionally, when the cleaning device is located at the boundary line of the unit area, the cleaning device can be located at the center point of the edge. Alternatively, the cleaning device can be located at any point of the boundary line. Alternatively, when the cleaning device is located inside a unit area, the target area can be the unit area where the cleaning device is located.

[0092] In another example, the cleaning device and the cleaning base station may also be provided with a sensing device. Optionally, the sensing device may be an infrared sensing device. The setting of the sensing device may realize the sensing of the corresponding positional relationship between the cleaning device and the cleaning base station. The controller may determine the positional relationship between the cleaning device and the cleaning base station by means of the sensing device provided on the cleaning device and the cleaning base station. The positional relationship may be expressed as an offset of the cleaning device relative to the cleaning base station.

[0093] Optionally, the controller can complete the setting of the unit area according to the global map after the user completes the setting of the global map. Optionally, each unit area can have fixed coordinates in the global map. The setting of the fixed unit area can facilitate the recording of the historical cleaning information of the area. Optionally, since the position of the cleaning base station is usually fixed, the controller can locate the cleaning base station in the global map after determining the positional relationship between the cleaning device and the cleaning base station. Optionally, the controller can also locate the cleaning map and the target area in the global map according to the position of the cleaning base station in the global map. Alternatively, the controller can also generate a grid of the unit area in the surrounding map according to the position of the cleaning base station in the global map. The controller can obtain the mark of each unit area from the global map after completing the drawing of the grid in the surrounding map. Optionally, the mark can include whether the unit area is a cleaned area. And the historical cleaning time of the unit area. Optionally, the controller can periodically obtain the historical cleaning information of the cleaning device, and update the mark of each unit area in the global map according to the historical cleaning information.

[0094] S202: If the location corresponding to the target area in the cleaning map is determined to be a cleaned area based on the location information of the target area, the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information of the target area are obtained. The historical cleaning time represents the time when the cleaned area corresponding to the target area was cleaned most recently.

[0095] In this embodiment, the controller may determine the unit area corresponding to the target area in the cleaning map according to the location information of the target area. The controller may obtain a mark of the unit area. If the mark is a cleaned area, the controller may continue to obtain the historical cleaning time of the unit area. Optionally, the historical cleaning time is used to indicate the time when the unit area was most recently cleaned.

[0096] Furthermore, the controller may also obtain environmental information of the target area through a sensor provided on the cleaning device. Optionally, the sensor may include at least a temperature sensor and a humidity sensor. Optionally, the environmental information may include at least an ambient temperature and an ambient humidity.

[0097] S203: If it is determined that the target area is not dry according to the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, the cleaning device is controlled to stop discharging water.

[0098] In this embodiment, after obtaining the historical cleaning time, the controller can determine whether the target area is dry in combination with the environmental information. If the target area is not dry, the controller can control the cleaning device to stop discharging water during the cleaning of the target area. Optionally, the control instruction to stop discharging water will be overwritten after the controller completes the judgment of whether the target area is a cleaned area and whether it is dry in the next cycle and generates a new control instruction.

[0099] In one example, since the ground is wet, it will inevitably affect the ambient humidity and ambient temperature of the area. Therefore, the controller can directly determine whether the target area is dry based on the ambient humidity and ambient temperature through a preset judgment model.

[0100] In another example, the process of the controller determining whether the target area is dry may include the following steps:

[0101] Step 1: Determine the completion time of the cleaned area corresponding to the target area according to the time difference between the historical cleaning time and the current time.

[0102] In this step, after obtaining the historical cleaning time, the controller can calculate the time difference between the historical cleaning time and the current time, which is the completed time of the cleaning operation of the target area.

[0103] Step 2: Determine the drying time required for drying the cleaned area corresponding to the target area according to the environmental information and a preset first mapping table. The first mapping table indicates the mapping relationship between the environmental information and the drying time.

[0104] In this step, a first mapping table may be preset in the controller. The first mapping table may include a correspondence between environmental information and drying time. Optionally, the controller may search in the first mapping table according to the environmental information to obtain the drying time of the target area. The drying time is the time required for the unit area to be completely dry after one cleaning under normal circumstances based on the environmental information.

[0105] Optionally, the environmental information includes temperature and / or humidity. The controller may classify the temperature and / or humidity according to a preset threshold value to obtain a temperature level and / or a humidity level. For example, the temperature level may be divided into high temperature, medium temperature, and low temperature. For another example, the humidity level may be divided into high humidity, medium humidity, and low humidity. The controller may search in the first mapping table according to the temperature level and / or humidity level to obtain the corresponding drying time.

[0106] For example, the mapping relationships in the first mapping table may include: 1. High temperature, high humidity, and ground drying time of 8S; 2. High temperature, medium humidity, and drying time of 6S; 3. High temperature, low humidity, and drying time of 4S; 4. Medium temperature, high humidity, and ground drying time of 10S; 5. Medium temperature, medium humidity, and drying time of 8S; 6. Medium temperature, low humidity, and ground drying time of 6S; 7. Low temperature, high humidity, and ground drying time of 12S; 8. Low temperature, medium humidity, and drying time of 10S; 9. Low temperature, low humidity, and ground drying time of 8S.

[0107] Step 3: If the completed time is less than the drying time, it is determined that the target area is not dry.

[0108] In this step, the controller can compare the completed time with the drying time. If the completed time is less than the drying time, it means that the target area is not dry. Or, in a high probability, the target area is not dry.

[0109] Step 4: If the completed time is greater than or equal to the drying time, it is determined that the target area is dry.

[0110] In this step, the controller can compare the completed time with the drying time. If the completed time is greater than or equal to the drying time, it means that the target area has not been dried. Alternatively, in a high probability, the target area has been dried. Optionally, when the target area has been dried, the controller can control the cleaning device to clean the target area normally.

[0111] The wet roller brush-based cleaning method provided in the embodiment of the present application periodically obtains a cleaning map and a target area during a cleaning operation performed by a cleaning device; determines a unit area corresponding to the target area in the cleaning map based on location information of the target area; obtains a mark of the unit area, and determines whether the unit area is a cleaned area based on the mark; if the unit area is a cleaned area, continues to obtain historical cleaning time and environmental information of the unit area; determines whether the target area is dry based on the historical cleaning time and the environmental information; if the target area is not dry, controls the cleaning device to stop discharging water during the cleaning of the target area, thereby controlling the cleaning device and avoiding the problem of poor cleaning effect caused by excessive wetting of the ground due to multiple cleanings; and the control of the cleaning device can also avoid the problem of the dry roller brush inhaling cleaning liquid during the cleaning of the repeatedly cleaned area, thereby affecting the use of the cleaning device, thereby improving the cleaning efficiency.

[0112] Figure 3 Schematic diagram of the cleaning process based on a wet roller brush provided in this application Figure 2 ,like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, the controller is used as the execution subject, and the method includes:

[0113] S301, obtaining a cleaning map and a target area to be cleaned by a cleaning device. The cleaning map includes a cleaned area. The cleaned area is an area where a cleaning operation is performed within a preset time period.

[0114] S302: If the location corresponding to the target area in the cleaning map is determined to be a cleaned area based on the location information of the target area, the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information of the target area are obtained. The historical cleaning time represents the time when the cleaned area corresponding to the target area was cleaned most recently.

[0115] S303: If it is determined that the target area is not dry according to the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, the cleaning device is controlled to stop discharging water.

[0116] Among them, the implementation method of step S301 to step S303 is the same as Figure 2 The implementation methods of S201 to S203 are similar and will not be repeated here.

[0117] S304: If the target area is determined to be dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, or if the position corresponding to the target area in the cleaning map is determined to be an uncleaned area based on the position information of the target area, control the cleaning device to clean the target area.

[0118] In this embodiment, the controller may control the cleaning device to clean the target area when it is determined that the target area is dry or when it is determined that the position corresponding to the target area is an uncleaned area. Optionally, the controller may determine that the target area is dry when the completed time is greater than or equal to the drying time. Alternatively, after obtaining the unit area corresponding to the target area in the cleaning map, the controller may determine that the unit area is an uncleaned area according to the mark of the unit area.

[0119] The floor brush uses the camera to identify different floor materials and output the appropriate amount of water to wet the dry roller brush to the best state to clean the floor. When the floor brush program detects entering a new mopping area, it will identify the floor based on the camera photo and output the appropriate amount of water.

[0120] In one example, when the controller controls the cleaning device to clean the target area, the controller may first determine the water output of the target area. The controller may control the cleaning device to output the cleaning liquid during the cleaning process according to the water output. The cleaning liquid may wet the wet brush of the cleaning device. The wet brush of the cleaning device may clean the floor by mopping the floor.

[0121] In one implementation, the water output may be the water output during a preset cleaning process of the cleaning device.

[0122] In another implementation, the water output may be a water output during the cleaning process preset by the user. Optionally, the water output during the cleaning process preset by the user may be set in a global map. Optionally, the setting may be to set a fixed water output for the global map. Alternatively, the setting may also be to set the water output for each region in the global map.

[0123] In another implementation, the controller may obtain the ground material of the target area, and may determine the water output according to the ground material and a preset second mapping table, wherein the second mapping table represents the mapping relationship between the ground material and the water output.

[0124] In one implementation, the controller may obtain the ground material set by the user in the global map. Optionally, the setting may also be set for each region in the global map.

[0125] In another implementation, the cleaning device may include a camera. The controller may obtain a ground image of the target area through the camera. The controller may identify the ground material of the target area based on the ground image. Optionally, the controller may input the map image into a preset material recognition model to realize the recognition of the ground material.

[0126] S305: If the target area is determined to be dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, then after the target area is cleaned, the historical cleaning time is updated at the location corresponding to the target area in the cleaning map according to the current time. Alternatively, if the location corresponding to the target area in the cleaning map is determined to be an uncleaned area based on the location information of the target area, then after the target area is cleaned, the location corresponding to the target area in the cleaning map is marked as a cleaned area, and the historical cleaning time recorded at the current time is updated.

[0127] In this embodiment, if the target area is determined to be undried based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, then since the controller controls the cleaning device not to output cleaning liquid when cleaning the target area, the controller may not update the historical cleaning time when the cleaning device completes the cleaning of the target area.

[0128] If the target area is determined to be dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, the controller may update the historical cleaning time of the unit area corresponding to the target area when the cleaning device completes cleaning of the target area, because the controller outputs cleaning liquid when the cleaning device cleans the target area. Optionally, the updated historical cleaning time is the moment when the cleaning of the target area is completed.

[0129] If the position corresponding to the target area in the cleaning map is determined to be an uncleaned area based on the position information of the target area, then since the controller outputs cleaning liquid when the cleaning device cleans the target area, the controller can update the historical cleaning time of the unit area corresponding to the target area when the cleaning device completes the cleaning of the target area. Optionally, the updated historical cleaning time is the moment when the cleaning of the target area is completed. At the same time, since the unit area has not been marked as a cleaned area before, the controller first needs to mark the unit area as a cleaned area.

[0130] The cleaning method based on a wet roller brush provided in the embodiment of the present application obtains a cleaning map and a target area that a cleaning device is about to clean; if, based on the position information of the target area, it is determined that the position corresponding to the target area in the cleaning map is a cleaned area, the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information of the target area are obtained; if, based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, it is determined that the target area is not dry, the cleaning device is controlled to stop discharging water; if, based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, it is determined that the target area is dry, or, based on the position information of the target area, it is determined that the position corresponding to the target area in the cleaning map is an uncleaned area, the means of controlling the cleaning device to clean the target area can achieve normal cleaning of the target area when the target area is an uncleaned area and when the target area is dry, thereby improving the cleaning effect of the cleaning device.

[0131] Based on the above embodiment, the controller can also clear the mark and historical cleaning time of each unit area in the global map when the cleaning device and the cleaning base station are shut down or dormant at the same time, so that the unit area is marked as uncleaned.

[0132] Figure 4 A schematic diagram of the structure of a cleaning device based on a wet roller brush provided in this application, such as Figure 4 As shown, the cleaning device 400 based on the wet roller brush provided in this embodiment includes:

[0133] The acquisition module 401 is used to acquire a cleaning map and a target area to be cleaned by the cleaning device. The cleaning map includes a cleaned area. The cleaned area is an area where a cleaning operation is performed within a preset time period.

[0134] The control module 402 is used to determine that the position corresponding to the target area in the cleaning map is a cleaned area based on the position information of the target area, and then obtain the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map, and the environmental information of the target area. The historical cleaning time represents the time when the cleaned area corresponding to the target area was cleaned most recently. If it is determined that the target area is not dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, the cleaning device is controlled to stop discharging water.

[0135] Optionally, the control module 402 is configured to:

[0136] The completion time of the cleaned area corresponding to the target area is determined according to the time difference between the historical cleaning time and the current time.

[0137] The drying time required for drying the cleaned area corresponding to the target area is determined according to the environmental information and a preset first mapping table. The first mapping table indicates a mapping relationship between the environmental information and the drying time.

[0138] If the completed time is less than the drying time, it is determined that the target area is not dry.

[0139] Optionally, the control module 402 is configured to:

[0140] If the completed time is greater than or equal to the drying time, it is determined that the target area is dry.

[0141] Optionally, the environmental information includes temperature and / or humidity. The control module 402 is used to:

[0142] The temperature and / or humidity are graded according to preset thresholds to obtain a temperature grade and / or humidity grade.

[0143] According to the temperature level and / or humidity level, the corresponding drying time is obtained by searching in the first mapping table.

[0144] Optionally, the acquisition module 401 is used to:

[0145] The scanning device installed on the cleaning equipment can quickly scan and create a surrounding map.

[0146] According to the historical cleaning information of the cleaning equipment, the cleaned area is added to the surrounding map to obtain a cleaning map. The historical cleaning information includes the historical cleaning track and track time.

[0147] According to the direction of the cleaning device, the area in front of the cleaning device is determined as the target area.

[0148] Optionally, the acquisition module 401 is used to:

[0149] The positional relationship between the cleaning device and the cleaning base station is determined by means of sensing devices arranged on the cleaning device and the cleaning base station.

[0150] According to the positional relationship between the cleaning equipment and the cleaning base station, the cleaning map and the target area are located in the global map.

[0151] Optionally, the control module 402 is configured to:

[0152] If the target area is determined to be dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, or if the position corresponding to the target area in the cleaning map is determined to be an uncleaned area based on the position information of the target area, the cleaning device is controlled to clean the target area.

[0153] Optionally, the control module 402 is configured to:

[0154] Get the water output of the target area.

[0155] After controlling the cleaning equipment to output the cleaning liquid according to the water output, the target area is cleaned.

[0156] Optionally, the control module 402 is configured to:

[0157] Get the ground material of the target area.

[0158] The water output is determined according to the ground material and a preset second mapping table. The second mapping table represents a mapping relationship between the ground material and the water output.

[0159] Optionally, the control module 402 is configured to:

[0160] Get a ground image of the target area.

[0161] Input the ground image into the preset material recognition model to identify the ground material of the target area.

[0162] Optionally, the control module 402 is configured to:

[0163] If the target area is determined to be dry based on the historical cleaning time and environmental information of the cleaned area corresponding to the target area in the cleaning map, after the target area is cleaned, the historical cleaning time is updated according to the current time at the position corresponding to the target area in the cleaning map.

[0164] or,

[0165] If the position corresponding to the target area in the cleaning map is determined to be an uncleaned area based on the position information of the target area, then after the target area is cleaned, the position corresponding to the target area in the cleaning map is marked as a cleaned area, and the historical cleaning time recorded at the current time is used.

[0166] The cleaning device based on the wet roller brush provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0167] Figure 5 This is a schematic diagram of the structure of the controller provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0168] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0169] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0170] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0171] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0172] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0173] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0174] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0175] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0176] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0177] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0180] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0181] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0182] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A cleaning method based on a wet roller brush, characterized in that: Applied to a controller, the method comprises: Acquire a cleaning map and a target area to be cleaned by a cleaning device; the cleaning map includes a cleaned area; the cleaned area is an area where a cleaning operation is performed within a preset time period; If it is determined that the position corresponding to the target area in the cleaning map is a cleaned area according to the position information of the target area, then the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information of the target area are obtained; the historical cleaning time represents the time of the most recent cleaning of the cleaned area corresponding to the target area; If it is determined that the target area is not dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, the cleaning device is controlled to stop discharging water.

2. The method according to claim 1, characterized in that Determining that the target area is not dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information includes: Determine the completion time of the cleaned area corresponding to the target area according to the time difference between the historical cleaning time and the current time; Determine the drying time required for drying the cleaned area corresponding to the target area according to the environmental information and a preset first mapping table; the first mapping table indicates a mapping relationship between the environmental information and the drying time; If the completed time is less than the drying time, it is determined that the target area is not dry.

3. The method according to claim 2, characterized in that The method further comprises: If the completed time is greater than or equal to the drying time, it is determined that the target area is dried.

4. The method according to claim 2, characterized in that: The environmental information includes temperature and / or humidity; determining the drying time required for drying according to the environmental information and a preset first mapping table includes: Classifying the temperature and / or the humidity according to a preset threshold value to obtain a temperature grade and / or a humidity grade; According to the temperature level and / or the humidity level, the corresponding drying time is searched in the first mapping table.

5. The method according to claim 1, characterized in that Get a cleaning map and the target areas that the cleaning equipment will clean, including: Rapidly scan and establish a surrounding map by using a scanning device provided on the cleaning device; According to the historical cleaning information of the cleaning device, the cleaned area is added to the surrounding map to obtain the cleaning map; the historical cleaning information includes the historical cleaning track and track time; According to the orientation of the cleaning device, the area in front of the cleaning device is determined as the target area.

6. The method according to claim 5, characterized in that The method further comprises: Determining the positional relationship between the cleaning device and the cleaning base station by means of a sensing device disposed on the cleaning device and the cleaning base station; The cleaning map and the target area are located in a global map according to the positional relationship between the cleaning device and the cleaning base station.

7. The method according to any one of claims 1 to 6, characterized in that The method comprises: If it is determined that the target area is dry based on the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, or if it is determined that the position corresponding to the target area in the cleaning map is an uncleaned area based on the position information of the target area, the cleaning device is controlled to clean the target area.

8. The method according to claim 7, characterized in that The controlling the cleaning device to clean the target area includes: Obtain the water output of the target area; After controlling the cleaning device to output the cleaning liquid according to the water output, the target area is cleaned.

9. The method according to claim 8, characterized in that The step of obtaining the water output of the target area includes: Obtaining the ground material of the target area; The water output is determined according to the ground material and a preset second mapping table; the second mapping table represents a mapping relationship between the ground material and the water output.

10. The method according to claim 9, characterized in that The obtaining of the ground material of the target area includes: Acquire a ground image of the target area; The ground image is input into a preset material recognition model to identify the ground material of the target area.

11. The method according to claim 7, characterized in that The method comprises: If it is determined that the target area is dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, after the target area is cleaned, the historical cleaning time is updated according to the current time at the position corresponding to the target area in the cleaning map; or, If it is determined that the position corresponding to the target area in the cleaning map is an uncleaned area based on the position information of the target area, then after the target area is cleaned, the position corresponding to the target area in the cleaning map is marked as a cleaned area, and the historical cleaning time recorded at the current moment is used.

12. A cleaning device based on a wet roller brush, characterized in that: include: An acquisition module, used to acquire a cleaning map and a target area to be cleaned by a cleaning device; The cleaning map includes a cleaned area; the cleaned area is an area where a cleaning operation is performed within a preset time period; The target area has location information; A control module, for determining, based on the location information of the target area, that the location corresponding to the target area in the cleaning map is a cleaned area, and then obtaining a historical cleaning time of the cleaned area corresponding to the target area in the cleaning map, and environmental information of the target area; the historical cleaning time represents the time of the most recent cleaning of the cleaned area corresponding to the target area; If it is determined that the target area is not dry according to the historical cleaning time of the cleaned area corresponding to the target area in the cleaning map and the environmental information, the cleaning device is controlled to stop discharging water.

13. A controller, characterized in that: The controller includes: a memory and a processor; The memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the method according to any one of claims 1 to 11.

14. A cleaning system, characterized in that: The cleaning system at least comprises a cleaning base station and a cleaning device, and the cleaning base station or the cleaning device is provided with the controller as claimed in claim 13; The cleaning device at least comprises a wet roller brush.

15. A computer-readable storage medium / computer program product, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program is used to implement the method according to any one of claims 1 to 11; Furthermore, the computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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