Cleaning robot hair cleaning method, cleaning robot and computer storage medium

Abstract

The invention discloses a hair cleaning method of a cleaning robot, the cleaning robot and a computer storage medium, and the hair cleaning method of the cleaning robot comprises the steps: receiving a first scanning image sent by a visual sensor, and judging a first hair state of a working surface; and controlling a mop module to enter a hair cleaning program for cleaning according to the first hair state. According to the technical scheme, the cleaning robot is provided with the mop module and is combined with the visual sensor, so that the hair on the working face can be accurately, automatically and independently cleaned, the hair is prevented from being wound on other parts of the cleaning robot, manual cleaning is not needed, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and in particular to a hair cleaning method of a cleaning robot, the cleaning robot and a computer storage medium. Background Art

[0002] With the improvement of living standards, cleaning robots have become important household appliances, bringing convenience to people. Household cleaning robots are generally disc-shaped, with rollers and dust suction structures at the bottom and sensors for detecting obstacles on the body. The cleaning robots can walk on the ground while vacuuming the ground and avoid obstacles at the same time.

[0003] It is inevitable that there will be fallen hair on the floor of the home, but the cleaning mode of the current cleaning robot does not have a separate step for cleaning hair, making it difficult to clean the hair and entangled in other parts of the cleaning robot. Therefore, users need to clean it manually, resulting in a poor user experience. Summary of the invention

[0004] The main purpose of the present invention is to provide a hair cleaning method for a cleaning robot, a cleaning robot and a computer storage medium, which are intended to automatically and individually clean floor hair to prevent hair from being entangled in other components without the need for manual cleaning, thereby improving user experience.

[0005] To achieve the above object, the present invention provides a hair cleaning method for a cleaning robot, the steps of the hair cleaning method for a cleaning robot comprising:

[0006] receiving a first scanned image sent by the visual sensor, and determining a first hair state of the working surface;

[0007] According to the first hair state, the mop module is controlled to enter a hair cleaning program for cleaning.

[0008] In one embodiment, the step of receiving the first scanned image sent by the visual sensor and determining the first hair state of the working surface includes:

[0009] Performing image analysis on the first scanned image, and outputting a first detection result of whether there is hair on the working surface;

[0010] When the first detection result indicates that there is hair on the working surface, digitally process the first scanned image and output a second detection result of hair humidity;

[0011] The first hair state is obtained according to the first detection result and the second detection result.

[0012] In one embodiment, after the step of performing image analysis on the first scanned image and outputting a first detection result of whether the working surface has hair, the step further includes:

[0013] When the first detection result indicates that there is hair on the working surface, the cleaning robot is controlled to move so that the mop module is opposite to the hair.

[0014] In one embodiment, the step of controlling the mop module to enter the hair cleaning step for cleaning according to the first hair state includes:

[0015] When the second detection result shows that the hair humidity exceeds a preset threshold, the mop module is controlled to enter a wet hair cleaning program for cleaning;

[0016] When the second detection result shows that the hair humidity does not exceed the preset threshold, the mop module is controlled to enter the dry hair cleaning program for cleaning; the hair cleaning program includes the wet hair cleaning program and the dry hair cleaning program.

[0017] In one embodiment, the wet hair cleaning procedure comprises:

[0018] Controlling the mop module to descend;

[0019] After the mop module comes into contact with the hair, a rotating action is performed to make the mop module stick to the wet hair;

[0020] After the mop module is adhered to the wet hair, the mop module is controlled to be lifted up to be away from the working surface.

[0021] In one embodiment, the dry hair cleaning procedure comprises:

[0022] Controlling the mop module to descend;

[0023] After the mop module comes into contact with the hair, the mop module is controlled to move forward and backward so that the mop module absorbs the dry hair;

[0024] After the mop module is adsorbed onto the dry hair, the mop module is controlled to be lifted up to be away from the work surface.

[0025] In one embodiment, after the step of controlling the mop module to enter the hair cleaning program for cleaning according to the first hair state, the step further includes:

[0026] receiving a second scanning image sent by the visual sensor, and determining a hair adsorption state of the mop module;

[0027] According to the hair adsorption state, the mop module is controlled to return to the base station of the cleaning robot for cleaning.

[0028] In one embodiment, receiving the second scanning image sent by the visual sensor and determining the hair adsorption state of the mop module includes:

[0029] Extracting a first hair individual image from the second scanned image, and calculating a first hair coverage area on the mop module according to the first hair individual image;

[0030] Comparing the first hair coverage area with a preset coverage area, and outputting a comparison result;

[0031] According to the comparison result, the hair adsorption state of the mop module is output.

[0032] In one embodiment, controlling the mop module to return to the base station of the cleaning robot for cleaning according to the hair adsorption state includes:

[0033] When the hair adsorption state of the mop module is a full-coverage adsorption state, the mop module is controlled to return to the base station of the cleaning robot for cleaning;

[0034] When the hair adsorption state of the mop module is a partial covering adsorption state, the mop module is controlled to continue cleaning the hair on the work surface.

[0035] In one embodiment, after the step of controlling the mop module to enter the hair cleaning program for cleaning according to the first hair state, the step further includes:

[0036] receiving a third scanning image sent by the visual sensor, and determining a second hair state of the working surface;

[0037] Determine whether to control the mop module to enter a hair cleaning program for cleaning according to the second hair state.

[0038] In one embodiment, when the first detection result indicates that there is hair on the working surface, the step of digitally processing the first scanned image and outputting the second detection result of the hair humidity further includes:

[0039] Extracting a second hair individual image from the first scanned image, and calculating a second hair coverage area according to the second hair individual image;

[0040] According to the mapping relationship between the second hair coverage area and the running time of the mop module, the actual running time of the mop module is output.

[0041] In one embodiment, according to the mapping relationship between the second hair coverage area and the running time of the mop module, after the step of outputting the actual running time of the mop module, the step further includes:

[0042] The running time of the mop module is set as the actual running time, so that the mop module executes the hair cleaning program for cleaning according to the actual running time.

[0043] The present invention also proposes a cleaning robot, comprising a main controller, a mop module, a visual sensor and a walking mechanism, wherein the main controller executes the hair cleaning method of the cleaning robot as described above, and the visual sensor, the mop module and the walking mechanism are all electrically connected to the main controller; the mop module comprises a mop assembly, a rotating drive structure and a lifting drive structure, the rotating drive structure is connected to the mop assembly and drives the mop assembly to rotate; the rotating drive structure is connected to the mop assembly and drives the mop assembly to rise and fall.

[0044] The present invention also provides a computer storage medium, which stores a driver program, and the driver program executes the hair cleaning method of the cleaning robot as described above.

[0045] The steps of the hair cleaning method of the cleaning robot of the technical solution of the present invention include: the main controller receives the first scanning image sent by the visual sensor and determines the first hair state of the working surface; the main controller controls the mop module to enter the hair cleaning program for cleaning according to the first hair state. In this way, the cleaning robot of this embodiment can accurately and automatically clean the hair on the ground separately by setting the mop module and combining it with the visual sensor, avoiding the hair from being entangled in other parts of the cleaning robot, and eliminating the need for manual cleaning, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of the steps of an embodiment of a hair cleaning method for a cleaning robot according to the present invention;

[0048] Figure 2 This is a flow chart of the detailed steps of step 10 of the hair cleaning method of the cleaning robot of the present invention;

[0049] Figure 3 It is a flowchart of the detailed steps of step 20 of the hair cleaning method of the cleaning robot of the present invention;

[0050] Figure 4It is a flowchart diagram of detailed steps of step 30 of the hair cleaning method of the cleaning robot of the present invention;

[0051] Figure 5 It is a flowchart diagram of detailed steps of step 40 of the hair cleaning method of the cleaning robot of the present invention;

[0052] Figure 6 A schematic flow chart of the steps of another embodiment of the hair cleaning method of the cleaning robot of the present invention;

[0053] Figure 7 It is a schematic diagram of the structure of the cleaning robot of the present invention.

[0054] Description of Figure Numbers:

[0055] Label name Label name 10 Vision Sensors 20 Mop module

[0056] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0059] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0060] The invention provides a hair cleaning method of a cleaning robot.

[0061] In an embodiment of the present invention, the steps of the hair cleaning method of the cleaning robot include:

[0062] See also Figure 1 , Figure 6 and Figure 7 , S10: receiving a first scan image sent by the visual sensor 10, and determining a first hair state of the working surface;

[0063] S20: controlling the mop module 20 to enter a hair cleaning program for cleaning according to the first hair state.

[0064] In this embodiment, a mop module 20 is separately provided at the bottom of the cleaning robot to clean the hair on the ground.

[0065] Specifically, after the cleaning robot starts working, the main controller will always control the visual sensor 10 to detect the working surface in real time, and transmit the first scan image to the main controller in real time; every time the main controller receives the first scan image sent by the visual sensor 10, it will immediately perform a series of analyses on the first scan image to determine the first hair state of the working surface, where the first hair state includes whether there is hair or other impurities on the working surface. When the main controller determines that the first hair state is that there is hair on the working surface, the mop module 20 is controlled to enter the hair cleaning program to clean the hair on the working surface. When the main controller determines that the first hair state is that there is no hair on the working surface, the visual sensor 10 is controlled to continue to detect the condition of the working surface.

[0066] From the above cleaning method, it can be seen that the cleaning robot of this embodiment is provided with a mop module 20 and combined with a visual sensor 10, so as to accurately and automatically clean the hair on the ground separately and clean the hair on the work surface separately, thereby preventing the hair from being entangled in other parts of the cleaning robot, eliminating the need for manual cleaning and improving the user experience.

[0067] In one embodiment, see Figure 1 , Figure 2 and Figure 7 S10: The step of receiving the first scanned image sent by the visual sensor 10 and determining the first hair state of the working surface comprises:

[0068] S11: performing image analysis on the first scanned image, and outputting a first detection result of whether there is hair on the working surface;

[0069] The main controller performs image analysis on the first scanned image. Specifically, the image analysis is to threshold the first scanned image and segment the pixel points of the pixel values ​​to obtain a segmented image. The main controller then performs a dilation operation based on the segmented image to obtain a dilated image. Subsequently, an XOR operation is performed on the segmented image and the dilated image to obtain a highlighted image. Finally, an open operation is performed on the highlighted image to obtain the first scanned image after noise is removed, so that the main controller can clearly identify whether there is hair on the working surface.

[0070] S12: Based on the first detection result that there is hair on the working surface, digitally process the first scanned image and output a second detection result of hair humidity;

[0071] When the first detection result is that there is hair on the working surface, the main controller obtains near-infrared spectral data of the pixel points from the image analysis of the first scanning image, and converts the near-infrared spectral data into moisture content through a regression model, thereby obtaining the amount of moisture on the surface of the hair on the working surface; the regression model described here is obtained by statistics of multiple samples and after precision.

[0072] S13: Determine the first hair state according to the first detection result and the second detection result.

[0073] The main controller combines the first detection result and the second detection result, and sequentially analyzes and obtains the first hair state, that is, the first hair state is information about whether there is hair on the ground and whether the surface of the hair on the ground contains moisture.

[0074] In this embodiment, the main controller performs a detailed analysis on the first scan image to obtain a first hair state with a first detection result and a second detection result, so that the main controller can control the mop module 20 to perform more detailed cleaning according to the more accurate and detailed first hair state, thereby improving the cleaning effect of the cleaning robot.

[0075] In one embodiment, see Figure 1 , Figure 2 and Figure 7 S11: after the step of performing image analysis on the first scanned image and outputting a first detection result of whether there is hair on the working surface, the method further includes:

[0076] S14: When the first detection result indicates that there is hair on the working surface, the cleaning robot is controlled to move so that the mop module 20 is opposite to the hair.

[0077] Since the detection range of the visual sensor 10 is relatively wide, the range of the first scan image detected by the visual sensor 10 is also relatively large. When the main controller analyzes that there is hair on the ground, the location of the hair distribution is also a certain distance away from the cleaning robot, so the main controller needs to adjust the position of the cleaning robot; the mop module 20 is located at the bottom rear of the cleaning robot, and the visual sensor 10 is located at the bottom front of the cleaning robot; first control the cleaning robot to turn the overall direction of the cleaning robot so that the mop module 20 is adjusted to the front of the movement, and the visual sensor 10 is adjusted to the rear of the movement, and finally control the cleaning robot to move a certain distance so that the mop module 20 is opposite to the hair on the ground. In this way, the mop module 20 opposite to the hair is easier to clean.

[0078] Of course, in other embodiments, the mop module 20 and the visual sensor 10 may also be set at other positions of the cleaning robot. At the same time, there are many ways to adjust the position of the mop module 20, as long as the mop module 20 is opposite to the hair.

[0079] In one embodiment, see Figure 1 , Figure 3 and Figure 7 S20: The step of controlling the mop module 20 to enter the hair cleaning step according to the first hair state includes:

[0080] S21: When the hair humidity exceeds a preset threshold value based on the second detection result, controlling the mop module 20 to enter a wet hair cleaning program for cleaning;

[0081] S22: Based on the second detection result that the hair humidity does not exceed the preset threshold, control the mop module 20 to enter the dry hair cleaning program for cleaning; the hair cleaning program includes the wet hair cleaning program and the dry hair cleaning program.

[0082] In this embodiment, the main controller controls the mop module 20 to enter different hair cleaning programs according to the second detection result of whether the hair surface contains moisture; in this way, the mop module 20 can adjust the cleaning action more specifically according to the dryness and wetness of the hair, thereby making it easier for the mop module 20 to clean the hair on the ground, thereby improving the cleaning effect of the cleaning robot.

[0083] In one embodiment, the wet hair cleaning procedure includes: controlling the mop module 20 to descend; performing a rotating action after the mop module 20 comes into contact with the hair so that the mop module 20 sticks to the wet hair; after the mop module 20 sticks to the wet hair, controlling the mop module 20 to lift up to move away from the work surface.

[0084] Optionally, the mop of the mop module 20 is different from the currently commonly used thick coarse fiber material. The mop of the mop module 20 is made of thinner long fiber material, so that when the mop of the mop module 20 contacts and rubs against the work surface, it is easier to absorb the hair on the work surface.

[0085] In this embodiment, the lifting drive structure of the mop module 20 drives the mop down so that the mop contacts the hair, and then controls the rotating drive structure to drive the mop to rotate. Since wet hair itself has a certain stickiness, the rotating mop is more likely to stick to the wet hair, thereby reducing the difficulty of cleaning the wet hair by the mop module 20.

[0086] In one embodiment, the dry hair cleaning procedure includes: controlling the mop module to descend; after the mop module 20 contacts the hair, controlling the mop module 20 to move forward and backward so that the mop module 20 absorbs the dry hair; after the mop module 20 absorbs the dry hair, controlling the mop module 20 to lift up to move away from the work surface.

[0087] In this embodiment, the main controller controls the lifting drive structure of the mop module 20 to drive the mop down, so that the mop contacts the hair, and then controls the walking mechanism of the cleaning robot to move forward and backward, so that the mop also moves forward and backward. The friction between the mop and the ground during the forward and backward movement realizes electrostatic adsorption of dry hair, further reducing the difficulty of cleaning the dry hair by the mop module 20.

[0088] In one embodiment, see Figure 1 and Figure 7 S20: After the step of controlling the mop module 20 to enter the hair cleaning program for cleaning according to the first hair state, the method further includes:

[0089] S30: receiving a second scanning image sent by the visual sensor 10, and determining the hair adsorption state of the mop module 20;

[0090] S40: Controlling the mop module 20 to return to the base station of the cleaning robot for cleaning according to the hair adsorption state.

[0091] In this embodiment, after the cleaning robot cleans the hair on the working surface for a period of time, more hair will stick to the mop of the mop module 20; during the process of the mop module 20 cleaning the hair, the main controller controls the visual sensor 10 to detect in real time, and the visual sensor 10 here not only detects the hair on the working surface, but also detects the hair adsorption state of the mop of the mop module 20.

[0092] Specifically, the main controller controls the visual sensor 10 to detect the mop of the mop module 20, and controls the visual sensor 10 to send the second scan image to the main controller, and then the main controller analyzes the second scan image to output the hair adsorption state of the mop module 20; the main controller determines the action of the cleaning robot according to the output hair adsorption state of the mop module 20. When the hair adsorption state of the mop module 20 proves that the mop hair of the mop module 20 is too sticky, the main controller controls the mop module 20 of the cleaning robot to stop running, and then controls the walking mechanism of the cleaning robot to move to the base station, and uses the base station to clean the hair stuck to the mop of the mop module 20. When the hair adsorption state of the mop module 20 proves that the mop hair of the mop module 20 is not too sticky, the main controller controls the mop module 20 of the cleaning robot to continue running. By executing the above steps, the hair on the mop of the mop module 20 will never be too much, so that the mop module 20 can better clean the hair on the work surface.

[0093] In one embodiment, see Figure 1 , Figure 4 and Figure 7 S30: receiving the second scanning image sent by the visual sensor 10, and determining the hair adsorption state of the mop module 20 includes:

[0094] S31: extracting a first hair individual image from the second scanned image, and calculating a first hair coverage area on the mop module 20 according to the first hair individual image;

[0095] S32: comparing the first hair coverage area with a preset coverage area, and outputting a comparison result;

[0096] S33: outputting the hair adsorption state of the mop module 20 according to the comparison result.

[0097] In this embodiment, when the main controller receives the second scanned image sent by the visual sensor 10, and extracts the first hair single image from the second scanned image, the first hair single image refers to the hair image after removing the background, and calculates the area of ​​the first hair single image, the first hair coverage area of ​​the mop module 20 can be obtained; then the first hair coverage area is compared with the preset coverage area, and when the first hair coverage area is greater than the preset coverage area, the hair adsorption state of one mop module 20 is output; when the first hair coverage area is less than the preset coverage area, the hair adsorption state of another mop module 20 is output. In this embodiment, the area of ​​the first hair single image is calculated, and the calculated first hair coverage area is compared and analyzed to obtain a more accurate hair adsorption state of the mop module 20, so that the mop module 20 of the cleaning robot can always maintain a clean state, thereby improving the cleaning effect of the mop module 20 on the hair on the working surface.

[0098] In one embodiment, see Figure 1 , Figure 5 and Figure 7 S40: controlling the mop module 29 to return to the base station of the cleaning robot for cleaning according to the hair adsorption state includes:

[0099] S41: When the hair adsorption state of the mop module 20 is a full-coverage adsorption state, the mop module 20 is controlled to return to the base station of the cleaning robot for cleaning;

[0100] S42: the hair adsorption state of the mop module 20 is a partial covering adsorption state, and the mop module 20 is controlled to continue to clean the hair on the work surface.

[0101] In this embodiment, when the hair adsorption state of the mop module 20 is the full coverage adsorption state, that is, the mop of the mop module 20 is completely adsorbed with hair, the mop has reached the adsorption upper limit at this time, so the main controller controls the walking mechanism of the cleaning robot to move to the base station, so as to clean the hair stuck to the mop of the mop module 20 through the base station, so that the mop module 20 can more easily clean the hair on the work surface. When the hair adsorption state of the mop module 20 is the partial coverage adsorption state, that is, only part of the mop of the mop module 20 adsorbs hair, the mop has not reached the adsorption upper limit at this time, so the main controller will continue to control the mop module 20 to adsorb the hair on the work surface.

[0102] In one embodiment, see Figure 1 , Figure 6 and Figure 7 S20: After the step of controlling the mop module 20 to enter the hair cleaning program for cleaning according to the first hair state, the method further includes:

[0103] S50: receiving the third scan image sent by the visual sensor 10, and determining the second hair state of the working surface;

[0104] S60: determining whether to control the mop module 20 to enter a hair cleaning program for cleaning according to the second hair state.

[0105] In this embodiment, after the mop module 20 performs the initial cleaning work on the hair, the main controller obtains a third scanning image of the cleaned floor again to further determine the second hair state of the floor; if the second hair state is that there is still hair on the working surface, the mop module 20 is controlled to continue to enter the hair cleaning program for cleaning to ensure that all the hair on the working surface is cleaned; if the second hair state is that there is no hair on the working surface, the mop module 20 is controlled to rise to prevent the mop module 20 from interfering with the operation of the walking mechanism of the cleaning robot.

[0106] In one embodiment, see Figure 1 , Figure 2 S12: when the first detection result indicates that there is hair on the working surface, the first scanned image is digitized and the second detection result of hair humidity is output, the step further includes:

[0107] S15: extracting a second hair individual image from the first scanned image, and calculating a second hair coverage area according to the second hair individual image;

[0108] S16: outputting the actual operating time of the mop module 20 according to the mapping relationship between the second hair coverage area and the operating time of the mop module 20 .

[0109] In this embodiment, the main controller extracts the second hair individual image from the first scanned image to calculate the second hair coverage area, and then matches the operation time of the mop module 20 that better matches the second hair coverage area of ​​the hair on the current working surface through the mapping relationship between the second hair coverage area and the operation time of the mop module 20; specifically, if the second hair coverage area is larger, the operation time of the mop module 20 is also set to be longer, so that the mop module 20 has a sufficiently long operation time to clean the hair; if the second hair coverage area is smaller, the operation time of the mop module 20 is set to be correspondingly shorter, so as to save the energy consumption of the mop module 20.

[0110] In one embodiment, see Figure 1 , Figure 2 S16: after the step of outputting the actual running time of the mop module 20 according to the mapping relationship between the second hair coverage area and the running time of the mop module 20, the step further includes:

[0111] S17: setting the running time of the mop module 20 to the actual running time, so that the mop module 20 executes the hair cleaning program for cleaning according to the actual running time.

[0112] When the main controller outputs the actual operating time of the mop module 20, it changes the operating time of the mop module 20 originally stored in itself to the latest actual operating time, so that the mop module 20 cleans the hair on the current floor according to the changed actual operating time, thereby improving the cleaning effect of the cleaning robot.

[0113] The present invention also provides a cleaning robot, see Figure 7The cleaning robot includes a main controller, a mop module 20, a visual sensor 10 and a walking mechanism. When the main controller is executed, it implements the hair cleaning method of the cleaning robot as described above. The visual sensor 10, the mop module 20 and the walking mechanism are all electrically connected to the main controller; the mop module 20 includes a mop assembly, a rotation drive structure and a lifting drive structure. The rotation drive structure is connected to the mop assembly and drives the mop assembly to rotate; the rotation drive structure is connected to the mop assembly and drives the mop assembly to rise and fall.

[0114] In this embodiment, the rotating drive structure of the mop module 20 can drive the mop assembly to rotate, and the lifting drive structure can drive the mop assembly to lift and lower. The visual sensor 10 is used to detect the first hair state of the working surface, the hair adsorption state of the mop module 20, and the second hair state of the working surface; and the walking mechanism is used to drive the entire cleaning robot to move so as to change the position of the mop module 20 on the working surface.

[0115] The present invention also provides a computer storage medium, which stores a driver program, and the driver program implements the hair cleaning method of the cleaning robot as described above when executed.

[0116] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A hair cleaning method for a cleaning robot, characterized in that: The steps of the hair cleaning method of the cleaning robot include: receiving a first scanned image sent by the visual sensor, and determining a first hair state of the working surface; According to the first hair state, the mop module is controlled to enter a hair cleaning program for cleaning.

2. The hair cleaning method of a cleaning robot according to claim 1, characterized in that: The step of receiving the first scanned image sent by the visual sensor and determining the first hair state of the working surface comprises: Performing image analysis on the first scanned image, and outputting a first detection result of whether there is hair on the working surface; When the first detection result indicates that there is hair on the working surface, digitally process the first scanned image and output a second detection result of hair humidity; The first hair state is obtained according to the first detection result and the second detection result.

3. The hair cleaning method of a cleaning robot according to claim 2, characterized in that: After the step of performing image analysis on the first scanned image and outputting a first detection result of whether the working surface has hair, the step further includes: When the first detection result indicates that there is hair on the working surface, the cleaning robot is controlled to move so that the mop module is opposite to the hair.

4. The hair cleaning method of a cleaning robot according to claim 2, characterized in that: The step of controlling the mop module to enter the hair cleaning step for cleaning according to the first hair state includes: When the second detection result shows that the hair humidity exceeds a preset threshold, the mop module is controlled to enter a wet hair cleaning program for cleaning; When the second detection result shows that the hair humidity does not exceed the preset threshold, the mop module is controlled to enter the dry hair cleaning program for cleaning; the hair cleaning program includes the wet hair cleaning program and the dry hair cleaning program.

5. The hair cleaning method of a cleaning robot according to claim 4, characterized in that: The wet hair cleaning procedure includes: Controlling the mop module to descend; After the mop module comes into contact with the hair, a rotating action is performed to make the mop module stick to the wet hair; After the mop module is adhered to the wet hair, the mop module is controlled to be lifted up to be away from the working surface.

6. The hair cleaning method of a cleaning robot according to claim 4, characterized in that: The dry hair cleaning procedure includes: Controlling the mop module to descend; After the mop module comes into contact with the hair, the mop module is controlled to move forward and backward so that the mop module absorbs the dry hair; After the mop module is adsorbed onto the dry hair, the mop module is controlled to be lifted up to be away from the working surface.

7. The hair cleaning method of a cleaning robot according to claim 1, characterized in that: After the step of controlling the mop module to enter the hair cleaning program for cleaning according to the first hair state, the step further includes: receiving a second scanning image sent by the visual sensor, and determining a hair adsorption state of the mop module; According to the hair adsorption state, the mop module is controlled to return to the base station of the cleaning robot for cleaning.

8. The hair cleaning method of a cleaning robot according to claim 7, characterized in that: Receiving the second scanning image sent by the visual sensor and determining the hair adsorption state of the mop module includes: Extracting a first hair individual image from the second scanned image, and calculating a first hair coverage area on the mop module according to the first hair individual image; Comparing the first hair coverage area with a preset coverage area, and outputting a comparison result; According to the comparison result, the hair adsorption state of the mop module is output.

9. The hair cleaning method of a cleaning robot according to claim 8, characterized in that: Controlling the mop module to return to the base station of the cleaning robot for cleaning according to the hair adsorption state includes: When the hair adsorption state of the mop module is a full-coverage adsorption state, the mop module is controlled to return to the base station of the cleaning robot for cleaning; When the hair adsorption state of the mop module is a partial covering adsorption state, the mop module is controlled to continue cleaning the hair on the work surface.

10. The hair cleaning method of a cleaning robot according to claim 1, characterized in that: After the step of controlling the mop module to enter the hair cleaning program for cleaning according to the first hair state, the step further includes: receiving a third scanning image sent by the visual sensor, and determining a second hair state of the working surface; Determine whether to control the mop module to enter a hair cleaning program for cleaning according to the second hair state.

11. The hair cleaning method of a cleaning robot according to claim 2, characterized in that: Based on the first detection result indicating that there is hair on the working surface, the method further includes: performing digital processing on the first scanned image and outputting a second detection result of hair humidity; Extracting a second hair individual image from the first scanned image, and calculating a second hair coverage area according to the second hair individual image; According to the mapping relationship between the second hair coverage area and the running time of the mop module, the actual running time of the mop module is output.

12. The hair cleaning method of a cleaning robot according to claim 11, characterized in that: After the step of outputting the actual running time of the mop module according to the mapping relationship between the second hair coverage area and the running time of the mop module, the method further includes: The running time of the mop module is set as the actual running time, so that the mop module executes the hair cleaning program for cleaning according to the actual running time.

13. A cleaning robot, characterized in that: It includes a main controller, a mop module, a visual sensor and a walking mechanism, the main controller executes the hair cleaning method of the cleaning robot according to any one of claims 1 to 12, the visual sensor, the mop module and the walking mechanism are all electrically connected to the main controller; the mop module includes a mop assembly, a rotating drive structure and a lifting drive structure, the rotating drive structure is connected to the mop assembly and drives the mop assembly to rotate; the rotating drive structure is connected to the mop assembly and drives the mop assembly to rise and fall.

14. A computer storage medium, characterized in that: The computer storage medium stores a driver program, which executes the hair cleaning method of the cleaning robot as described in any one of claims 1 to 12.

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