Cleaning robot control method and cleaning robot

Abstract

The invention discloses a control method of a cleaning robot and the cleaning robot. The cleaning robot comprises a machine body provided with a water storage cavity, a cleaning part arranged on the machine body, a heating module and a stain detection module, and the water storage cavity is used for providing working water for the cleaning part. The control method of the cleaning robot comprises the following steps that the stain detection module is controlled to detect whether a working face has solidified stains or not; and controlling a heating module to heat the working water and controlling a cleaning piece to clean the solidified stains under the condition that the working surface is detected to have the solidified stains. According to the technical scheme, the cleaning effect of the cleaning robot on the working face can be improved, and then the use experience of a user on the cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a control method of a cleaning robot and the cleaning robot. Background Art

[0002] At present, when cleaning robots clean working surfaces such as the floor, they usually use cold water for decontamination. However, the solubility and decontamination ability of cold water is low, which makes it impossible for cleaning robots to effectively clean solidified stains on the floor, requiring users to perform secondary manual cleaning, which in turn affects the user experience. Summary of the invention

[0003] The main purpose of the present invention is to provide a control method for a cleaning robot, aiming to improve the cleaning effect of the cleaning robot on a work surface and enhance the user experience of the cleaning robot.

[0004] To achieve the above-mentioned purpose, the present invention provides a control method for a cleaning robot, wherein the cleaning robot comprises a body provided with a water storage chamber, a cleaning member provided on the body, a heating module and a stain detection module, wherein the water storage chamber is used to provide working water to the cleaning member, and the control method for the cleaning robot comprises:

[0005] Controlling the stain detection module to detect whether there is solidified stain on the work surface;

[0006] When the solidified stains are detected on the working surface, the heating module is controlled to heat the working water, and the cleaning element is controlled to clean the solidified stains.

[0007] Optionally, controlling the cleaning member to clean the solidified stains includes:

[0008] Controlling the heating module to heat the working water to a preset temperature T1, and controlling the cleaning element to statically cover the solidified stains for a preset time N1;

[0009] The cleaning member is started to perform mobile cleaning on the solidified stains.

[0010] Optionally, 30°≤T1≤40°, 7S≤N1≤13S.

[0011] Optionally, after starting the cleaning member to move and clean the solidified stains, the method further includes:

[0012] Controlling the stain detection module to detect whether the solidified stain remains;

[0013] When it is detected that the solidified stains remain, the cleaning robot is controlled to perform secondary cleaning on the solidified stains.

[0014] Optionally, controlling the cleaning robot to perform secondary cleaning on the solidified stains includes:

[0015] Control the heating module to heat the working water to a preset temperature T2, T2>T1, and control the cleaning element to statically cover the solidified stains for a preset time N2, N2>N1;

[0016] The cleaning member is started to perform secondary movement cleaning on the solidified stains.

[0017] Optionally, 50°≤T2≤60°, 17S≤N2≤23S.

[0018] Optionally, after starting the cleaning member to perform secondary movement cleaning on the solidified stains, the method further includes:

[0019] Controlling the stain detection module to detect again whether there is any residual solidified stain;

[0020] When it is detected that the solidified stain remains again, the cleaning robot is controlled to clean the solidified stain three times.

[0021] Optionally, controlling the cleaning robot to clean the solidified stain three times includes:

[0022] Control the heating module to heat the working water to a preset temperature T3, T3>T2, and control the cleaning element to statically cover the solidified stains for a preset time N3, N3>N2;

[0023] The cleaning member is started to perform three-time movement cleaning on the solidified stains.

[0024] Optionally, 70°≤T3≤80°, 27S≤N3≤33S.

[0025] Optionally, controlling the cleaning member to clean the solidified stains includes:

[0026] determining the grade of the solidified stain;

[0027] According to the level of the solidified stain, the heating module is controlled to heat the working water to a preset temperature corresponding to the solidification level, and the cleaning component is controlled to statically cover the solidified stain for the preset time corresponding to the solidification level.

[0028] Optionally, after controlling the cleaning member to clean the solidified stains, the method further includes:

[0029] When the cleaning member is controlled to move and clean for a preset time M, the heating module is controlled to be turned off, and the cleaning member is controlled to stop moving.

[0030] Optionally, controlling the stain detection module to detect whether there is solidified stain on the work surface includes:

[0031] Controlling the stain detection module to photograph the working surface to obtain a current visual image of the working surface;

[0032] The current visual image is compared with a pre-stored standard visual image to analyze whether there are solidified stains on the work surface.

[0033] The present invention also provides a cleaning robot, which applies the above-mentioned control method of the cleaning robot.

[0034] When the control method of the cleaning robot of the technical solution of the present invention is in use, the cleaning robot can control the stain detection module to detect whether there are solidified stains on the working surface (for example: the ground), and when the solidified stains are detected on the working surface. The cleaning robot can further control the heating module to heat the working water, so as to control the cleaning parts to use hot water to remove the solidified stains. The dissolving and decontamination ability of hot water is relatively high, which is beneficial to improve the cleaning effect of the cleaning robot on the working surface, so as to enhance the user's experience of using the cleaning robot. Moreover, the cleaning robot can automatically identify and detect the stains on the ground, and automatically turn on the heating module, which also improves the intelligence of the cleaning robot, which is beneficial to further improve the user's experience of using the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 This is a schematic structural diagram of an embodiment of a cleaning robot of the present invention;

[0037] Figure 2 for Figure 1 A schematic diagram of the structure of the cleaning robot from another perspective;

[0038] Figure 3 for Figure 1 A schematic diagram of an exploded structure of a cleaning robot;

[0039] Figure 4 for Figure 3 A schematic diagram of a partial structure of the cleaning robot from one perspective;

[0040] Figure 5 for Figure 3 A schematic diagram of a partial structure of the cleaning robot from another perspective;

[0041] Figure 6 for Figure 5 Schematic diagram of the explosion structure of the middle water tank;

[0042] Figure 7 A schematic flow chart of a first embodiment of a control method for a cleaning robot according to the present invention;

[0043] Figure 8 A schematic flow chart of a second embodiment of a control method for a cleaning robot according to the present invention;

[0044] Fig. 9 is a flow chart of a third embodiment of a control method for a cleaning robot according to the present invention;

[0045] Fig.10 is a flow chart of a fourth embodiment of a control method for a cleaning robot according to the present invention;

[0046] Fig.11 is a flow chart of a fifth embodiment of a control method for a cleaning robot according to the present invention;

[0047] Fig.12 is a flow chart of a sixth embodiment of a control method for a cleaning robot according to the present invention;

[0048] Fig.13 is a flow chart of a seventh embodiment of a control method for a cleaning robot according to the present invention;

[0049] Fig.14 is a flow chart of an eighth embodiment of a control method for a cleaning robot according to the present invention;

[0050] Fig.15 is a flow chart of a ninth embodiment of a control method for a cleaning robot according to the present invention;

[0051] Description of Figure Numbers:

[0052] Label name Label name 100 Cleaning Robot 20 Heating module 10 Body 30 First connecting pipe 11 chassis 40 Second connecting pipe 13 Water tank 50 Water Pump 131 Water storage chamber 70 Cleaning parts 132 First cavity 80 Stain detection module 133 Second cavity 90 Controller 135 Water outlet

[0053] 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

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] It should be noted that all directional indications in the embodiments of the present application (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.

[0056] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or a solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0058] A cleaning robot, as the name implies, is a cleaning device that can automatically clean the ground or other working surfaces. The cleaning robot can be used to mop the working surface, and of course, it can also vacuum the working surface. The present application does not limit the specific cleaning mode of the cleaning robot on the working surface.

[0059] At present, when cleaning the work surface, the cleaning robot usually uses cold water for decontamination. However, the dissolving and decontamination ability of cold water is low, which makes it impossible for the cleaning robot to effectively clean the solidified stains on the work surface (for example, oil stains, rice paste, etc., which are easy to solidify and difficult to clean), and the user needs to perform a second manual cleaning, which affects the user experience.

[0060] Therefore, based on the above considerations, in order to solve the problem that the current cleaning robot has a low cleaning effect on the work surface and affects the user experience, the present application proposes a new cleaning robot and a control method for the cleaning robot. The cleaning robot control method creatively controls the stain detection module to detect whether there are solidified stains on the work surface when cleaning the work surface; then, when the solidified stains are detected on the work surface, the heating module is controlled to heat the working water, and the cleaning part is controlled to clean the solidified stains. In this way, the cleaning robot can use hot water to remove dirt and clean the work surface, thereby improving the cleaning effect of the work surface and enhancing the user experience of the cleaning robot.

[0061] Please refer to Figures 1 to 6 In one embodiment of the present application, the cleaning robot 100 proposed in the present application may include a body 10 provided with a water storage chamber 131, a cleaning member 70 provided on the body 10, a heating module 20 and a stain detection module 80.

[0062] The body 10 can be used as the main carrier structure of the cleaning robot 100 to install various parts of the cleaning robot 100, such as: moving wheels, such as a controller 90, a cleaning member 70 for cleaning a working surface (e.g., the ground), a motor for driving the cleaning member 70 to rotate, and a stain detection module 80. Of course, the body 10 can also be used to form a water storage chamber 131, so that the working water of the cleaning robot 100 can be stored through the water storage chamber 131 and provided to the cleaning member 70 (that is, the water storage chamber 131 can be provided with a water outlet 135 facing the cleaning member 70, so that the working water in the water storage chamber 131 can flow to the cleaning member 70 after flowing out through the water outlet 135 to soak it), thereby realizing the mopping cleaning work of the working surface through the cleaning member 70. Among them, when the cleaning robot 100 is in a normal use placement state, it is defined that the cleaning robot 100 has an up and down direction, and the projection of the body 10 on the horizontal plane can be circular. In this way, on the one hand, the shape of the body 10 can be more regular, which is convenient for processing and manufacturing. On the other hand, more importantly, the side surface of the body 10 at this time can be an arc surface, so that when the cleaning robot 100 moves and cleans the working surface, even if the side surface of the cleaning robot 100 contacts obstacles such as tables, chairs and stools, the cleaning robot 100 can be guided to bypass the obstacle smoothly through the side surface of the arc surface. Of course, it should be noted that the present application is not limited to this. In other embodiments, the projection of the body 10 on the horizontal plane can also be a square (including a square and a rectangle) or other shapes. The shape of the water storage chamber 131 can also be any shape such as a circle, a square or a special shape. The present application does not limit the specific shape of the water storage chamber 131. In addition, the body 10 can be a combination of an organic shell 11 and a water tank 13 as included. At this time, the water storage chamber 131 can be arranged in the water tank 13. Of course, the body 10 can also include only an organic shell 11. At this time, the water storage can be directly arranged in the shell 11.

[0063] The cleaning member 70 can be used to clean the working surface. When the cleaning robot 100 is in a normal use state, the cleaning member 70 can be arranged on the lower surface of the body 10. In the actual cleaning process, the cleaning robot 100 can also drive the motor to rotate the cleaning member to achieve mobile cleaning of the working surface and improve the cleaning effect of the working surface. In addition, the water outlet 135 of the water storage chamber 131 introduced above can be arranged above the cleaning member 70 so that the working water flowing out of the water outlet 135 falls onto the cleaning member 70.

[0064] The heating module 20 can be used to heat the working water so that the cleaning member 70 can use hot water to clean the working surface. Among them, the heating module 20 can be heated by the electric heating principle, and the heating module 20 can include an electric heating element. Of course, the heating module 20 can also be heated by the electromagnetic heating principle, and the heating module 20 can include a metal container for accommodating working water, and an induction coil arranged on the outside of the metal container. Alternatively, the heating module 20 can also be heated by the light wave heating principle, and the heating module 20 can include a light wave tube. It can be seen that the specific type of the heating module 20 is not limited in this application, and it can be realized that the working water can be heated. In addition, the heating module 20 can be arranged in the water storage chamber 131, and of course it can also be arranged outside the water storage chamber 131. For example: the heating module 20 can be arranged on the outside of the water tank 13. At this time, a heating chamber can be arranged in the heating module 20, and electric heating elements such as resistance wires or electric heating wires can be arranged on the outside. The water storage chamber 131 may include a first cavity 132 and a second cavity 133 which are separated from each other, and the second cavity 133 may be provided with a water outlet 135 corresponding to the cleaning member 70. In this way, the first cavity 132 and the liquid inlet of the heating cavity of the heating module 20 may be connected through the first connecting pipe 30, and the second connecting pipe 40 may connect the liquid outlet of the heating cavity and the second cavity 133, so that the working water in the first cavity 132 may flow into the heating cavity through the first connecting pipe 30 to be heated by the heating module 20, and flow into the second cavity 133 through the second connecting pipe 40, and flow out from the water outlet 135 for use. Furthermore, a water pump 50 may be provided on the first connecting pipe 30 or the second connecting pipe 40 to better drive the working water in the first cavity 132 to flow to the heating module 20.

[0065] The stain detection module 80, as the name implies, is a detection device that can be used to detect stains on the work surface. The stain detection module 80 can be a camera module. A standard visual image of a work surface without stains can be preset in the camera module as a comparison template. Later, when the cleaning robot 100 cleans the work surface, the camera module can be used to photograph the work surface to obtain the current visual image of the work surface, and the current visual image can be compared with the standard visual image. When there is a stain area between the current visual image and the standard visual image, it can be determined that there is currently a stain on the work surface.

[0066] The mechanical structure of the cleaning robot 100 is described above. Next, a control method of the cleaning robot is described. In one embodiment of the present application, please refer to Figure 7 , the control method of the cleaning robot comprises the following steps:

[0067] Step S10, controlling the stain detection module 80 to detect whether there are solidified stains (including solidified stains in a partially solidified state or solidified stains in a completely solidified state) on the work surface;

[0068] Step S20, when it is detected that there are solidified stains on the working surface, the heating module 20 is controlled to heat the working water, and the cleaning component 70 is controlled to clean the solidified stains.

[0069] When the cleaning robot 100 is cleaning the working surface, the controller 90 of the cleaning robot 100 can turn on the stain detection module 80 in real time to detect the situation of the working surface in a timely manner through the stain detection module 80. After that, when it is detected that there are solidified stains on the working surface, the controller 90 of the cleaning robot 100 can turn on the heating module 20 to heat the working water, so that the cleaning robot 100 can provide hot water to the cleaning member 70, that is, working water with a certain temperature, so as to facilitate the cleaning member 70 to use hot water to clean the solidified stains. Among them, the working water can be quickly heated during the flow from the liquid storage chamber to the cleaning member 70, so as to improve the working efficiency of the cleaning robot 100 by heating while flowing. Of course, the working water can also be heated first, and then provided to the cleaning member 70 after the heating is completed. This application is not limited to this, and it is sufficient to ensure that the working water flowing to the cleaning member 70 is hot water.

[0070] When the control method of the cleaning robot of the technical solution of the present application is used, the cleaning robot 100 can control the stain detection module 80 to detect whether there are solidified stains on the working surface, and when the solidified stains are detected on the working surface. The cleaning robot 100 can further control the heating module 20 to heat the working water, so as to control the cleaning member 70 to use hot water to remove the solidified stains. The dissolving and decontamination ability of hot water is relatively high, which is conducive to improving the cleaning effect of the cleaning robot 100 on the working surface, so as to enhance the user's experience of the cleaning robot 100. Moreover, the cleaning robot 100 still automatically identifies and detects the stains on the working surface, and the heating module 20 is also automatically turned on, which also improves the intelligence of the cleaning robot 100, and further helps to improve the user's experience of the cleaning robot 100. Of course, it should be noted that when it is detected that there are no solidified stains on the working surface, the heating module 20 can be not started, and the cleaning robot 100 can use cold water to clean the working surface.

[0071] Further based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Figure 8Step S20, when solidified stains are detected on the working surface, controls the heating module 20 to heat the working water, and controls the cleaning element 70 to clean the solidified stains, including the following steps:

[0072] Step S21, controlling the heating module 20 to heat the working water to a preset temperature T1, and controlling the cleaning element 70 to statically cover and solidify the stains for a preset time N1;

[0073] Step S22, start the cleaning member 70 to move and clean the solidified stains.

[0074] In this embodiment, the controller 90 of the cleaning robot 100 controls the heating module 20 to heat the working water to a preset temperature T1, which can better ensure that the working water can reach the required temperature, so as to improve the dissolving and decontamination cleaning ability of the working water on the solidified stains. After the cleaning member 70 is soaked with working water having a temperature of T1, it is static (that is, the motor of the cleaning robot 100 does not drive the cleaning member 70 to rotate) to cover the area of ​​the solidified stains for a preset time N1, which can warm the solidified stains and dissolve them. In this way, by providing working water with a preset temperature T1, in conjunction with the static dissolution of the solidified stains, the convenience of the subsequent cleaning member 70 to remove the solidified stains can be greatly improved, so as to better improve the cleaning effect of the cleaning robot 100 on the working surface. Among them, when the controller 90 of the cleaning robot 100 controls the stain detection module 80 to detect solidified stains for the first time in a certain area of ​​the working surface, the solidified stains can be determined by default as level one, and the preset temperature T1 and the preset time N1 can be set corresponding to the level of the solidified stains.

[0075] Further, in one embodiment of the present application, 30°≤T1≤40°, 7S≤N1≤13S.

[0076] In this embodiment, the value of the preset temperature T1 is set to 30° to 40°, so that the value of the preset temperature T1 will not be too low, which is conducive to ensuring the dissolving and decontamination ability of the working water. At the same time, the value of the preset temperature T1 will not be too high, avoiding increasing the workload of the heating module 20. And setting the preset time N1 to 7S to 13S can prevent the preset time N1 from being too short, which will affect the subsequent cleaning part 70's ability to remove solidified stains. At the same time, it also prevents the preset time N1 from being too long, resulting in low working efficiency of the cleaning robot 100. It can be seen that at this time, setting the value of the preset temperature T1 to 30° to 40° and the preset time N1 to 7S to 13S can better take into account the cleaning robot 100's ability to remove solidified stains and the working efficiency of the cleaning robot 100, so as to more comprehensively improve the user's experience of using the cleaning robot 100. The value of the preset temperature T1 can be 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39° or 40°, and of course it can be any value in the above range, and the present application does not limit the specific value of the preset temperature T1. Similarly, the value of the preset time N1 can be 7S, 8S, 9S, 10S, 11S, 12S or 13S, and of course it can be any value in the above range, and the present application does not limit the specific value of the preset time N1.

[0077] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig. 9 In step S22, after starting the cleaning member 70 to move and clean the solidified stains, the control method of the cleaning robot further includes the following steps:

[0078] Step S30, controlling the stain detection module 80 to detect whether there is any residual solidified stain;

[0079] Step S40 , when it is detected that there are residual solidified stains, the cleaning robot 100 is controlled to perform secondary cleaning on the solidified stains.

[0080] Since some solidified stains may not need to be completely removed by the above-mentioned cleaning robot 100 in one cleaning, in this embodiment, after the cleaning robot 100 completes one cleaning of the solidified stains, the cleaning result of the working surface is detected by the stain detection module 80. And in the case of detecting that there are residual solidified stains, the cleaning member 70 is controlled to clean the residual solidified stains on the working surface again, so that the effectiveness of the cleaning robot 100 in cleaning the solidified stains on the working surface can be improved. Among them, after the cleaning robot 100 cleans the solidified stains on the working surface once, when the stain detection module 80 detects the residual solidified stains in the same area of ​​the working surface for the second time, it can be determined that the solidified stains are secondary. At this time, the cleaning robot 100 can perform the secondary cleaning of the working surface by heating the working water to a preset temperature T2, T2>T1, and statically covering the solidified stains with the cleaning member 70 to a preset time N2, N2>N1 as described below. Of course, the cleaning robot 100 may also perform secondary cleaning of the working surface at the same preset temperature T1 and preset time N1 as in the first cleaning process.

[0081] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig.10 Step S40, in which, when it is detected that there are residual solidified stains, the cleaning robot 100 is controlled to perform secondary cleaning on the solidified stains, comprises the following steps:

[0082] Step S41, controlling the heating module 20 to heat the working water to a preset temperature T2, T2>T1, and controlling the cleaning element 70 to statically cover the solidified stains for a preset time N2, N2>N1;

[0083] Step S42, start the cleaning member 70 to move and clean the solidified stains.

[0084] Since the cleaning robot 100 did not effectively remove the solidified stains on the working surface during the first cleaning process, the working water is heated to a preset temperature T2, T2>T1, and the cleaning element 70 is controlled to statically cover the solidified stains for a preset time N2, N2>N1 during the second cleaning process. This can further improve the cleaning robot 100's decontamination ability, so as to effectively remove the residual solidified stains on the working surface.

[0085] In order to better balance the cleaning robot 100's ability to remove solidified stains and its work efficiency, in one embodiment of the present application, 50°≤T2≤60°, 17S≤N2≤23S. Among them, the value of the preset temperature T2 can be 50°, 51°, 52°, 53°, 54°, 55°, 56°, 57°, 58°, 59° or 60°, and of course it can also be any value in the above ranges. The present application does not limit the specific value of the preset temperature T2. Similarly, the value of the preset time N2 can be 17S, 18S, 19S, 20S, 21S, 22S or 23S, and of course it can also be any value in the above ranges. The present application does not limit the specific value of the preset time N2.

[0086] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig.11 In step S42, after the step of starting the cleaning member 70 to perform secondary movement cleaning on the solidified stains, the control method of the cleaning robot further includes the following steps:

[0087] Step S50, controlling the stain detection module 80 to detect again whether there is any residual solidified stain;

[0088] Step S60 , when it is detected that the solidified stains remain again, the cleaning robot 100 is controlled to clean the solidified stains three times.

[0089] In this embodiment, after the cleaning robot 100 completes the secondary cleaning of the solidified stains, the cleaning result of the working surface is detected again by the stain detection module 80. And when it is detected that there are residual solidified stains, the cleaning member 70 is controlled to clean the residual solidified stains on the working surface three times, so that the effectiveness of the cleaning robot 100 in cleaning the solidified stains on the working surface can be further improved. Among them, after the cleaning robot 100 performs the secondary cleaning of the solidified stains on the working surface, when the stain detection module 80 detects that there are residual solidified stains in the same area of ​​the working surface three times, it can be determined that the solidified stains are level three. At this time, the three cleanings of the working surface by the cleaning robot 100 can be performed by heating the working water to a preset temperature T3, T3>T2, and statically covering the solidified stains with the cleaning member 70 to a preset time N3, N3>N2 as described below. Of course, the cleaning work of the cleaning robot 100 on the working surface can also be performed by the preset temperature T2 and preset time N2 in the secondary cleaning process.

[0090] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig.12Step S60, when it is detected that the solidified stains remain again, the step of controlling the cleaning robot 100 to clean the solidified stains three times includes the following steps:

[0091] Step S61, controlling the heating module 20 to heat the working water to a preset temperature T3, T3>T2, and controlling the cleaning element 70 to statically cover the solidified stains for a preset time N3, N3>N2;

[0092] Step S62, start the cleaning member 70 to perform three-step movement cleaning on the solidified stains.

[0093] Since the cleaning robot 100 still fails to effectively remove the solidified stains on the working surface during the secondary cleaning process, the working water is heated to a preset temperature T3, T3>T2, and the cleaning member 70 is controlled to statically cover the solidified stains for a preset time N3, N3>N2 during the tertiary cleaning process, so as to further improve the decontamination ability of the cleaning robot 100, so as to more effectively remove the residual solidified stains on the working surface. At this point, through the three cleaning processes, basically all degrees of stains can be effectively removed. Of course, in other embodiments, after the cleaning robot 100 completes the three cleaning processes, the stain detection module 80 can be used to detect whether there are any solidified stains remaining on the working surface. If there are still any solidified stains remaining, the heating module 20 can be controlled to heat the working water to a preset temperature T4 or T5, etc., T5>T4>T3, and the cleaning component 70 can be controlled to statically cover the solidified stains to a preset time N4 or N5, etc., N5>N4>N3, so that the cleaning robot 100 can clean the working surface four or five times. The present application does not limit the number of times the cleaning robot 100 detects the remaining solidified stains through the stain detection module 80, nor does it limit the number of times the cleaning robot 100 cleans the solidified stains.

[0094] In order to better balance the cleaning robot 100's ability to remove solidified stains and its work efficiency, in one embodiment of the present application, 70°≤T3≤80°, 27S≤N3≤33S. Among them, the value of the preset temperature T3 can be 70°, 71°, 72°, 73°, 74°, 75°, 76°, 77°, 78°, 79° or 80°, and of course it can also be any value in the above ranges. The present application does not limit the specific value of the preset temperature T3. Similarly, the value of the preset time N3 can be 27S, 28S, 29S, 30S, 31S, 32S or 33S, and of course it can also be any value in the above ranges. The present application does not limit the specific value of the preset time N3.

[0095] The above describes that the cleaning robot 100 uses the stain detection module 80 to perform the first detection, the second detection, and the third detection on the solidified stain to respectively determine whether the solidified stain is of the first, second, and third levels. This makes it easier for the stain detection module 80 to identify the level of the solidified stain, thereby facilitating the manufacturing convenience of the stain detection module 80. Of course, the present application is not limited thereto. In another embodiment of the present application, please refer to Fig.13 Step S20, when solidified stains are detected on the working surface, controls the heating module 20 to heat the working water, and controls the cleaning element 70 to clean the solidified stains, including the following steps:

[0096] Step S23, determining the level of the solidified stain;

[0097] Step S24, according to the level of the solidified stains, the heating module 20 is controlled to heat the working water to a preset temperature corresponding to the solidification level, and the cleaning member 70 is controlled to statically cover the solidified stains for a preset time corresponding to the solidification level.

[0098] In this embodiment, the level of the coagulated stains is determined by the stain detection module 80 during the first detection of the coagulated stains, so that the subsequent cleaning robot 100 can control the heating module 20 to directly heat the working water to a preset temperature corresponding to the coagulation level, and directly control the cleaning component 70 to statically cover the coagulated stains for a preset time corresponding to the coagulation level. For example: when it is determined that the level of the coagulated stains is level one, the heating module 20 can directly heat the working water to T1, and the cleaning component 70 can directly and statically cover the coagulated stains for a preset time N1; when it is determined that the level of the coagulated stains is level two, the heating module 20 can directly heat the working water to T2, and the cleaning component 70 can directly and statically cover the coagulated stains for a preset time N2; when it is determined that the level of the coagulated stains is level three, the heating module 20 can directly heat the working water to T3, and the cleaning component 70 can directly and statically cover the coagulated stains for a preset time N3. In this way, the detection module can detect and identify the level of solidified stains more quickly, so that the cleaning robot 100 can perform more targeted cleaning according to the level of solidified stains, which is conducive to improving the working efficiency of the cleaning robot 100. Among them, the stain detection module 80 can still use the method of photographing and identifying the working surface by the camera module to judge the level of solidified stains. When the current visual image captured on the working surface is compared with the pre-stored standard visual image (a visual image captured when there is no stain on the working surface), the level of solidified stains is judged according to the size or depth of the stains in the current visual image. For example, when the stain detection module 80 recognizes that the stain area of ​​the current visual image is small, it can be judged that the level of solidified stains is relatively low, and when the stain detection module 80 recognizes that the stain area of ​​the current visual image is large, it can be judged that the level of solidified stains is relatively high. Specifically, the relationship between the size of the stain in the visual image and the level of solidified stains can be adaptively set according to needs.

[0099] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig.14 , step S20, when solidified stains are detected on the working surface, the heating module 20 is controlled to heat the working water, and the cleaning member 70 is controlled to clean the solidified stains. After the step S20, the control method of the cleaning robot further includes the following steps:

[0100] In step S70 , when the cleaning member 70 is controlled to move for cleaning to a preset time M, the heating module 20 is controlled to be turned off, and the cleaning member 70 is controlled to stop moving.

[0101] In this embodiment, each time the cleaning robot 100 moves to clean the solidified stains on the working surface for a preset time, the heating module 20 is promptly controlled to be turned off, and the motor is controlled to stop driving the cleaning element 70 to rotate. This can reduce the power consumption of the cleaning robot 100, thereby helping to increase the working time of the cleaning robot 100, and further helping to further improve the user experience.

[0102] Further, based on the control method of the cleaning robot in the above embodiment, in one embodiment of the present application, please refer to Fig.15 Step S10, in which the stain detection module 80 is controlled to detect whether there is solidified stain on the working surface, comprises the following steps:

[0103] Step S11, controlling the stain detection module 80 to photograph the working surface to obtain a current visual image of the working surface;

[0104] Step S12, comparing the current visual image with the pre-stored standard visual image to analyze whether there are solidified stains on the work surface.

[0105] In this embodiment, the stain detection module 80 is set as a camera module, so that the camera module can more conveniently capture the work surface to obtain the current visual image, and compare it with the pre-stored standard visual image. Based on computer vision and image processing technology, it can more conveniently identify whether there are stains in the current visual image, and then determine and detect solidified stains, so as to enable the stain detection module 80 to quickly, simply and effectively detect solidified stains on the work surface.

[0106] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot comprises a body provided with a water storage chamber, a cleaning member provided on the body, a heating module and a stain detection module, wherein the water storage chamber is used to provide working water to the cleaning member, and the control method of the cleaning robot comprises: Controlling the stain detection module to detect whether there is solidified stain on the work surface; When the solidified stains are detected on the working surface, the heating module is controlled to heat the working water, and the cleaning element is controlled to clean the solidified stains.

2. The control method of the cleaning robot according to claim 1, characterized in that: The controlling the cleaning member to clean the solidified stains comprises: Controlling the heating module to heat the working water to a preset temperature T1, and controlling the cleaning element to statically cover the solidified stains for a preset time N1; The cleaning member is started to perform mobile cleaning on the solidified stains.

3. The control method of the cleaning robot according to claim 2, characterized in that: 30°≤T1≤40°, 7S≤N1≤13S.

4. The control method of the cleaning robot according to claim 2, characterized in that: After the cleaning member is started to move and clean the solidified stains, the method further includes: Controlling the stain detection module to detect whether the solidified stain remains; When it is detected that the solidified stains remain, the cleaning robot is controlled to perform secondary cleaning on the solidified stains.

5. The control method of the cleaning robot according to claim 4, characterized in that: The controlling the cleaning robot to perform secondary cleaning on the solidified stains comprises: Control the heating module to heat the working water to a preset temperature T2, T2>T1, and control the cleaning element to statically cover the solidified stains for a preset time N2, N2>N1; The cleaning member is started to perform secondary movement cleaning on the solidified stains.

6. The control method of the cleaning robot according to claim 5, characterized in that: 50°≤T2≤60°, 17S≤N2≤23S.

7. The control method of the cleaning robot according to claim 5, characterized in that: After the cleaning member is started to perform secondary movement cleaning on the solidified stains, the method further includes: Controlling the stain detection module to detect again whether there is any residual solidified stain; When it is detected that the solidified stain remains again, the cleaning robot is controlled to clean the solidified stain three times.

8. The control method of the cleaning robot according to claim 7, characterized in that: The controlling the cleaning robot to clean the solidified stains three times includes: Control the heating module to heat the working water to a preset temperature T3, T3>T2, and control the cleaning element to statically cover the solidified stains for a preset time N3, N3>N2; The cleaning member is started to perform three-time movement cleaning on the solidified stains.

9. The control method of the cleaning robot according to claim 8, characterized in that: 70°≤T3≤80°, 27S≤N3≤33S.

10. The control method of the cleaning robot according to claim 1, characterized in that: The controlling the cleaning member to clean the solidified stains comprises: determining the grade of the solidified stain; According to the level of the solidified stain, the heating module is controlled to heat the working water to a preset temperature corresponding to the solidification level, and the cleaning component is controlled to statically cover the solidified stain for the preset time corresponding to the solidification level.

11. The control method of the cleaning robot according to any one of claims 1 to 10, characterized in that: After controlling the cleaning member to clean the solidified stains, the method further includes: When the cleaning member is controlled to move and clean for a preset time M, the heating module is controlled to be turned off, and the cleaning member is controlled to stop moving.

12. The control method of the cleaning robot according to any one of claims 1 to 10, characterized in that: The controlling the stain detection module to detect whether there is solidified stain on the work surface includes: Controlling the stain detection module to photograph the working surface to obtain a current visual image of the working surface; The current visual image is compared with a pre-stored standard visual image to analyze whether there are solidified stains on the work surface.

13. A cleaning robot, characterized in that: A control method for a cleaning robot as described in any one of claims 1 to 12 is applied.

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