Cleaning robot control method and device and cleaning system

Abstract

The invention provides a control method and device of a cleaning robot and a cleaning system, relates to the field of intelligent robots and is applied to the cleaning system comprising the cleaning robot and a cleaning base station, and the cleaning base station comprises a bearing unit, a conveying mechanism, a first cleaning assembly and a second cleaning assembly. Comprising the steps that after the robot completes cleaning of all sub-areas in a first area based on a first cleaning assembly, the robot is controlled to return to a base station to replace a second cleaning assembly needed for executing cleaning of a second area; after the robot returns to the base station to execute the dismounting action of the first cleaning assembly, the robot is controlled to drive out of the base station; after the robot is located outside the base station, if it is determined that the second cleaning assembly exists in the bearing unit, the robot is controlled to drive into the base station so as to install the second cleaning assembly, in this way, by optimizing the cleaning sequence of the robot, the robot can complete the cleaning task more efficiently, the unnecessary cleaning assembly replacement frequency and time waste are reduced, and the cleaning efficiency is improved. Therefore, the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to a control method, device and cleaning system of a cleaning robot. Background Art

[0002] With the quickening pace of life and the increasing demand for cleaning efficiency, automated cleaning robots have come into being. How to effectively arrange the order and time for cleaning robots to perform cleaning tasks in a specific environment is an effective measure to ensure maximum cleaning efficiency and effectiveness.

[0003] In the related art, the cleaning robot uses the same cleaning components in different areas of the cleaning room and randomly generates a cleaning order according to the cleaning area. Due to the complex indoor environment, different cleaning areas have different cleaning requirements. How to flexibly configure the cleaning method and cleaning order according to the cleaning requirements of each area to match the user's refined cleaning needs is an urgent problem to be solved. Summary of the invention

[0004] The present application provides a control method, device and cleaning system for a cleaning robot. By planning that after all sub-areas to be cleaned using a first cleaning component are cleaned, the cleaning robot is controlled to return to a cleaning base station to replace a second cleaning component for cleaning the next cleaning area, and the cleaning sequence and the replacement of corresponding cleaning components, the cleaning robot can complete the cleaning task more efficiently, reduce the time wasted due to frequent replacement of components, and thus improve the cleaning efficiency.

[0005] In a first aspect, the present application provides a control method for a cleaning robot, which is applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, and a first cleaning component and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive the cleaning component removed from the cleaning robot, and is used to receive the cleaning component to be installed by the cleaning robot. The method includes:

[0006] After the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component;

[0007] After the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station;

[0008] After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component in the receiving unit is the second cleaning component, the cleaning robot is controlled to drive into the cleaning base station to install the second cleaning component in the receiving unit.

[0009] Since the cleaning requirements of each cleaning area are different, using a suitable cleaning component to clean each sub-area can ensure an ideal cleaning effect. Moreover, the present application optimizes the cleaning sequence of the cleaning robot by controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component for executing the next cleaning area only after all sub-areas that need to be cleaned using the first cleaning component have been cleaned, so that the cleaning robot can complete the cleaning task more efficiently and reduce the frequency of unnecessary replacement of cleaning components and time waste. Furthermore, the present application also needs to inspect and confirm the second cleaning component outside the cleaning base station to ensure that the cleaning component in the receiving unit is the second cleaning component before returning to the cleaning base station to install the second cleaning component, thereby avoiding unnecessary entry and exit operations of the cleaning base station, reducing energy consumption and time waste, and optimizing the replacement process of cleaning components, thereby improving overall operating efficiency and cleaning efficiency.

[0010] In addition, through the intelligent cleaning component confirmation and replacement process, the cleaning system not only demonstrates a higher level of autonomy and intelligence, reducing dependence on human intervention, but also ensures that the correct cleaning components are used to perform cleaning tasks in each cleaning area, thereby improving the cleaning effect and meeting the cleaning needs of different areas.

[0011] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0012] Determining based on position information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0013] Determining based on material information of the surface to be cleaned in the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0014] Determining the degree of dirtiness of the to-be-cleaned surface of the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0015] The cleaning method is determined based on the function information of the cleaning areas corresponding to the first cleaning component and the second cleaning component.

[0016] Therefore, by determining the cleaning area in a variety of ways, it can flexibly adapt to the needs of different application scenarios, so that the cleaning robot can adapt to a variety of different environments and cleaning needs, whether it is home, commercial or industrial venues, it can provide efficient cleaning services. Moreover, by accurately matching cleaning components and regional characteristics, the cleaning robot can complete cleaning tasks more efficiently, reduce unnecessary repetition and waste of resources, and ensure ideal cleaning effects, avoiding damage to the material of the cleaning surface or incomplete cleaning.

[0017] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area includes:

[0018] Determining, based on a preset cleaning sequence, a first area that the cleaning robot needs to clean based on a currently installed first cleaning component;

[0019] Controlling the cleaning robot to clean all sub-areas in the first area based on the first cleaning component, and after the cleaning is completed, determining a second area that the cleaning robot needs to clean based on a preset cleaning sequence;

[0020] The cleaning robot is controlled to return to the cleaning base station to replace a second cleaning component required for cleaning the second area.

[0021] In this way, by pre-setting the cleaning sequence, the cleaning robot can perform cleaning tasks in an orderly manner, reduce unnecessary repetition and time waste, and improve overall cleaning efficiency. The preset cleaning sequence and cleaning component replacement process can ensure the rational use of resources, reduce energy consumption and the time for frequent replacement of cleaning components. In addition, the automated cleaning sequence and cleaning component replacement process reduce dependence on manual operations, reduce labor costs and operational complexity, and the orderly and efficient cleaning process can also improve user satisfaction and provide a better user experience.

[0022] Optionally, the preset cleaning sequence is determined by any of the following methods:

[0023] After the cleaning robot finishes mapping, it generates a preset cleaning sequence for each cleaning area based on the cleaning components required for each cleaning area identified;

[0024] In response to a user's voice control instruction, generating a preset cleaning sequence for each cleaning area, the voice control instruction being used to adjust the cleaning components and the cleaning sequence required for at least one cleaning area;

[0025] In response to the configuration operation of the user on the terminal device, a preset cleaning order for each cleaning area is generated; the configuration operation is used to configure the cleaning components and the cleaning order required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0026] Generate a preset cleaning sequence for each cleaning area based on historical information of the cleaning components used after the last cleaning task was completed;

[0027] All sub-areas in each cleaning area are grouped together and cleaned in a specific order. After one group is completed, the next group is cleaned.

[0028] Therefore, multiple methods for generating cleaning sequences provide a high degree of flexibility, enabling the cleaning system to adapt to different user needs and environmental changes. For example, through voice control and terminal device configuration, users can easily adjust the cleaning sequence, improving user experience and satisfaction. The cleaning sequence generation method based on map recognition and historical information can ensure the efficient execution of cleaning tasks and reduce unnecessary duplication and waste of resources. In this way, the cleaning system can intelligently generate cleaning sequences in a variety of ways, showing a higher level of intelligence and reducing dependence on human intervention. In addition, the sub-area grouping cleaning method corresponding to each cleaning area ensures the systematic and orderly nature of the cleaning task, thereby improving cleaning efficiency.

[0029] Optionally, the cleaning base station further includes a third cleaning component, the third cleaning component and the second cleaning component correspond to different cleaning areas, and the third cleaning component corresponds to a third area; the method further includes:

[0030] After determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station;

[0031] Based on the first time period and the second time period, a target cleaning component of the cleaning robot that needs to be replaced is determined, so as to clean the target area based on the target cleaning component.

[0032] In this way, by comparing the time of different paths, the cleaning system can select the shortest time path, thereby improving cleaning efficiency and reducing unnecessary waste of time. Moreover, the cleaning system can dynamically adjust the cleaning path and cleaning component selection according to real-time conditions, showing a high degree of flexibility and adaptability. Therefore, through intelligent time evaluation and cleaning component selection, the cleaning system can better utilize resources, reduce energy consumption and overall cleaning time, and improve the completion speed of cleaning tasks, thereby improving user satisfaction and providing a better user experience.

[0033] Optionally, based on the first duration and the second duration, determining a target cleaning component of the cleaning robot that needs to be replaced includes:

[0034] When the first time duration is less than or equal to the second time duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component;

[0035] When the first time period is greater than the second time period, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, return to the cleaning base station to replace the second cleaning component.

[0036] In this way, by selecting the shortest time path, the cleaning system can improve cleaning efficiency and reduce unnecessary time waste. Combined with replacing appropriate cleaning components to clean the corresponding cleaning areas, the overall cleaning time can be reduced and the speed of completing the cleaning task can be improved. Therefore, this method reflects the intelligence level of the cleaning system, enabling it to make complex decisions autonomously and reduce dependence on human intervention.

[0037] Optionally, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area includes:

[0038] Determine a first path for the cleaning robot to return from a current position to the cleaning base station, a second path for the cleaning robot to travel from the cleaning base station to a second area, and a travel speed of the cleaning robot;

[0039] Determining a third duration to return to the cleaning base station based on the length of the first path and the travel speed, and determining a fourth duration required to travel to the second area based on the length of the second path and the travel speed;

[0040] estimating a fifth time required for replacing the cleaning robot based on the time it took to replace the second cleaning component last time;

[0041] The first duration is determined based on the third duration, the fourth duration, the fifth duration and the sixth duration; the sixth duration is the average duration required for the cleaning robot to avoid living obstacles during the historical time period.

[0042] In this way, by comprehensively considering multiple factors, such as path length, driving speed, replacement time, obstacle avoidance time, etc., the cleaning system can more accurately estimate the time required to replace different cleaning components and return to the corresponding cleaning area. This time estimation helps to select appropriate cleaning component replacement strategies, reduce unnecessary waiting and delays, improve cleaning efficiency and task completion speed, and thus more efficiently manage its operating processes to ensure efficient and smooth completion of cleaning tasks.

[0043] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the method includes:

[0044] When traversing and cleaning all sub-areas within the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of a first obstacle area is detected, the cleaning robot cleans the target sub-area based on the first cleaning component after passing through the first obstacle area to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

[0045] In this way, through intelligent obstacle detection and processing, the cleaning robot can ensure comprehensive cleaning of the accessible area, minimize omissions, and ensure the completion rate of the cleaning task. Furthermore, by effectively handling the obstacle area, it reduces stagnation and detours caused by obstacles and improves the overall cleaning efficiency. Therefore, by autonomously detecting and processing obstacle areas, the cleaning system demonstrates a higher level of intelligence, enabling it to autonomously adapt to complex environments and perform tasks.

[0046] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the method includes:

[0047] When traversing and cleaning all sub-areas in the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of the second obstacle area is detected, determining whether there are other sub-areas to be cleaned that need to be cleaned using the first cleaning component; the second obstacle area includes an area where an insurmountable obstacle is located and / or a restricted area formed based on the obstacle;

[0048] When it is determined that other sub-regions to be cleaned exist, the other sub-regions to be cleaned are cleaned based on the first cleaning component.

[0049] It is understandable that not all sub-areas within the first area are reachable for cleaning. The present application can more effectively utilize the power and cleaning components of the cleaning robot by giving priority to cleaning the sub-areas that are reachable within the first area, reduce frequent returns to the cleaning base station to replace cleaning components, and avoid unnecessary waste of resources.

[0050] In this way, through intelligent obstacle detection and area adjustment, the cleaning robot can continue to perform cleaning tasks, and even when encountering insurmountable obstacles, it can ensure that the task continues to be executed, demonstrating a higher level of intelligence, enabling it to autonomously adapt to complex environments and perform tasks. Moreover, by effectively handling obstacles and replanning cleaning paths, it can also reduce stagnation and detours caused by obstacles, thereby improving overall cleaning efficiency, thereby enabling the cleaning robot to adapt to a variety of environments and obstacle types, demonstrating a high degree of flexibility and adaptability.

[0051] Optionally, the method further includes:

[0052] When it is determined that there are no other sub-areas to be cleaned, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the next area.

[0053] In this way, the cleaning robot can avoid wasting time and resources in unnecessary areas. This strategy ensures that the cleaning robot only cleans the required areas, thereby improving the overall cleaning efficiency. By replacing the second cleaning component suitable for the next cleaning area, the cleaning robot can handle different types of cleaning tasks more effectively. This flexibility ensures that each area can receive appropriate cleaning treatment and improves the cleaning effect. In addition, after determining that there are no other sub-areas that need to be cleaned, the cleaning robot directly returns to the cleaning base station to replace the second cleaning component, which can also reduce unnecessary movement and operation, thereby saving battery energy and extending the working time of the cleaning robot.

[0054] Optionally, the cleaning robot includes a body and an identification sensor, and the identification sensor is used to identify the presence of the second cleaning component in the receiving unit; determining that the cleaning component in the receiving unit is the second cleaning component includes:

[0055] Based on the recognition result of the recognition sensor, it is determined that there is a second cleaning component in the receiving unit; the recognition range of the recognition sensor covers the second cleaning component in the receiving unit.

[0056] In this way, by obtaining the appropriate viewing angle and distance based on the recognition sensor to identify the cleaning components, the accuracy of recognition can be improved. Accurate recognition helps to avoid misoperation caused by recognition errors, such as installing inappropriate cleaning components, thereby reducing the possibility of interruption and rework of cleaning tasks. In addition, by integrating the recognition sensor on the cleaning robot instead of the cleaning base station, the hardware complexity and cost of the cleaning base station are reduced, while the flexibility of the cleaning system is improved.

[0057] Optionally, the method further includes:

[0058] When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, the cleaning robot is controlled to adjust the posture so that the recognition sensor faces a direction in which the second cleaning component of the cleaning base station can be detected.

[0059] In this way, by adjusting the posture to optimize the viewing angle of the recognition sensor, the recognition accuracy can be improved and the possibility of misidentification or missed identification can be reduced. Accurate cleaning component identification can also reduce task interruptions or delays caused by recognition errors, thereby improving overall cleaning efficiency. Moreover, posture adjustment enables the cleaning robot to adapt to different environments and cleaning base station layouts, demonstrating a high degree of flexibility and adaptability.

[0060] Optionally, controlling the cleaning robot to drive into the cleaning base station includes:

[0061] When it is determined that there is a second cleaning component in the receiving unit, the cleaning robot is controlled to adjust its posture again so that the cleaning robot faces a direction that can be docked with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

[0062] In this way, by adjusting the posture again, it can ensure that the cleaning robot can dock with the cleaning base station smoothly, reducing the error and failure risk during the docking process. This posture adjustment and automatic docking process reduces the installation time of the cleaning group and improves the efficiency of replacement and installation of cleaning components. Therefore, the present application can demonstrate a higher level of intelligence by autonomously adjusting the posture and returning to the cleaning base station for docking, and can autonomously adapt to complex environments and perform tasks, thereby improving user experience. In addition, accurate docking can also reduce task interruptions or delays caused by docking failures, thereby improving overall operational efficiency.

[0063] Optionally, the cleaning base station further includes a storage unit and a drying device, the storage unit is used to store the first cleaning component and the second cleaning component, the drying device includes an air outlet, the air outlet is directed toward the storage unit, and is used to provide hot air to the storage unit; the method further includes:

[0064] After the cleaning robot drives out of the cleaning base station, the transport mechanism is controlled to pick up the first cleaning component from the receiving unit, and the transport mechanism is controlled to transport the picked-up first cleaning component to the storage unit; and the transport mechanism is controlled to take the second cleaning component from the storage unit and transport it to the receiving unit for installation by the cleaning robot;

[0065] After the first cleaning component is transported to the storage unit, the air outlet of the drying device is controlled to open to dry the first cleaning component.

[0066] Therefore, the present application can dry the disassembled first cleaning component during the replacement process of the second cleaning component, which can effectively utilize time, reduce the downtime of the cleaning robot, and improve the overall operating efficiency. Moreover, simultaneous replacement and drying can better utilize the resources and functions of the cleaning base station, avoid idle resources, and improve the use efficiency of the cleaning robot.

[0067] In addition, by replacing and drying the cleaning components midway, it can be ensured that the first cleaning component is ready for use again in the shortest time, thereby improving the task turnover speed of the cleaning robot.

[0068] Optionally, the method further includes:

[0069] After executing the disassembly action of the first cleaning component, when it is determined that the cleaning robot is still connected to the first cleaning component and / or when it is determined that the first cleaning component does not exist in the receiving unit, first abnormal information is generated and / or the disassembly action of the first cleaning component is repeated again.

[0070] Therefore, by automatically detecting and handling abnormal situations, the cleaning system can promptly identify and correct problems in the disassembly process, thereby improving the operational reliability of the cleaning robot and reducing subsequent problems caused by improper disassembly of cleaning components. Users can promptly understand the status of the cleaning system through the first abnormality information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0071] In addition, the cleaning system can automatically identify and handle abnormal situations during the disassembly process, which improves the reliability and availability of the cleaning system and reflects a higher level of intelligence.

[0072] Optionally, the cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes:

[0073] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component in the receiving unit is not the second cleaning component, second abnormal information is generated and / or the transport mechanism is controlled again to transport the second cleaning component from the storage unit to the receiving unit.

[0074] In this way, by detecting and handling abnormal situations during transportation, the cleaning system can identify and correct problems in a timely manner, improve the operational reliability of the cleaning base station, and reduce subsequent problems caused by improper transportation of cleaning components. Users can promptly understand the status of the cleaning system through the second abnormality information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0075] In addition, the cleaning system can automatically identify and handle abnormal situations during transportation, reflecting a higher level of intelligence and improving the adaptability of the cleaning base station in complex environments.

[0076] Optionally, the cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes:

[0077] Before determining that the receiving unit has the second cleaning component, controlling the transport mechanism to take the second cleaning component from the storage unit, and controlling the transport mechanism to transport the taken second cleaning component to the receiving unit;

[0078] After determining that the second cleaning component is located at the receiving unit, the transport mechanism is controlled to leave the position corresponding to the receiving unit.

[0079] In this way, by automatically detecting the status of components in the receiving unit and promptly picking up the cleaning components to be installed, it can be ensured that the cleaning robot can quickly return to working status and reduce downtime. Moreover, through the above-mentioned automated in-situ detection and cleaning component replacement process, the cleaning robot can perform cleaning tasks faster, thereby improving the utilization rate and task turnover rate of the cleaning robot.

[0080] In a second aspect, the present application provides a control device for a cleaning robot, which is applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, and a first cleaning component and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive the cleaning component removed from the cleaning robot, and is used to receive the cleaning component to be installed by the cleaning robot. The device includes:

[0081] A first control module is used to control the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area after the cleaning robot completes cleaning all sub-areas in the first area based on the currently installed first cleaning component; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component;

[0082] A second control module is used to control the cleaning robot to drive out of the cleaning base station after the cleaning robot returns to the cleaning base station to perform the disassembly action of the first cleaning component;

[0083] The third control module is used to control the cleaning robot to enter the cleaning base station to install the second cleaning component in the receiving unit after the cleaning robot is located outside the cleaning base station if it is determined that the cleaning component in the receiving unit is the second cleaning component.

[0084] In a third aspect, the present application provides a cleaning system, the cleaning system comprising a cleaning robot and a cleaning base station, the cleaning base station comprising a receiving unit, a transport mechanism, and a first cleaning component and a second cleaning component, the first cleaning component and the second cleaning component corresponding to different cleaning areas; the receiving unit is used to receive the cleaning component disassembled by the cleaning robot, and is used to receive the cleaning component to be installed by the cleaning robot;

[0085] The cleaning system is used to perform the method according to any one of the first aspects.

[0086] It should be noted that the second to third aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar, which will not be repeated here.

[0087] In summary, the present application provides a control method, device and cleaning system for a cleaning robot, which divides a cleaning area into multiple sub-areas, each of which can be matched with a specific cleaning component according to its material or degree of dirtiness. In this way, after the cleaning robot completes the cleaning task of all sub-areas in the first area using the currently installed first cleaning component, the cleaning robot returns to the cleaning base station and performs the disassembly operation of the first cleaning component. After performing the disassembly operation of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station. When the cleaning robot is outside the cleaning base station, the cleaning system can check whether there is a second cleaning component in the receiving unit, which is the cleaning component required for cleaning the next second area. If the second cleaning component exists in the receiving unit, the cleaning robot re-enters the cleaning base station. The second cleaning component is installed, and after the installation is completed, the cleaning robot uses the second cleaning component to perform the cleaning task of the second area. Since the cleaning robot frequently returns to the cleaning base station to replace the cleaning component, it takes a lot of time. Therefore, the present application cleans all sub-areas that are cleaned using the first cleaning component in advance, and then controls the cleaning robot to return to the cleaning base station to replace the second cleaning component. The second cleaning component and the first cleaning component correspond to different cleaning areas, so the cleaning sequence can be optimized and the time wasted due to frequent replacement of components can be reduced. In addition, the present application also performs a cleaning component inspection outside the cleaning base station, and only returns to the cleaning base station when it is confirmed that the cleaning component in the receiving unit is the second cleaning component, thereby reducing unnecessary returns and further improving replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0089] Figure 1 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0090] Figure 2 A partial structural schematic diagram of another cleaning system provided in an embodiment of the present application;

[0091] Figure 3 A partial structural schematic diagram of another cleaning system provided in an embodiment of the present application;

[0092] Figure 4 A partial structural diagram of another cleaning base station provided in an embodiment of the present application;

[0093] Figure 5 A schematic diagram of a partial structure of a cleaning base station provided in an embodiment of the present application;

[0094] Figure 6 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0095] Figure 7 A schematic diagram of a control method for a cleaning robot provided in an embodiment of the present application;

[0096] Figure 8 A schematic diagram of the structure of a control device of a cleaning robot provided in an embodiment of the present application;

[0097] Fig. 9 A schematic diagram of the structure of a controller provided in an embodiment of the present application.

[0098] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0099] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0100] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0101] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0102] In the related art, the cleaning robot uses the same cleaning components in different areas of the cleaning room and randomly generates a cleaning order according to the cleaning area. Due to the complex indoor environment, different cleaning areas have different cleaning requirements. How to flexibly configure the cleaning method and cleaning order according to the cleaning requirements of each area to match the user's refined cleaning needs is an urgent problem to be solved.

[0103] Exemplarily, the cleaning robot can determine the cleaning order of areas with different surface materials to be cleaned according to the material properties of the surface to be cleaned, and then clean multiple areas with different surface material properties according to the cleaning order, or determine the cleaning order of areas with different degrees of dirtiness according to the dirtiness property, and clean multiple areas with different degrees of dirtiness according to the cleaning order.

[0104] However, since areas with different surface materials to be cleaned or areas with different degrees of dirtiness require cleaning components of different properties, the cleaning sequence planned in the above manner may require frequent returns to the cleaning base station to replace the cleaning components, resulting in low cleaning efficiency.

[0105] In view of the above problems, the present application provides a control method for a cleaning robot, which divides the cleaning area into multiple sub-areas, each of which can be matched with a specific cleaning component according to its material or degree of dirtiness. In this way, after the cleaning robot uses the currently installed first cleaning component to complete the cleaning task of all sub-areas in the first area, the cleaning robot returns to the cleaning base station and performs the disassembly operation of the first cleaning component. After performing the disassembly operation of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station. When the cleaning robot is outside the cleaning base station, the cleaning system can check whether there is a second cleaning component in the receiving unit, and the second cleaning component is the cleaning component required for cleaning the next second area. If the second cleaning component exists in the receiving unit, the cleaning robot re-enters the cleaning base station to install the second cleaning component, and after the installation is completed, the cleaning robot uses the second cleaning component to clean the next second area. The component performs the cleaning task of the second area. Since the cleaning robot frequently returns to the cleaning base station to replace the cleaning component, it takes a lot of time. Therefore, the present application cleans all the sub-areas that are cleaned using the first cleaning component in advance, and then controls the cleaning robot to return to the cleaning base station to replace the second cleaning component. The second cleaning component and the first cleaning component correspond to different cleaning areas, so the cleaning sequence can be optimized and the time wasted due to frequent component replacement can be reduced. The present application also performs a cleaning component inspection outside the cleaning base station and returns to the cleaning base station only when it is confirmed that the cleaning component in the receiving unit is the second cleaning component, thereby reducing the number of unnecessary returns and further improving the replacement efficiency. In summary, through reasonable cleaning component replacement and cleaning sequence planning, the cleaning robot can complete the cleaning task more efficiently and save time and resources.

[0106] Optionally, the control method of the cleaning robot provided in the present application is applied to a cleaning system, exemplarily, Figure 1 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning robot 100 and a cleaning base station 200; the cleaning base station 200 includes a receiving unit 201, a transport mechanism 202 and a first cleaning component 203 and a second cleaning component 204, and the first cleaning component 203 and the second cleaning component 204 correspond to different cleaning areas; the receiving unit 201 is used to receive the cleaning components disassembled by the cleaning robot 100, and to receive the cleaning components to be installed by the cleaning robot 100.

[0107] Optionally, the cleaning component includes at least a mop component of the cleaning robot 100; wherein the cleaning robot 100 includes a sweeping robot, a mopping robot, a floor washing robot, a sweeping and mopping robot, or any other automatic cleaning device with a cleaning function, and the mop component can be a rag plate component such as a round rag, a triangular rag, or a flat mop rag. The embodiment of the present application does not limit the specific types of the cleaning robot 100 and the mop component.

[0108] For example, the first cleaning component 203 and the second cleaning component 204 can be mop components, which are used to clean the surface to be cleaned corresponding to the cleaning area to be cleaned, or the first cleaning component 203 and the second cleaning component 204 can also include replacements for the mop components and other cleaning parts, for example, replacing the brush type of the mop component. The embodiment of the present application does not specifically limit the types of the first cleaning component 203 and the second cleaning component 204, which can be determined based on different cleaning requirements and types of surfaces to be cleaned.

[0109] Optionally, the receiving unit 201 may include a disassembly position and an installation position, the disassembly position is used for the cleaning robot 100 to disassemble the cleaning component and to receive the cleaning component disassembled by the cleaning robot 100, and the installation position is used for the cleaning robot 100 to install the cleaning component and to receive the cleaning component to be installed by the cleaning robot 100. The receiving position and the installation position may be the same position on the cleaning base station 200, or a partially overlapping position, so as to save the space of the cleaning base station 200, or the receiving position and the installation position may be at different positions on the cleaning base station 200, so as to make the position distribution more flexible. Alternatively, the receiving unit 201 may be a cleaning tank position, and the cleaning robot 100 may clean the cleaning component at the cleaning tank position after returning to the cleaning base station 200, that is, a position for disassembly and installation of the cleaning component is set in the cleaning base station 200, which is used to receive the cleaning component disassembled by the cleaning robot 100 and to receive the cleaning component to be installed by the cleaning robot 100.

[0110] For example, Figure 2 A partial structural diagram of another cleaning system provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning system 300 has Figure 1 In addition to the structure shown, the cleaning robot 100 includes a body 101 and an identification sensor 102 , and the identification sensor 102 is used to identify the existence of the second cleaning component 203 in the receiving unit 201 .

[0111] Optionally, the identification sensor 102 may be installed on the front side of the fuselage 101 , or on the top or side wall of the fuselage 101 . The embodiment of the present application does not limit the specific installation position of the identification sensor 102 .

[0112] Optional, Figure 3A partial structural diagram of another cleaning system provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the cleaning system 300 has Figure 1 In addition to the structure shown, the cleaning base station 200 further includes a storage unit 205 , and the storage unit 205 is used to store the first cleaning component 203 and the second cleaning component 204 .

[0113] For example, Figure 4 A partial structural diagram of another cleaning system provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the cleaning system 300 has Figure 3 In addition to the structure shown, the cleaning base station 200 further includes a drying device 206 . The drying device 206 includes an air outlet 21 . The air outlet 21 faces the storage unit 205 and is used to provide hot air to the storage unit 205 .

[0114] For example, Figure 5 A partial structural diagram of a cleaning base station provided in an embodiment of the present application, such as Figure 5 As shown, the cleaning base station 200 includes a receiving unit 201, a transport mechanism 202, a storage unit 205 and a second cleaning component 204, that is, the storage unit 205 stores the second cleaning component 204 to be replaced, and the cleaning base station 200 also includes a drying device 206 (not shown in the figure), and the drying device 206 includes an air outlet 21, and the air outlet 21 blows hot air toward the storage unit 205 to dry the cleaning components stored in the storage unit 205. It should be noted that the embodiment of the present application does not specifically limit the number and type of cleaning components stored in the storage unit 205. For example, before the first cleaning component 203 is installed on the cleaning robot 100, the first cleaning component 203 is also stored in the storage unit 205.

[0115] Optionally, the transport mechanism 202 includes a transport vehicle and a transport track. The transport track is bent to form a lifting section and a translation section. The transport vehicle can move to the side of the storage unit 205 along the lifting section and can move to the top of the receiving unit 201 along the translation section. The transport vehicle is used to transport the cleaning components.

[0116] The embodiment of the present application does not specifically limit the specific structure of the transportation mechanism 202, which can transport the disassembled cleaning components from the receiving unit 201 to the storage unit 205, and transport the cleaning components to be installed from the storage unit 205 to the receiving unit 201.

[0117] For example, Figure 6 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 6As shown, this application scenario can be applied to home scenarios. Taking the cleaning robot 100 as a sweeping robot as an example, in a home environment, different rooms may have different surface materials to be cleaned. For example, bedroom 1 is a wooden floor, bedroom 2 is a wooden floor, the living room is a tiled floor, and the balcony is a tiled floor. Each material may require different cleaning components to achieve an ideal cleaning effect.

[0118] If the first cleaning component 203 currently installed on the sweeping robot is a cleaning component for cleaning wooden floors, and the cleaning base station 200 stores a second cleaning component 204 for cleaning tile floors, then the sweeping robot can control the sweeping robot to return to the cleaning base station 200 to replace the second cleaning component 204 required for cleaning tile floors after completing the cleaning of bedroom 1 and bedroom 2 based on the currently installed first cleaning component 203.

[0119] Specifically, after the cleaning robot returns to the cleaning base station 200 to perform the disassembly operation on the first cleaning component 203, the cleaning robot is controlled to drive out of the cleaning base station 200, such as Figure 6 As shown, after the sweeping robot is located outside the cleaning base station 200, it checks whether there is a second cleaning component 204 in the receiving unit 201. If it is determined that the cleaning component in the receiving unit 201 is the second cleaning component 204, the sweeping robot is controlled to drive into the cleaning base station 200 to install the second cleaning component 204 in the receiving unit 201.

[0120] In this way, after cleaning bedroom 1 and bedroom 2 using the first cleaning component 203, the sweeping robot is controlled to return to the cleaning base station 200 to replace the second cleaning component for cleaning the living room and the balcony. By optimizing the above cleaning sequence, the time wasted by the sweeping robot due to frequent replacement of components is reduced. In addition, the present application also performs a check on the second cleaning component 204 outside the cleaning base station 200, and only returns to the cleaning base station 200 to replace the component when it is confirmed that the cleaning component in the receiving unit 201 is the second cleaning component 204. This reduces the number of unnecessary returns and further improves the replacement efficiency, thereby improving the overall cleaning efficiency.

[0121] Optionally, if it is determined that the cleaning component present in the receiving unit 201 is not the second cleaning component 204, a prompt message can be generated to remind the user that an abnormality has occurred, and the user can manually replace the cleaning component. The embodiment of the present application does not specifically limit the operation processing after the abnormality occurs. If it is determined that the cleaning component present in the receiving unit 201 is not the second cleaning component 204, the cleaning base station 200 can also be controlled to replace the cleaning component to replace it with the required second cleaning component 204.

[0122] It should be noted that the second cleaning component 204 may refer to any type of cleaning component different from the first cleaning component 203, and the cleaning base station 200 may include at least one type of second cleaning component 204. The embodiment of the present application does not specifically limit the number and type of second cleaning components included in the cleaning base station 200.

[0123] It is understandable that the cleaning robot 100 can also be applied to shopping malls, schools, and offices. The embodiments of the present application do not limit the specific application scenarios, and the above are merely examples.

[0124] 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.

[0125] Figure 7 A flow chart of a control method for a cleaning robot provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the control method of the cleaning robot is applied to a cleaning system; the control method of the cleaning robot comprises the following steps:

[0126] S701. After the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component.

[0127] Among them, at least one sub-area included in the first area has a mapping relationship with the first cleaning component, and the mapping relationship can be matched according to the material or dirtiness of the surface to be cleaned, that is, each sub-area needs to be cleaned using the first cleaning component.

[0128] It should be noted that the second area may also include at least one sub-area that needs to be cleaned using the second cleaning component. The embodiment of the present application does not specifically limit the number of sub-areas included in the second area that need to be cleaned using the second cleaning component.

[0129] The sub-areas cleaned by the first cleaning component and the second cleaning component are different, and the sub-areas can be distinguished based on at least one of the material of the surface to be cleaned, the degree of dirtiness, the geographical location coordinates, the regional function type, etc.

[0130] Exemplarily, the cleaning robot uses the currently installed first cleaning component to complete the cleaning task of all sub-areas within the first area, and all sub-areas within the first area are sub-areas that need to be cleaned using the first cleaning component. After completing the cleaning of the first area, the cleaning robot is controlled to return to the cleaning base station to disassemble the first cleaning component and replace it with the second cleaning component for performing cleaning of the second area.

[0131] Optionally, before the cleaning robot is installed with the first cleaning component or any cleaning component, the cleaning robot can be controlled to drive into the cleaning base station to replace or install the first cleaning component required for cleaning the first area.

[0132] S702: After the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station.

[0133] In this step, after completing the cleaning task of the first area, the cleaning robot returns to the cleaning base station to prepare for the replacement of the cleaning component, that is, at the cleaning base station, the cleaning robot performs the disassembly action of the first cleaning component. This step is to remove the first cleaning component that is no longer needed and prepare for the installation of the new second cleaning component. Furthermore, after completing the disassembly action of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station to ensure that the cleaning robot can perform the next step of component inspection or other operations outside the cleaning base station.

[0134] S703: After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component in the receiving unit is the second cleaning component, the cleaning robot is controlled to drive into the cleaning base station to install the second cleaning component in the receiving unit.

[0135] In this step, after the cleaning robot completes the disassembly of the first cleaning component and drives out of the cleaning base station, it stays outside the cleaning base station to confirm the cleaning component to ensure the accuracy of the installation of the second cleaning component, that is, it checks outside the cleaning base station whether there is a second cleaning component in the receiving unit. If it is confirmed that there is a second cleaning component in the receiving unit, the cleaning robot is controlled to re-enter the cleaning base station to install the second cleaning component. After the installation is completed, the cleaning robot can be ready to perform the cleaning task of the second area.

[0136] It should be noted that the embodiment of the present application does not specifically limit the method for checking whether there is a second cleaning component in the receiving unit. It can be detected based on sensors inside the cleaning base station, such as installing visual sensors inside the cleaning base station to identify the cleaning components. It can also be detected based on sensors on the cleaning robot body, such as detection based on an artificial intelligence (AI) camera.

[0137] Optionally, when the cleaning robot needs to replace or install the second cleaning component, it controls its body to move into the cleaning base station. When the cleaning robot is located at the cleaning base station, it drives its lifting structure to descend to the second preset position. After the lifting structure reaches the second preset position, the second cleaning component is installed on the cleaning robot. After the installation is completed, the cleaning robot drives to the second area and starts to perform the cleaning task.

[0138] Among them, the cleaning robot drives the lifting structure to move down to the second preset position, so that the cleaning component can be accurately connected to the body of the cleaning robot, ensuring the stability and correctness of the installation. The installation process may include mechanical locking or other fixing methods to ensure that the cleaning component will not loosen during subsequent cleaning processes. The embodiment of the present application does not limit the specific installation process, and it can refer to the existing installation method or redefine a new installation method.

[0139] Since the cleaning requirements of each cleaning area are different, using a suitable cleaning component to clean each sub-area can ensure an ideal cleaning effect. Moreover, the present application optimizes the cleaning sequence of the cleaning robot by controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component for executing the next cleaning area only after all sub-areas that need to be cleaned using the first cleaning component have been cleaned, so that the cleaning robot can complete the cleaning task more efficiently and reduce the frequency of unnecessary replacement of cleaning components and time waste. Furthermore, the present application also needs to inspect and confirm the second cleaning component outside the cleaning base station to ensure that the cleaning component in the receiving unit is the second cleaning component before returning to the cleaning base station to install the second cleaning component, thereby avoiding unnecessary entry and exit operations of the cleaning base station, reducing energy consumption and time waste, and optimizing the replacement process of cleaning components, thereby improving overall operating efficiency and cleaning efficiency.

[0140] In addition, through the intelligent cleaning component confirmation and replacement process, the cleaning system not only demonstrates a higher level of autonomy and intelligence, reducing dependence on human intervention, but also ensures that the correct cleaning components are used to perform cleaning tasks in each cleaning area, thereby improving the cleaning effect and meeting the cleaning needs of different areas.

[0141] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0142] Determining based on position information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0143] Determining based on material information of the surface to be cleaned in the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0144] Determining the degree of dirtiness of the to-be-cleaned surface of the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0145] The cleaning method is determined based on the function information of the cleaning areas corresponding to the first cleaning component and the second cleaning component.

[0146] In an embodiment of the present application, the cleaning area can be divided according to its geographic location information. For example, a specific floor or room may be designated as an area for using a certain type of cleaning component. This method relies on pre-set maps and location markers.

[0147] The cleaning area can also be divided according to the material information of the surface to be cleaned, such as the material type. For example, different materials such as wooden floors, tiles and carpets require different types of cleaning components. This method relies on identifying and classifying the materials of the cleaning area.

[0148] Cleaning areas can also be divided according to their degree of dirtiness. For example, high-dirt areas require more powerful cleaning components than low-dirt areas. This approach relies on sensors to detect the degree of dirtiness.

[0149] Cleaning areas can also be divided according to their functional information such as functional use. For example, kitchens, toilets, and bathrooms may require different types of cleaning components. This approach relies on the understanding and classification of area functions.

[0150] Optionally, the first cleaning component and the second cleaning component are cleaning components with different cleaning performances, and / or, the first cleaning component and the second cleaning component are cleaning components with different performance parameters, so that different cleaning experiences can be provided for different cleaning areas by designing different cleaning parameters and cleaning performances.

[0151] It is understandable that the cleaning parameters of the same type of cleaning components can be the same, and the cleaning components used in different cleaning areas can be the same type of cleaning components. The cleaning parameters of different types of cleaning components can be different, so as to provide different cleaning performances.

[0152] Optionally, the first cleaning component and the second cleaning component represent different types through different identifications, and the identifications include at least one of color identification and pattern identification.

[0153] Exemplarily, different labels correspond to different types of cleaning components, or different labels correspond to cleaning components with different cleaning parameters or cleaning performances, such as the type of cleaning component corresponding to black is the type of rag component for cleaning tiles, the type of cleaning component corresponding to white is the type of rag component for cleaning wooden floors, and the type of cleaning component corresponding to gray is the type of rag component for cleaning carpets.

[0154] Among them, since the cleaning system can recognize multiple types of logos, different identification schemes and component types can be designed according to user needs or scenario requirements to improve application flexibility.

[0155] Optionally, when the cleaning performances of the first cleaning component and the second cleaning component are different, the first cleaning component and the second cleaning component differ at least in part in cleaning power, water locking power, and heat preservation capacity. For example, the first cleaning component is a high water locking mop type, and the second cleaning component is a high cleaning mop type, and the two are respectively used to clean different types of cleaning areas.

[0156] In some embodiments, the kitchen area corresponds to a high-cleaning mop type with strong scraping, the bathroom area corresponds to a high-water-locking mop type, and the balcony area corresponds to a phase-change mop type. The high-cleaning mop type can be used for deep cleaning in combination with the use of cleaning liquid. It has high friction and is especially suitable for friction-resistant surfaces of tiles. The high-water-locking mop type can absorb liquid on the surface of the surface to be cleaned. The phase-change mop type can perform heat-insulating cleaning. The embodiments of the present application do not specifically limit the types of cleaning components corresponding to different area types. The above is merely an example.

[0157] It should be noted that there is a mapping relationship between the type of cleaning component and the different cleaning areas. The mapping relationship may be configured in advance by the user or may be intelligently generated by the cleaning system. The embodiments of the present application do not specifically limit this.

[0158] Therefore, by determining the cleaning area in a variety of ways, it can flexibly adapt to the needs of different application scenarios, so that the cleaning robot can adapt to a variety of different environments and cleaning needs, whether it is home, commercial or industrial venues, it can provide efficient cleaning services. Moreover, by accurately matching cleaning components and regional characteristics, the cleaning robot can complete cleaning tasks more efficiently, reduce unnecessary repetition and waste of resources, and ensure ideal cleaning effects, avoiding damage to the material of the cleaning surface or incomplete cleaning.

[0159] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area includes:

[0160] Determining, based on a preset cleaning sequence, a first area that the cleaning robot needs to clean based on a currently installed first cleaning component;

[0161] Controlling the cleaning robot to clean all sub-areas in the first area based on the first cleaning component, and after the cleaning is completed, determining a second area that the cleaning robot needs to clean based on a preset cleaning sequence;

[0162] The cleaning robot is controlled to return to the cleaning base station to replace a second cleaning component required for cleaning the second area.

[0163] Among them, the preset cleaning sequence may refer to a cleaning sequence set based on pre-planned cleaning tasks and pre-divided areas. The embodiment of the present application does not specifically limit the method for determining the preset cleaning sequence.

[0164] Exemplarily, the cleaning system determines, based on a preset cleaning sequence, a first area that needs to be cleaned by a first cleaning component currently installed on the cleaning robot. Further, the cleaning robot is controlled to use the first cleaning component to clean all sub-areas within the first area according to a preset path and strategy. After completing the cleaning of the first area, the cleaning system determines, based on the preset cleaning sequence, a second area that the cleaning robot needs to clean. This step ensures the continuity and efficiency of the cleaning task. Further, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area. After the replacement is completed, the cleaning robot is ready to perform the cleaning task of the second area.

[0165] In this way, by pre-setting the cleaning sequence, the cleaning robot can perform cleaning tasks in an orderly manner, reduce unnecessary repetition and time waste, and improve overall cleaning efficiency. The preset cleaning sequence and cleaning component replacement process can ensure the rational use of resources, reduce energy consumption and the time for frequent replacement of cleaning components. In addition, the automated cleaning sequence and cleaning component replacement process reduce dependence on manual operations, reduce labor costs and operational complexity, and the orderly and efficient cleaning process can also improve user satisfaction and provide a better user experience.

[0166] Optionally, the preset cleaning sequence is determined by any of the following methods:

[0167] After the cleaning robot finishes mapping, it generates a preset cleaning sequence for each cleaning area based on the cleaning components required for each cleaning area identified;

[0168] In response to a user's voice control instruction, generating a preset cleaning sequence for each cleaning area, the voice control instruction being used to adjust the cleaning components and the cleaning sequence required for at least one cleaning area;

[0169] In response to the configuration operation of the user on the terminal device, a preset cleaning order for each cleaning area is generated; the configuration operation is used to configure the cleaning components and the cleaning order required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0170] Generate a preset cleaning sequence for each cleaning area based on historical information of the cleaning components used after the last cleaning task was completed;

[0171] All sub-areas in each cleaning area are grouped together and cleaned in a specific order. After one group is completed, the next group is cleaned.

[0172] In some embodiments, after the cleaning robot completes the environment mapping, the cleaning system can generate a preset cleaning order based on the identified cleaning areas and their required cleaning components. Optionally, the identified cleaning areas and their required cleaning components are determined based on the cleaning robot's map construction and environment recognition capabilities.

[0173] In other embodiments, the user may adjust the requirements and cleaning sequence of the cleaning components of the cleaning area through voice commands, and the cleaning system responds to the voice commands and generates a corresponding cleaning sequence.

[0174] In yet other embodiments, the user can adjust the cleaning component requirements and cleaning sequence of the cleaning area by performing configuration operations on a terminal device that establishes a communication connection with the cleaning robot, so that the cleaning system generates a cleaning sequence based on these configuration operations. Optionally, the terminal device can provide a flexible user interface and control options, which is not specifically limited in the embodiments of the present application.

[0175] Optionally, in the absence of user configuration operations, the application (Application, APP) of the terminal device can also recommend cleaning components and cleaning sequences required for cleaning each cleaning area, and the recommendation method can be determined based on the mapping information.

[0176] In some further embodiments, the cleaning system may also utilize historical information of the cleaning components used after the last cleaning task was completed to generate a new cleaning sequence. For example, the cleaning area adapted to the cleaning components used after the last cleaning task was completed will be given priority for cleaning the next time, thereby reducing the replacement time of the cleaning components.

[0177] Therefore, multiple methods for generating cleaning sequences provide a high degree of flexibility, enabling the cleaning system to adapt to different user needs and environmental changes. For example, through voice control and terminal device configuration, users can easily adjust the cleaning sequence, improving user experience and satisfaction. The cleaning sequence generation method based on map recognition and historical information can ensure the efficient execution of cleaning tasks and reduce unnecessary duplication and waste of resources. In this way, the cleaning system can intelligently generate cleaning sequences in a variety of ways, showing a higher level of intelligence and reducing dependence on human intervention. In addition, the sub-area grouping cleaning method corresponding to each cleaning area ensures the systematic and orderly nature of the cleaning task, thereby improving cleaning efficiency.

[0178] Optionally, the cleaning base station further includes a third cleaning component, the third cleaning component and the second cleaning component correspond to different cleaning areas, and the third cleaning component corresponds to a third area; the method further includes:

[0179] After determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station;

[0180] Based on the first time period and the second time period, a target cleaning component of the cleaning robot that needs to be replaced is determined, so as to clean the target area based on the target cleaning component.

[0181] Exemplarily, the cleaning system determines the second area that the cleaning robot needs to clean based on a preset cleaning order, and evaluates the time required for the cleaning robot to return from the current area to the cleaning base station to replace the second cleaning component and return to the second area, i.e., the first duration. At the same time, the cleaning system can also evaluate the time required for the cleaning robot to return to the cleaning base station to replace the third cleaning component and go to the third area, i.e., the second duration. The third area is the area closest to the first area and / or the cleaning base station. Furthermore, based on a comparison of the first duration and the second duration, the cleaning system determines the target cleaning component to be replaced, i.e., selects a strategy or path with a shorter time so that the cleaning robot can complete the cleaning task more efficiently. Then, the cleaning robot can go to the target area to perform the cleaning task according to the determined target cleaning component.

[0182] The target cleaning component may be the second cleaning component or the third cleaning component, and the cleaning areas corresponding to the third cleaning component and the second cleaning component are different.

[0183] In this way, by comparing the time of different paths, the cleaning system can select the shortest time path, thereby improving cleaning efficiency and reducing unnecessary waste of time. Moreover, the cleaning system can dynamically adjust the cleaning path and cleaning component selection according to real-time conditions, showing a high degree of flexibility and adaptability. Therefore, through intelligent time evaluation and cleaning component selection, the cleaning system can better utilize resources, reduce energy consumption and overall cleaning time, and improve the completion speed of cleaning tasks, thereby improving user satisfaction and providing a better user experience.

[0184] Optionally, after determining the first time period for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, the remaining power of the cleaning robot is obtained, and a judgment is made as to whether the remaining power can support the movement of the cleaning robot for the first time period and the performance of cleaning tasks in the second area; if it is determined that the remaining power is insufficient to support the movement of the cleaning robot for the first time period and the performance of cleaning tasks in the second area, the cleaning robot is controlled to return to the cleaning base station for charging.

[0185] In this way, by confirming that there is sufficient power before the cleaning task begins, the cleaning system can ensure that the cleaning robot has enough power to complete the scheduled task and reduce task interruptions caused by insufficient power. Therefore, by ensuring that the cleaning robot performs cleaning tasks when there is sufficient power, the reliability of the cleaning system and the stability of task execution are improved. Furthermore, by reducing cleaning task interruptions caused by insufficient power, users can enjoy more continuous and efficient cleaning services and improve their satisfaction.

[0186] Optionally, based on the first duration and the second duration, determining a target cleaning component of the cleaning robot that needs to be replaced includes:

[0187] When the first time duration is less than or equal to the second time duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component;

[0188] When the first time period is greater than the second time period, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, return to the cleaning base station to replace the second cleaning component.

[0189] Exemplarily, the cleaning system evaluates the first time duration required for the cleaning robot to return from the current area to the cleaning base station to replace the second cleaning component and return to the second area. At the same time, it also evaluates the second time duration required for the cleaning robot to return to the cleaning base station to replace the third cleaning component and go to the third area. If the first time duration is less than or equal to the second time duration, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component so as to clean the second area based on the second cleaning component. This means that the cleaning task of the second area can be completed faster, thereby optimizing the cleaning efficiency. If the first time duration is greater than the second time duration, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component so as to clean the third area based on the third cleaning component. This means that the cleaning task of the third area can be completed faster, and the cleaning system has selected a more efficient path. Furthermore, after the cleaning of the third area based on the third cleaning component is completed, the cleaning robot can be controlled to return to the cleaning base station to replace the second cleaning component, and then clean the second area based on the second cleaning component.

[0190] In this way, by selecting the shortest time path, the cleaning system can improve cleaning efficiency and reduce unnecessary time waste. Combined with replacing appropriate cleaning components to clean the corresponding cleaning areas, the overall cleaning time can be reduced and the speed of completing the cleaning task can be improved. Therefore, this method reflects the intelligence level of the cleaning system, enabling it to make complex decisions autonomously and reduce dependence on human intervention.

[0191] Optionally, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area includes:

[0192] Determine a first path for the cleaning robot to return from a current position to the cleaning base station, a second path for the cleaning robot to travel from the cleaning base station to a second area, and a travel speed of the cleaning robot;

[0193] Determining a third duration to return to the cleaning base station based on the length of the first path and the travel speed, and determining a fourth duration required to travel to the second area based on the length of the second path and the travel speed;

[0194] estimating a fifth time required for replacing the cleaning robot based on the time it took to replace the second cleaning component last time;

[0195] The first duration is determined based on the third duration, the fourth duration, the fifth duration and the sixth duration; the sixth duration is the average duration required for the cleaning robot to avoid living obstacles during the historical time period.

[0196] The driving speed may be a fixed value preset in advance or a value dynamically adjusted according to environmental conditions. The embodiment of the present application does not specifically limit the value of the driving speed.

[0197] In the step of determining the first duration, the average time required for the cleaning robot to avoid living obstacles such as people or pets during a historical period is also taken into account in order to more accurately reflect the time consumption in actual operation.

[0198] Optionally, determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area includes:

[0199] Determine a first path for the cleaning robot to return from its current position to the cleaning base station, a third path from the cleaning base station to the third area, and a driving speed of the cleaning robot; determine a third duration to return to the cleaning base station based on the length of the first path and the driving speed, and determine a seventh duration required to travel to the third area based on the length of the third path and the driving speed; estimate an eighth duration required to replace the cleaning robot based on the last replacement duration of the third cleaning component; determine a second duration based on the third, seventh, eighth and sixth durations; the sixth duration is the average duration required for the cleaning robot to avoid living obstacles during a historical time period.

[0200] In this way, by comprehensively considering multiple factors, such as path length, driving speed, replacement time, obstacle avoidance time, etc., the cleaning system can more accurately estimate the time required to replace different cleaning components and return to the corresponding cleaning area. This accurate time estimation helps to select appropriate cleaning component replacement strategies, reduce unnecessary waiting and delays, improve cleaning efficiency and task completion speed, and thus more efficiently manage its operating processes to ensure efficient and smooth completion of cleaning tasks.

[0201] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the method includes:

[0202] When traversing and cleaning all sub-areas within the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of a first obstacle area is detected, the cleaning robot cleans the target sub-area based on the first cleaning component after passing through the first obstacle area to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

[0203] Optionally, the height of the obstacle in the first obstacle area is less than a preset threshold so that the cleaning robot can cross the obstacle.

[0204] Exemplarily, when the cleaning robot uses the currently installed first cleaning component to traverse and clean all sub-areas in the first area, the sensor can be used to continuously detect obstacles on the path during the process of the cleaning robot moving from the current position to the target sub-area. If it is detected that there is a first obstacle area that the cleaning robot can cross, such as a small threshold or a carpet edge, the cleaning robot will attempt to cross the first obstacle area, and after passing the first obstacle area, continue to use the first cleaning component to clean the target sub-area. The above process can be repeated until all reachable sub-areas in the first area are cleaned.

[0205] Optionally, if it is found during the cleaning process that certain sub-areas cannot be reached due to insurmountable obstacles, the cleaning robot can return to the cleaning base station in advance, and after returning to the cleaning base station, replace the second cleaning component suitable for cleaning the next cleaning area or re-plan the path to bypass the obstacle to clean other sub-areas that need to be cleaned using the first cleaning component. The embodiment of the present application does not specifically limit the handling method of the cleaning robot after encountering an insurmountable obstacle. The above is merely an example.

[0206] In this way, through intelligent obstacle detection and processing, the cleaning robot can ensure comprehensive cleaning of the accessible area, minimize omissions, and ensure the completion rate of the cleaning task. Furthermore, by effectively handling the obstacle area, it reduces stagnation and detours caused by obstacles and improves the overall cleaning efficiency. Therefore, by autonomously detecting and processing obstacle areas, the cleaning system demonstrates a higher level of intelligence, enabling it to autonomously adapt to complex environments and perform tasks.

[0207] Optionally, after the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the method includes:

[0208] When traversing and cleaning all sub-areas in the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of the second obstacle area is detected, determining whether there are other sub-areas to be cleaned that need to be cleaned using the first cleaning component; the second obstacle area includes an area where an insurmountable obstacle is located and / or a restricted area formed based on the obstacle;

[0209] When it is determined that other sub-regions to be cleaned exist, the other sub-regions are cleaned based on the first cleaning component.

[0210] Optionally, the height of the obstacle in the second obstacle area is greater than or equal to a preset threshold, and thus the cleaning robot cannot cross the obstacle or pass through the second obstacle area.

[0211] Exemplarily, when the cleaning robot uses the currently installed first cleaning component to traverse and clean all sub-areas in the first area, while the cleaning robot is traveling from the current position to the target sub-area, the cleaning robot can use sensors to detect obstacles on the path. If a second obstacle area is detected, the second obstacle area includes insurmountable obstacles such as walls, furniture, and restricted areas formed based on obstacles, such as a bedroom area formed by a closed door. The cleaning system can evaluate whether there are other sub-areas that need to be cleaned using the first cleaning component. This step ensures that the cleaning task can continue even when encountering obstacles. Furthermore, if there are other sub-areas to be cleaned, the cleaning robot can adjust the path, go to other sub-areas to be cleaned and clean them based on the first cleaning component. This flexible adjustment ensures the continuity and efficiency of the cleaning task.

[0212] It is understandable that not all sub-areas within the first area are reachable for cleaning. The present application can more effectively utilize the power and cleaning components of the cleaning robot by giving priority to cleaning the sub-areas that are reachable within the first area, reduce frequent returns to the cleaning base station to replace cleaning components, and avoid unnecessary waste of resources.

[0213] In this way, through intelligent obstacle detection and area adjustment, the cleaning robot can continue to perform cleaning tasks, and even when encountering insurmountable obstacles, it can ensure that the task continues to be executed, demonstrating a higher level of intelligence, enabling it to autonomously adapt to complex environments and perform tasks. Moreover, by effectively handling obstacles and replanning cleaning paths, it can also reduce stagnation and detours caused by obstacles, thereby improving overall cleaning efficiency, thereby enabling the cleaning robot to adapt to a variety of environments and obstacle types, demonstrating a high degree of flexibility and adaptability.

[0214] Optionally, the method further includes:

[0215] When it is determined that there are no other sub-areas to be cleaned, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the next area.

[0216] In this step, the cleaning robot uses the currently installed first cleaning component to clean the first area. During the cleaning process, the cleaning robot detects obstacles on the path and attempts to clean all reachable sub-areas. However, if the cleaning robot encounters an insurmountable second obstacle area during the cleaning process, it will check whether there are other sub-areas to be cleaned using the first cleaning component. If there are no other sub-areas to be cleaned, it means that there are no sub-areas that need to be cleaned using the first cleaning component or the cleaning task of the first area can no longer be continued. Therefore, when it is determined that there are no other sub-areas to be cleaned, the cleaning robot can be controlled to return to the cleaning base station to replace the second cleaning component required to perform cleaning of the next area.

[0217] It is understandable that not all sub-areas in the first area can be reached for cleaning. When encountering an inaccessible sub-area and determining that there is no sub-area to be cleaned that still needs to be cleaned using the first cleaning component, it is possible to return to the cleaning base station in advance and replace the second cleaning component for cleaning the second area.

[0218] In this way, the cleaning robot can avoid wasting time and resources in unnecessary areas. This strategy ensures that the cleaning robot only cleans the required areas, thereby improving the overall cleaning efficiency. By replacing the second cleaning component suitable for the next cleaning area, the cleaning robot can handle different types of cleaning tasks more effectively. This flexibility ensures that each area can receive appropriate cleaning treatment and improves the cleaning effect. In addition, after determining that there are no other sub-areas that need to be cleaned, the cleaning robot directly returns to the cleaning base station to replace the second cleaning component, which can also reduce unnecessary movement and operation, thereby saving battery energy and extending the working time of the cleaning robot.

[0219] Optionally, determining that the cleaning component in the receiving unit is the second cleaning component includes:

[0220] Based on the recognition result of the recognition sensor, it is determined that there is a second cleaning component in the receiving unit; the recognition range of the recognition sensor covers the second cleaning component in the receiving unit.

[0221] Exemplarily, when the cleaning robot needs to install a new cleaning component, the body of the cleaning robot is positioned outside the cleaning base station to ensure that the identification sensor on the cleaning robot can effectively cover and scan the cleaning component in the receiving unit in the cleaning base station to determine whether the cleaning component in the receiving unit is the second cleaning component. If the identification result indicates that there is a second cleaning component, the cleaning system will confirm the existence of the second cleaning component and prepare to perform the corresponding installation operation.

[0222] It should be noted that by positioning the cleaning robot outside the cleaning base station, the purpose is to enable the recognition sensor to obtain a good viewing angle to completely cover the cleaning components in the receiving unit, which helps to improve the accuracy and efficiency of recognition.

[0223] Optionally, if the recognition range of the identification sensor of the cleaning robot located outside the cleaning base station is not sufficient to cover the cleaning component in the receiving unit, that is, it is unable to effectively identify whether the cleaning component in the receiving unit is the second cleaning component, the body can be controlled to rotate until the recognition range of the identification sensor covers the cleaning component in the receiving unit to identify whether the cleaning component in the receiving unit is the second cleaning component.

[0224] In this way, by obtaining the appropriate viewing angle and distance based on the recognition sensor to identify the cleaning components, the accuracy of recognition can be improved. Accurate recognition helps to avoid misoperation caused by recognition errors, such as installing inappropriate cleaning components, thereby reducing the possibility of interruption and rework of cleaning tasks. In addition, by integrating the recognition sensor on the cleaning robot instead of the cleaning base station, the hardware complexity and cost of the cleaning base station are reduced, while the flexibility of the cleaning system is improved.

[0225] Optionally, the method further includes:

[0226] When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, the cleaning robot is controlled to adjust the posture so that the recognition sensor faces a direction in which the second cleaning component of the cleaning base station can be detected.

[0227] Exemplarily, when the cleaning robot attempts to identify the second cleaning component in the cleaning base station, it can detect whether the current posture can be effectively detected by the recognition sensor. If it is determined that the current posture cannot identify the cleaning component of the cleaning base station, the cleaning robot will perform a posture adjustment, and after adjusting the posture, the recognition sensor will scan the cleaning base station again to confirm whether there is a second cleaning component in the receiving unit.

[0228] It should be noted that, in the above case, controlling the cleaning robot to adjust its posture may include rotating or moving the robot so that the identification sensor can face and cover the cleaning component in the cleaning base station. The embodiment of the present application does not specifically limit the posture adjustment process and the direction and angle of the posture adjustment. It can ensure that the identification sensor can obtain a suitable viewing angle and accurately identify and judge the type of the cleaning component.

[0229] Among them, posture adjustment helps to avoid recognition errors caused by poor viewing angle of the recognition sensor, thereby reducing the risk of misoperation.

[0230] Optionally, if the current posture of the cleaning robot can recognize that the cleaning component of the cleaning base station is the second cleaning component, there is no need to adjust the posture, thereby reducing unnecessary movements, improving work efficiency and reducing energy consumption.

[0231] In this way, by adjusting the posture to optimize the viewing angle of the recognition sensor, the recognition accuracy can be improved and the possibility of misidentification or missed identification can be reduced. Accurate cleaning component identification can also reduce task interruptions or delays caused by recognition errors, thereby improving overall cleaning efficiency. Moreover, posture adjustment enables the cleaning robot to adapt to different environments and cleaning base station layouts, demonstrating a high degree of flexibility and adaptability.

[0232] Optionally, controlling the cleaning robot to drive into the cleaning base station includes:

[0233] When it is determined that there is a second cleaning component in the receiving unit, the cleaning robot is controlled to adjust its posture again so that the cleaning robot faces a direction that can be docked with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

[0234] Illustratively, the cleaning system confirms the presence of the second cleaning component in the receiving unit through an identification sensor to ensure that the cleaning robot has identified the required cleaning component before entering the cleaning base station. After confirming the presence of the second cleaning component, the cleaning system again controls the cleaning robot to adjust its posture so that the cleaning robot faces a direction that can be docked with the cleaning base station. Furthermore, after the posture adjustment is completed, the cleaning system controls the cleaning robot to drive into the cleaning base station to achieve smooth docking.

[0235] It should be noted that, with the forward direction of the cleaning robot as the front, after the cleaning robot is located at the cleaning base station, it can move forward to exit the cleaning base station and move backward to enter the cleaning base station.

[0236] In this way, by adjusting the posture again, it can ensure that the cleaning robot can dock with the cleaning base station smoothly, reducing the error and failure risk during the docking process. This posture adjustment and automatic docking process reduces the installation time of the cleaning group and improves the efficiency of replacement and installation of cleaning components. Therefore, the present application can demonstrate a higher level of intelligence by autonomously adjusting the posture and returning to the cleaning base station for docking, and can autonomously adapt to complex environments and perform tasks, thereby improving user experience. In addition, accurate docking can also reduce task interruptions or delays caused by docking failures, thereby improving overall operational efficiency.

[0237] Optionally, the method further includes:

[0238] After the cleaning robot drives out of the cleaning base station, the transport mechanism is controlled to pick up the first cleaning component from the receiving unit, and the transport mechanism is controlled to transport the picked-up first cleaning component to the storage unit; and the transport mechanism is controlled to take the second cleaning component from the storage unit and transport it to the receiving unit for installation by the cleaning robot;

[0239] After the first cleaning component is transported to the storage unit, the air outlet of the drying device is controlled to open to dry the first cleaning component.

[0240] Exemplarily, after the cleaning robot drives out of the cleaning base station, the transportation mechanism of the cleaning base station picks up the disassembled first cleaning component from the receiving unit, and then the transportation mechanism transports the picked up first cleaning component to the storage unit of the cleaning base station for storage. At the same time, the transportation mechanism takes the second cleaning component from the storage unit and transports it to the receiving unit, ready for installation by the cleaning robot. Furthermore, after the first cleaning component is transported to the storage unit, the cleaning base station controls the air outlet of the drying device to open, with the air outlet facing the storage unit, to provide hot air to dry the first cleaning component. This process ensures that the cleaning component remains dry during storage to prevent the growth of mold and bacteria. The above drying process occurs during the replacement of the cleaning component.

[0241] Therefore, the present application can dry the disassembled first cleaning component during the replacement process of the second cleaning component, which can effectively utilize time, reduce the downtime of the cleaning robot, and improve the overall operating efficiency. Moreover, simultaneous replacement and drying can better utilize the resources and functions of the cleaning base station, avoid idle resources, and improve the use efficiency of the cleaning robot.

[0242] In addition, by replacing and drying the cleaning components midway, it can be ensured that the first cleaning component is ready for use again in the shortest time, thereby improving the task turnover speed of the cleaning robot.

[0243] Optionally, the method further includes:

[0244] After executing the disassembly action of the first cleaning component, when it is determined that the cleaning robot is still connected to the first cleaning component and / or when it is determined that the first cleaning component does not exist in the receiving unit, first abnormal information is generated and / or the disassembly action of the first cleaning component is repeated again.

[0245] Illustratively, after the cleaning robot completes the disassembly of the first cleaning component, the cleaning system will perform a test to confirm whether the disassembly is successful. It will usually check the following two situations: one is whether the cleaning robot is still connected to the first cleaning component. This test can be performed through sensor detection or mechanical feedback to confirm whether the cleaning component is still connected to the cleaning robot; the other is whether the first cleaning component exists in the receiving unit. This test uses the sensor of the cleaning base station to confirm whether the receiving unit has received the detached cleaning component.

[0246] If any of the above abnormal conditions is detected, the cleaning system can generate a first abnormality message, which may include an error code, an alarm notification, a short message notification, etc., to prompt the user or the cleaning system to intervene, or the cleaning system can choose to repeat the disassembly action of the first cleaning component again to try to correct the abnormal condition.

[0247] Optionally, the cleaning robot may perform the disassembly action of the first cleaning component through a robotic arm or other automated devices such as a lifting mechanism. The embodiment of the present application does not limit the specific process corresponding to the disassembly action.

[0248] Illustratively, after the cleaning robot returns to the cleaning base station, it activates its internal lifting structure to lift the lifting structure to a first preset position. At this time, the connection between the first cleaning component and the cleaning robot is released, and then due to gravity or the design of the cleaning base station, the first cleaning component naturally falls off to the receiving unit located below the cleaning base station. Furthermore, after the first cleaning component successfully falls off to the receiving unit, the cleaning robot is controlled to drive out of the cleaning base station.

[0249] It should be noted that the above disassembly process is only an example, and the embodiment of the present application does not limit the specific disassembly process, which can refer to the existing disassembly method or redefine a new disassembly method.

[0250] Therefore, by automatically detecting and handling abnormal situations, the cleaning system can promptly identify and correct problems in the disassembly process, thereby improving the operational reliability of the cleaning robot and reducing subsequent problems caused by improper disassembly of cleaning components. Users can promptly understand the status of the cleaning system through the first abnormality information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0251] In addition, the cleaning system can automatically identify and handle abnormal situations during the disassembly process, which improves the reliability and availability of the cleaning system and reflects a higher level of intelligence.

[0252] Optionally, the cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes:

[0253] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component in the receiving unit is not the second cleaning component, second abnormal information is generated and / or the transport mechanism is controlled again to transport the second cleaning component from the storage unit to the receiving unit.

[0254] Exemplarily, after the transport operation of the transport mechanism is completed, the cleaning system detects whether there is a second cleaning component in the receiving unit. If it is detected that the cleaning component in the receiving unit is not the second cleaning component, the cleaning system can generate a second abnormality information, or it can choose to control the transport mechanism again to transport the second cleaning component from the storage unit to the receiving unit in an attempt to correct the abnormal situation.

[0255] Among them, the definition of the second abnormal information is similar to that of the first abnormal information, which will not be repeated here. For details, please refer to the description of the first abnormal information. One is to remind the first cleaning group of disassembly abnormality, and the other is to remind the second cleaning component of transportation abnormality.

[0256] In this way, by detecting and handling abnormal situations during transportation, the cleaning system can identify and correct problems in a timely manner, improve the operational reliability of the cleaning base station, and reduce subsequent problems caused by improper transportation of cleaning components. Users can promptly understand the status of the cleaning system through the second abnormality information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0257] In addition, the cleaning system can automatically identify and handle abnormal situations during transportation, reflecting a higher level of intelligence and improving the adaptability of the cleaning base station in complex environments.

[0258] Optionally, the cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes:

[0259] Before determining that the receiving unit has the second cleaning component, controlling the transport mechanism to take the second cleaning component from the storage unit, and controlling the transport mechanism to transport the taken second cleaning component to the receiving unit;

[0260] After determining that the second cleaning component is located at the receiving unit, the transport mechanism is controlled to leave the position corresponding to the receiving unit.

[0261] In an embodiment of the present application, the cleaning system can perform an in-situ detection on whether there is a second cleaning component in the receiving unit. For example, if it is detected that there is no second cleaning component in the receiving unit, the cleaning system will instruct the transportation mechanism to take a new second cleaning component from the storage unit, and the transportation mechanism is responsible for transporting the taken second cleaning component to the receiving unit. Furthermore, the cleaning system determines whether the transportation mechanism has successfully placed the second cleaning component in the receiving unit. If it is confirmed that the position of the cleaning component is correct, the transportation mechanism leaves the position corresponding to the receiving unit to make room for subsequent installation operations.

[0262] In this way, by automatically detecting the status of components in the receiving unit and promptly picking up the cleaning components to be installed, it can be ensured that the cleaning robot can quickly return to working status and reduce downtime. Moreover, through the above-mentioned automated in-situ detection and cleaning component replacement process, the cleaning robot can perform cleaning tasks faster, thereby improving the utilization rate and task turnover rate of the cleaning robot.

[0263] In the above embodiments, the control method of the cleaning robot provided in the embodiments of the present application is introduced. In order to realize the functions in the method provided in the embodiments of the present application, the cleaning system as the execution subject may include a hardware structure and / or a software module, and realize the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0264] For example, Figure 8 A schematic diagram of the structure of a control device of a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the control device 800 of the cleaning robot is applied to a cleaning system, the cleaning system includes a cleaning robot and a cleaning base station, the cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, the first cleaning component and the second cleaning component corresponding to different cleaning areas; the receiving unit is used to receive the cleaning component removed by the cleaning robot, and is used to receive the cleaning component to be installed by the cleaning robot; the control device 800 of the cleaning robot includes:

[0265] The first control module 801 is used to control the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area after the cleaning robot completes cleaning all sub-areas in the first area based on the currently installed first cleaning component; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component;

[0266] The second control module 802 is used to control the cleaning robot to drive out of the cleaning base station after the cleaning robot returns to the cleaning base station to perform the disassembly action of the first cleaning component;

[0267] The third control module 803 is used to control the cleaning robot to enter the cleaning base station to install the second cleaning component in the receiving unit after the cleaning robot is located outside the cleaning base station if it is determined that the cleaning component in the receiving unit is the second cleaning component.

[0268] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0269] Determining based on position information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0270] Determining based on material information of the surface to be cleaned in the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0271] Determining the degree of dirtiness of the to-be-cleaned surface of the cleaning area corresponding to the first cleaning component and the second cleaning component;

[0272] The cleaning method is determined based on the function information of the cleaning areas corresponding to the first cleaning component and the second cleaning component.

[0273] Optionally, the first control module 801 is specifically configured to:

[0274] Determining, based on a preset cleaning sequence, a first area that the cleaning robot needs to clean based on a currently installed first cleaning component;

[0275] Controlling the cleaning robot to clean all sub-areas in the first area based on the first cleaning component, and after the cleaning is completed, determining a second area that the cleaning robot needs to clean based on a preset cleaning sequence;

[0276] The cleaning robot is controlled to return to the cleaning base station to replace a second cleaning component required for cleaning the second area.

[0277] Optionally, the preset cleaning sequence is determined by any of the following methods:

[0278] After the cleaning robot finishes mapping, it generates a preset cleaning sequence for each cleaning area based on the cleaning components required for each cleaning area identified;

[0279] In response to a user's voice control instruction, generating a preset cleaning sequence for each cleaning area, the voice control instruction being used to adjust the cleaning components and the cleaning sequence required for at least one cleaning area;

[0280] In response to the configuration operation of the user on the terminal device, a preset cleaning order for each cleaning area is generated; the configuration operation is used to configure the cleaning components and the cleaning order required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0281] Generate a preset cleaning sequence for each cleaning area based on historical information of the cleaning components used after the last cleaning task was completed;

[0282] All sub-areas in each cleaning area are grouped together and cleaned in a specific order. After one group is completed, the next group is cleaned.

[0283] Optionally, the cleaning base station further includes a third cleaning component, the third cleaning component corresponds to a different cleaning area from the second cleaning component, and the third cleaning component corresponds to a third area; the control device 800 of the cleaning robot further includes a fourth control module, and the fourth control module is used to:

[0284] After determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station;

[0285] Based on the first time period and the second time period, a target cleaning component of the cleaning robot that needs to be replaced is determined, so as to clean the target area based on the target cleaning component.

[0286] Optionally, the fourth control module includes a first determining unit, where the first determining unit is configured to:

[0287] When the first time duration is less than or equal to the second time duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component;

[0288] When the first time period is greater than the second time period, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, return to the cleaning base station to replace the second cleaning component.

[0289] Optionally, the fourth control module includes a second determining unit, where the second determining unit is configured to:

[0290] Determine a first path for the cleaning robot to return from a current position to the cleaning base station, a second path for the cleaning robot to travel from the cleaning base station to a second area, and a travel speed of the cleaning robot;

[0291] Determining a third duration to return to the cleaning base station based on the length of the first path and the travel speed, and determining a fourth duration required to travel to the second area based on the length of the second path and the travel speed;

[0292] estimating a fifth time required for replacing the cleaning robot based on the time it took to replace the second cleaning component last time;

[0293] The first duration is determined based on the third duration, the fourth duration, the fifth duration and the sixth duration; the sixth duration is the average duration required for the cleaning robot to avoid living obstacles during the historical time period.

[0294] Optionally, the control device 800 of the cleaning robot further includes a first cleaning module, wherein the first cleaning module is used to:

[0295] When traversing and cleaning all sub-areas within the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of a first obstacle area is detected, the cleaning robot cleans the target sub-area based on the first cleaning component after passing through the first obstacle area to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

[0296] Optionally, the control device 800 of the cleaning robot further includes a second cleaning module, wherein the second cleaning module is used to:

[0297] When traversing and cleaning all sub-areas in the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of the second obstacle area is detected, determining whether there are other sub-areas to be cleaned that need to be cleaned using the first cleaning component; the second obstacle area includes an area where an insurmountable obstacle is located and / or a restricted area formed based on the obstacle;

[0298] When it is determined that other sub-regions to be cleaned exist, the other sub-regions to be cleaned are cleaned based on the first cleaning component.

[0299] Optionally, the control device 800 of the cleaning robot further includes a fifth control module, and the fifth control module is used to:

[0300] When it is determined that there are no other sub-areas to be cleaned, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the next area.

[0301] Optionally, the cleaning robot includes a body and an identification sensor, the identification sensor is used to identify the presence of the second cleaning component in the receiving unit; the third control module 803 includes a third determination unit, the third determination unit is used to:

[0302] Based on the recognition result of the recognition sensor, it is determined that there is a second cleaning component in the receiving unit; the recognition range of the recognition sensor covers the second cleaning component in the receiving unit.

[0303] Optionally, the control device 800 of the cleaning robot further includes a sixth control module, the sixth control module being configured to:

[0304] When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, the cleaning robot is controlled to adjust the posture so that the recognition sensor faces a direction in which the second cleaning component of the cleaning base station can be detected.

[0305] Optionally, the third control module 803 includes a control unit, and the control unit is used to:

[0306] When it is determined that there is a second cleaning component in the receiving unit, the cleaning robot is controlled to adjust its posture again so that the cleaning robot faces a direction that can be docked with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

[0307] Optionally, the cleaning base station further includes a storage unit and a drying device, the storage unit is used to store the first cleaning component and the second cleaning component, the drying device includes an air outlet, the air outlet is facing the storage unit, and is used to provide hot air to the storage unit; the control device 800 of the cleaning robot also includes a seventh control module, the seventh control module is used to:

[0308] After the cleaning robot drives out of the cleaning base station, the transport mechanism is controlled to pick up the first cleaning component from the receiving unit, and the transport mechanism is controlled to transport the picked-up first cleaning component to the storage unit; and the transport mechanism is controlled to take the second cleaning component from the storage unit and transport it to the receiving unit for installation by the cleaning robot;

[0309] After the first cleaning component is transported to the storage unit, the air outlet of the drying device is controlled to open to dry the first cleaning component.

[0310] Optionally, the control device 800 of the cleaning robot further includes a first determination module, wherein the first determination module is configured to:

[0311] After executing the disassembly action of the first cleaning component, when it is determined that the cleaning robot is still connected to the first cleaning component and / or when it is determined that the first cleaning component does not exist in the receiving unit, first abnormal information is generated and / or the disassembly action of the first cleaning component is repeated again.

[0312] Optionally, the cleaning base station further includes a storage unit, which is used to store the first cleaning component and the second cleaning component; the control device 800 of the cleaning robot further includes a second determination module, which is used to:

[0313] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component in the receiving unit is not the second cleaning component, second abnormal information is generated and / or the transport mechanism is controlled again to transport the second cleaning component from the storage unit to the receiving unit.

[0314] Optionally, the cleaning base station further includes a storage unit, which is used to store the first cleaning component and the second cleaning component; the control device 800 of the cleaning robot further includes an eighth control module, which is used to:

[0315] Before determining that the receiving unit has the second cleaning component, controlling the transport mechanism to take the second cleaning component from the storage unit, and controlling the transport mechanism to transport the taken second cleaning component to the receiving unit;

[0316] After determining that the second cleaning component is located at the receiving unit, the transport mechanism is controlled to leave the position corresponding to the receiving unit.

[0317] It should be noted that the specific implementation principle and effects of the control device of the above-mentioned cleaning robot can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0318] Exemplarily, the present application also provides a controller, Fig. 9 A schematic diagram of the structure of a controller provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the controller 400 is deployed in a cleaning system 300, and the cleaning system 300 includes a cleaning robot 100 and a cleaning base station 200; the cleaning base station 200 includes a receiving unit 201, a transport mechanism 202, a first cleaning component, and a second cleaning component; the receiving unit 201 is used to receive the cleaning component removed from the cleaning robot 100, and is used to receive the cleaning component to be installed by the cleaning robot 100;

[0319] The controller 400 is used to execute the method in any one of the above embodiments.

[0320] The controller 400 may include a microcontroller unit (MCU). Of course, the controller 400 may also include other devices that can have control functions.

[0321] It should be noted that the specific implementation principle and effects of the above-mentioned controller 400 can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0322] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0323] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method described in any of the aforementioned embodiments as executed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0324] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments as performed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0325] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules 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 through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0326] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to implement the solution of this embodiment.

[0327] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0328] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0329] 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 application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0330] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0331] 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.

[0332] The above 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 storage medium can be any available medium that can be accessed by a general or special computer.

[0333] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the 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 storage medium can also be present in the cleaning equipment or the main control device as discrete components.

[0334] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0335] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0336] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0337] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0338] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning robot and a cleaning base station, the cleaning base station comprises a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, the first cleaning component and the second cleaning component corresponding to different cleaning areas; The receiving unit is used to receive the cleaning components removed from the cleaning robot, and is used to receive the cleaning components to be installed on the cleaning robot; the method comprises: After the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component; After the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, controlling the cleaning robot to drive out of the cleaning base station; After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component in the receiving unit is the second cleaning component, the cleaning robot is controlled to drive into the cleaning base station to install the second cleaning component in the receiving unit.

2. The method according to claim 1, characterized in that The cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods: Determining based on position information of cleaning areas corresponding to the first cleaning component and the second cleaning component; Determining based on material information of the to-be-cleaned surface of the cleaning area corresponding to the first cleaning component and the second cleaning component; Determining the dirtiness of the to-be-cleaned surface based on the cleaning area corresponding to the first cleaning component and the second cleaning component; The method is determined based on function information of cleaning areas corresponding to the first cleaning component and the second cleaning component.

3. The method according to claim 1, characterized in that After the cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area includes: Determining, based on a preset cleaning sequence, a first area that the cleaning robot needs to clean based on a currently installed first cleaning component; Controlling the cleaning robot to clean all sub-areas in the first area based on the first cleaning component, and after the cleaning is completed, determining a second area that the cleaning robot needs to clean based on the preset cleaning sequence; The cleaning robot is controlled to return to the cleaning base station to replace a second cleaning component required for cleaning the second area.

4. The method according to claim 3, characterized in that: The preset cleaning sequence is determined by any of the following methods: After the cleaning robot completes the mapping, generating a preset cleaning sequence for each cleaning area based on the cleaning components required for each cleaning area identified; In response to a user's voice control instruction, generating a preset cleaning sequence for each cleaning area, wherein the voice control instruction is used to adjust the cleaning components and the cleaning sequence required for at least one cleaning area; In response to a configuration operation of a user on a terminal device, a preset cleaning sequence for each cleaning area is generated; the configuration operation is used to configure a cleaning component and a cleaning sequence required for at least one cleaning area; The terminal device establishes a communication connection with the cleaning robot; Generate a preset cleaning sequence for each cleaning area based on historical information of the cleaning components used after the last cleaning task was completed; All sub-areas in each cleaning area are grouped together and cleaned in a specific order. After one group is completed, the next group is cleaned.

5. The method according to claim 3, characterized in that: The cleaning base station further includes a third cleaning component, the third cleaning component corresponds to a different cleaning area from the second cleaning component, and the third cleaning component corresponds to a third area; The method further comprises: After determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station; Based on the first time period and the second time period, a target cleaning component of the cleaning robot that needs to be replaced is determined, so as to clean a target area based on the target cleaning component.

6. The method according to claim 5, characterized in that The step of determining a target cleaning component of the cleaning robot that needs to be replaced based on the first duration and the second duration includes: When the first time duration is less than or equal to the second time duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component; When the first time period is greater than the second time period, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, return to the cleaning base station to replace the second cleaning component.

7. The method according to claim 5, characterized in that The determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area includes: Determine a first path for the cleaning robot to return from a current position to the cleaning base station, a second path for the cleaning robot to travel from the cleaning base station to the second area, and a travel speed of the cleaning robot; determining a third duration required to return to the cleaning base station based on the length of the first path and the driving speed, and determining a fourth duration required to travel to the second area based on the length of the second path and the driving speed; estimating a fifth time required for replacing the cleaning robot according to the time it took to replace the second cleaning component last time; The first duration is determined based on the third duration, the fourth duration, the fifth duration and the sixth duration; the sixth duration is the average duration required for the cleaning robot to avoid living obstacles during a historical time period.

8. The method according to claim 1, characterized in that The cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, including: When traversing and cleaning all sub-areas within the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of a first obstacle area is detected, the cleaning robot cleans the target sub-area based on the first cleaning component after passing through the first obstacle area to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

9. The method according to claim 1, characterized in that: The cleaning robot completes cleaning of all sub-areas in the first area based on the currently installed first cleaning component, including: When traversing and cleaning all sub-areas in the first area based on the first cleaning component, in the process of moving from the current position to the target sub-area, if the existence of a second obstacle area is detected, determining whether there are other sub-areas to be cleaned that need to be cleaned using the first cleaning component; the second obstacle area includes an area where an insurmountable obstacle is located and / or a restricted area formed based on the obstacle; In the case where it is determined that the other sub-regions to be cleaned exist, the other sub-regions to be cleaned are cleaned based on the first cleaning component.

10. The method according to claim 9, characterized in that The method further comprises: When it is determined that there is no other sub-area to be cleaned, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the next area.

11. The method according to claim 1, characterized in that: The cleaning robot comprises a body and an identification sensor, wherein the identification sensor is used to identify the presence of the second cleaning component in the receiving unit; The step of determining that the cleaning component present in the receiving unit is the second cleaning component comprises: Based on the recognition result of the recognition sensor, determining that the second cleaning component exists in the receiving unit; The recognition range of the recognition sensor covers the second cleaning component in the receiving unit.

12. The method according to claim 11, characterized in that The method further comprises: When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, the cleaning robot is controlled to adjust its posture so that the recognition sensor faces a direction in which the second cleaning component of the cleaning base station can be detected.

13. The method according to claim 12, characterized in that The controlling the cleaning robot to drive into the cleaning base station comprises: When it is determined that the second cleaning component exists in the receiving unit, the cleaning robot is controlled to adjust its posture again so that the cleaning robot faces a direction in which it can dock with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

14. The method according to claim 1, characterized in that The cleaning base station further includes a storage unit and a drying device, the storage unit is used to store the first cleaning component and the second cleaning component, the drying device includes an air outlet, the air outlet is facing the storage unit, and is used to provide hot air to the storage unit; The method further comprises: After the cleaning robot drives out of the cleaning base station, the transport mechanism is controlled to pick up the first cleaning component from the receiving unit, and the transport mechanism is controlled to transport the picked-up first cleaning component to the storage unit; and the transport mechanism is controlled to take the second cleaning component from the storage unit and transport it to the receiving unit for installation by the cleaning robot; After the first cleaning component is transported to the storage unit, the air outlet of the drying device is controlled to open to dry the first cleaning component.

15. The method according to claim 1, characterized in that The method further comprises: After executing the disassembly action of the first cleaning component, when it is determined that the cleaning robot is still connected to the first cleaning component and / or when it is determined that the first cleaning component does not exist in the receiving unit, a first abnormal information is generated and / or the disassembly action of the first cleaning component is repeated again.

16. The method according to claim 1, characterized in that The cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes: After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, when it is determined that the cleaning component in the receiving unit is not the second cleaning component, second abnormal information is generated and / or the transport mechanism is controlled again to transport the second cleaning component from the storage unit to the receiving unit.

17. The method according to claim 1, characterized in that The cleaning base station further includes a storage unit, and the storage unit is used to store the first cleaning component and the second cleaning component; the method further includes: Before determining that the receiving unit has the second cleaning component, controlling the transport mechanism to take the second cleaning component from the storage unit, and controlling the transport mechanism to transport the taken second cleaning component to the receiving unit; After determining that the second cleaning component is located at the receiving unit, the transport mechanism is controlled to leave the position corresponding to the receiving unit.

18. A control device for a cleaning robot, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning robot and a cleaning base station, the cleaning base station comprises a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, the first cleaning component and the second cleaning component corresponding to different cleaning areas; The receiving unit is used to receive the cleaning components removed from the cleaning robot, and is used to receive the cleaning components to be installed on the cleaning robot; the device includes: A first control module is used to control the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area after the cleaning robot completes cleaning all sub-areas in the first area based on the currently installed first cleaning component; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component; A second control module is used to control the cleaning robot to drive out of the cleaning base station after the cleaning robot returns to the cleaning base station to perform the disassembly action of the first cleaning component; The third control module is used to control the cleaning robot to enter the cleaning base station to install the second cleaning component in the receiving unit after the cleaning robot is located outside the cleaning base station if it is determined that the cleaning component in the receiving unit is the second cleaning component.

19. A cleaning system, characterized in that: The cleaning system comprises a cleaning robot and a cleaning base station, wherein the cleaning base station comprises a receiving unit, a transport mechanism, and a first cleaning component and a second cleaning component, wherein the first cleaning component and the second cleaning component correspond to different cleaning areas; the receiving unit is used to receive the cleaning component removed from the cleaning robot, and is used to receive the cleaning component to be installed by the cleaning robot; The cleaning system is used to perform the method according to any one of claims 1-17.

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