Cleaning robot control method and device and computer readable storage medium

Abstract

The invention provides a control method and device of a cleaning robot and a computer readable storage medium, and the control method comprises the steps: determining a current cleaning strategy according to at least one of current ground information in a to-be-cleaned area and a current cleaning mode; wherein the current cleaning strategy comprises a mode switching strategy, and the current ground information comprises current ground material information; according to the current cleaning strategy and the current cleaning mode, determining a target cleaning mode when a current ground area in the to-be-cleaned area is cleaned; and controlling a cleaning robot to clean the current ground area according to the target cleaning mode. Thus, through the technical scheme, the problems that in the prior art, the cleaning efficiency is low and the cleaning effect is poor can be effectively solved, and the cleaning experience can also be improved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a control method, device and computer-readable storage medium for a cleaning robot. Background Art

[0002] Currently, cleaning robots on the market usually provide multiple cleaning modes, such as sweeping, vacuuming and mopping. In order to improve the cleaning effect, cleaning may also be performed based on a combination of multiple cleaning components. However, most products rely on users to manually select fixed cleaning modes. Due to the diversity of cleaning environments, different floor materials (such as tiles, wooden floors, carpets, etc.) have different adaptabilities to cleaning methods, and a single fixed mode may lead to a decrease in cleaning efficiency or damage to the floor materials. For example, a robot may be provided with a sweeping component, a vacuuming component and a dust-pushing component. Sweeping, vacuuming and dust-pushing on hard floors can maximize the cleaning effect. However, there may be carpets or floor mats in the environment. Pushing dust in these areas may cause the displacement of non-user-intended items, resulting in a poor user experience. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide a control method, device and computer-readable storage medium for a cleaning robot, which can effectively solve the problems of low cleaning efficiency and poor cleaning effect in the prior art, and can also improve the cleaning experience.

[0004] An embodiment of the present application provides a control method for a cleaning robot. The control method includes:

[0005] Determine a current cleaning strategy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode; wherein, the current cleaning strategy includes a mode switching strategy, and the current ground information includes current ground material information;

[0006] Determine a target cleaning mode for cleaning the current ground area in the area to be cleaned according to the current cleaning strategy and the current cleaning mode;

[0007] Control the cleaning robot to clean the current ground area according to the target cleaning mode.

[0008] Optionally, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0009] Identify a first image of the current ground area collected by a front image acquisition device on the cleaning robot;

[0010] Determine a corresponding first processing strategy according to the identified dirt attribute information, the current ground information, and the relevant information corresponding to the target cleaning mode; wherein, the first processing strategy includes at least one of the following: switching the target cleaning mode, adjusting the gear corresponding to the target cleaning mode;

[0011] Control the cleaning robot according to the first processing strategy to clean the identified dirt.

[0012] Optionally, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0013] Identify whether there is dirt to be cleaned in the first image of the current ground area collected by the front image acquisition device on the cleaning robot;

[0014] If there is, after the dirt to be cleaned is cleaned, obtain the second image of the current ground area collected by the rear image acquisition device on the cleaning robot;

[0015] Determine the cleaning effect of the cleaning robot cleaning the dirt according to the first image and the second image.

[0016] Optionally, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0017] Identify whether all the second components to be confirmed in the current working components used when the cleaning robot cleans according to the target cleaning mode are successfully in place;

[0018] If any of the second components to be confirmed for cleaning fails to be in place, determine a corresponding second processing strategy according to the second component to be confirmed for cleaning that fails to be in place; wherein, the second processing strategy includes at least one of the following: abnormal situation prompt and reporting, pausing the cleaning task, reporting the current position, and returning for navigation.

[0019] Optionally, when the cleaning task starts, the current cleaning mode is the initial cleaning mode set for the cleaning task. After determining the initial cleaning mode corresponding to the cleaning task, the control method further includes:

[0020] Identify whether all the first components to be confirmed in the working components required when the cleaning robot cleans according to the initial cleaning mode are successfully in place;

[0021] If any of the first components to be confirmed fails to be in place, determine the corresponding third processing strategy according to the first component to be confirmed that fails to be in place; wherein, the third processing strategy includes at least one of the following: abnormal situation prompt and reporting, and non-start of the cleaning task;

[0022] When controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0023] Identify whether the water tank is included in the working components currently used when the cleaning robot performs ground cleaning according to the target cleaning mode;

[0024] If it is included, determine the current flow rate of the water tank according to the current motion parameters of the cleaning robot.

[0025] Optionally, the determining the current cleaning strategy according to at least one of the current ground information and the current cleaning mode in the area to be cleaned includes:

[0026] When the current ground material information includes carpet information, determine whether the cleaning components required for the current cleaning mode include a water suction squeegee;

[0027] When the water suction squeegee is included, the determined current cleaning strategy is to lift the water suction squeegee and switch the current cleaning mode to the floor sweeping mode.

[0028] Optionally, determine whether the current ground information includes carpet information through the following steps:

[0029] Identify the third image of the area to be cleaned collected by the stereo vision imaging device on the cleaning robot to determine whether there is a boundary in the ground area in the third image;

[0030] If there is a boundary, execute the fourth processing strategy and obtain the echo data generated when the ultrasonic sensor on the cleaning robot emits ultrasonic waves and encounters an obstacle; wherein, the fourth processing strategy includes at least one of the following; changing the operating parameters of the cleaning robot and starting the ultrasonic sensor;

[0031] Determine whether the current ground information includes carpet information according to the echo data.

[0032] Optionally, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0033] When the current ground area is a carpet area, identify the type of carpet in the carpet area;

[0034] Update the working gear of the adjustable cleaning component used in the target cleaning mode according to the type of the carpet.

[0035] Optionally, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0036] Real-time identify the ground material of the current ground area, and determine whether the ground material of the current ground area corresponds to a cleaning component that is prohibited from working;

[0037] If so, perform a lifting control on the cleaning component that is prohibited from working and / or control the cleaning component that is prohibited from working to pause.

[0038] An embodiment of the present application further provides a control device for a cleaning robot. The control device includes: a policy determination module, configured to determine a current cleaning policy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode; wherein, the current cleaning policy includes a mode switching policy, and the current ground information includes current ground material information; a mode determination module, configured to determine a target cleaning mode when cleaning the current ground area in the area to be cleaned according to the current cleaning policy and the current cleaning mode; a cleaning module, configured to control the cleaning robot to clean the current ground area according to the target cleaning mode.

[0039] An embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the control method as described above are executed.

[0040] An embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the control method as described above are executed.

[0041] A control method, device, and computer-readable storage medium for a cleaning robot provided by an embodiment of the present application. The control method includes: determining a current cleaning policy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode; wherein, the current cleaning policy includes a mode switching policy, and the current ground information includes current ground material information; determining a target cleaning mode when cleaning the current ground area in the area to be cleaned according to the current cleaning policy and the current cleaning mode; controlling the cleaning robot to clean the current ground area according to the target cleaning mode.

[0042] In the present application, at least one of the floor material cleaned by the cleaning robot and the current cleaning mode of the robot is recognized or determined in real time, so as to determine a cleaning strategy (the cleaning strategy includes a mode switching strategy) that conforms to the current cleaning situation. For example, when it is determined that the current floor material is a carpet or a soft material, the determined current cleaning strategy may be a mode switching strategy for switching the cleaning mode; then, the current cleaning strategy is adjusted according to the determined current cleaning strategy, so as to select a target cleaning mode suitable for the current floor area. Finally, the corresponding cleaning components in the cleaning robot are controlled to perform cleaning work according to the determined target cleaning mode, which can effectively solve the problems of low cleaning efficiency and poor cleaning effect in the prior art, thereby improving the cleaning experience.

[0043] In order to make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 A flowchart of a control method for a cleaning robot provided by an embodiment of the present application;

[0046] Figure 2 A schematic structural diagram of a chassis device of a cleaning robot provided by an embodiment of the present application;

[0047] Figure 3a A schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0048] Figure 3b A schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0049] Figure 4 A schematic structural diagram of a control device of a cleaning robot provided by an embodiment of the present application;

[0050] Figure 5 A schematic structural diagram of a control device of a cleaning robot provided by an embodiment of the present application;

[0051] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without creative efforts falls within the scope of protection of this application.

[0053] First, the applicable application scenarios of this application will be introduced. This application can be applied to the field of robots. Specifically, it is applied to cleaning robots. A cleaning robot is a device that uses automation technology and intelligent algorithms to perform cleaning tasks, aiming to replace or assist manual labor in cleaning areas such as the ground. They achieve autonomous operation through sensors, navigation systems, and preset programs, and are widely used in home, commercial, and industrial scenarios.

[0054] However, through research, it is found that most existing cleaning robots rely on users to manually select a fixed cleaning mode. Due to the diversity of cleaning environments, different floor materials (such as tiles, wooden floors, carpets, etc.) have different adaptabilities to cleaning methods, and a single fixed mode may lead to a decrease in cleaning efficiency or damage to the floor materials. For example, a robot may be equipped with a sweeping component, a dust suction component, and a dust pushing component. Sweeping, suction, and pushing on hard floors can maximize the cleaning effect. However, there may be carpets or floor mats in the environment. Pushing dust in these areas may cause the displacement of items that are not desired by the user, resulting in a poor user experience.

[0055] Based on this, the embodiments of this application provide a control method and device for a cleaning robot, which can effectively solve the problems of low cleaning efficiency and poor cleaning effect in the prior art, and can also improve the cleaning experience.

[0056] Please refer to Figure 1 , Figure 1 which is a flowchart of a control method for a cleaning robot provided by the embodiments of this application. As shown in Figure 1 , the control method provided by the embodiments of this application includes:

[0057] S101. Determine the current cleaning strategy according to at least one of the current ground information and the current cleaning mode in the area to be cleaned.

[0058] Among them, the current cleaning strategy includes a mode switching strategy, and the current ground information includes current ground material information.

[0059] S102. Determine the target cleaning mode for cleaning the current floor area in the area to be cleaned according to the current cleaning strategy and the current cleaning mode.

[0060] S103. Control the cleaning robot to clean the current floor area according to the target cleaning mode.

[0061] A control method for a cleaning robot provided by an embodiment of the present application. First, at least one of the current floor information and the current cleaning mode of the area to be cleaned is obtained, and according to the obtained relevant information (current floor information and / or current cleaning mode), the rule of the current cleaning strategy for cleaning the current floor area is determined according to a pre-determined strategy. Among them, the current floor information obtained includes the current floor material information, and the determined current cleaning strategy includes a mode switching strategy. Then, the current cleaning mode is correspondingly processed according to the determined current cleaning strategy to determine the target cleaning mode when the cleaning robot cleans the current floor area. Finally, the corresponding cleaning components in the cleaning robot are controlled to work according to the determined target cleaning mode to clean the current floor area.

[0062] In this way, the present application determines a cleaning strategy (the cleaning strategy includes a mode switching strategy) that conforms to the current cleaning situation by real-time identifying or determining at least one of the floor material cleaned by the cleaning robot and the current cleaning mode of the robot. For example, when it is determined that the current floor material is a carpet or a soft material, the determined current cleaning strategy can be a mode switching strategy for switching the cleaning mode. Then, the current cleaning strategy is adjusted according to the determined current cleaning strategy to select a target cleaning mode suitable for the current floor area. Finally, the corresponding cleaning components in the cleaning robot are controlled to perform cleaning work according to the determined target cleaning mode, which can effectively solve the problems of low cleaning efficiency and poor cleaning effect in the prior art, thereby improving the cleaning experience.

[0063] For a more intuitive understanding of the cleaning component information included in the cleaning robot, for example, please refer to Figure 2 , Figure 2 is a schematic structural diagram of a chassis device of a cleaning robot provided by an embodiment of the present application. Among them, the reference numerals in the figure: 1 chassis device; 15 floor washing brush assembly; 16 water suction squeegee assembly; 13 drive wheel group; 12 sweeping brush assembly; 11 first universal wheel group; 17 second universal wheel group; 10 side brush assembly, 18 ultrasonic sensor; 131 first drive wheel; 132 second drive wheel; please refer to Figure 3a , Figure 3b , Figure 3aOne of the schematic structural diagrams of a cleaning robot provided by an embodiment of the present application; Figure 3b Another schematic structural diagram of a cleaning robot provided by an embodiment of the present application; In the figure, each reference numeral: 21 front image acquisition device; 22 rear image acquisition device. The installation height difference between the front image acquisition device 21 and the rear image acquisition device 22 is less than 10 cm, which is convenient for better detecting the cleaning effect.

[0064] In this embodiment, the length direction of the chassis device 1 is defined as the X-axis direction, the width direction of the chassis device 1 is defined as the Y-axis direction, and the height direction of the chassis device 1 is defined as the Z-axis direction, where the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other in pairs.

[0065] The chassis device 1 provided by an embodiment of the present application can be the chassis of a cleaning device, and the cleaning device can be a floor washing robot or a multi-functional cleaning robot. Please refer to Figure 2 , the chassis device 1 includes a floor washing brush assembly 15, a water suction squeegee assembly 16, and a drive wheel set 103. Any brush assembly such as a floor washing brush, a dust pushing cloth brush, or a wet mopping cloth brush can be installed at the position of the floor washing brush assembly 15.

[0066] Along the traveling direction of the chassis device 1, that is, Figure 2 in the direction of the X-axis in, the drive wheel set 13 is arranged in front of the floor washing brush assembly 15, and the floor washing brush assembly 15 is arranged in front of the water suction squeegee assembly 16. While the floor washing brush assembly 15 rotates, the cleaning device can selectively spray water on the ground, so that the floor washing brush assembly 15 can realize scrubbing the ground. The water suction squeegee assembly 16 is located at the rear side of the traveling direction of the floor washing brush assembly 15 and is used to absorb the sewage on the ground.

[0067] In a specific example, a spraying assembly is arranged on the floor washing brush assembly 15, and the spraying assembly is connected to the water tank on the cleaning device. The water tank is used to provide clean water or cleaning liquid to the spraying assembly, and the spraying assembly further sprays clean water or cleaning liquid on the floor washing brush assembly 15 and the surface to be cleaned, so as to facilitate the floor washing brush assembly 15 to scrub the ground. Thereby improving the cleaning effect.

[0068] In a specific example, the water suction squeegee assembly 16 is connected to the sewage tank on the cleaning device, and the sewage tank is connected to the negative pressure generating assembly. When the negative pressure generating assembly works, it can make the sewage tank and the water suction cavity of the water suction squeegee assembly 16 generate negative pressure to absorb the sewage on the surface to be cleaned.

[0069] The drive wheel set 13 is used to realize the automatic walking of the entire cleaning device along the surface to be cleaned, and further realize the cleaning of the ground by the cleaning device. Specifically, the drive wheel set 13 can realize the forward straight walking, turning and other movements of the cleaning device. Please refer to Figure 2, which shows the central axis L1 of the driving wheel set 13. The central axis L1 of the driving wheel set 103 is the axis of the rotating shaft on the driving wheel set 13. The first universal wheel set 11 cooperates with the first driving wheel 131 and the second driving wheel 132 to form a triangular support, improving the walking stability of the chassis device 1; the second universal wheel set 17 cooperates with the first driving wheel 131 and the second driving wheel 132 to form a triangular support, improving the walking stability of the chassis device 1. The first universal wheel set 11 is arranged in front of the second universal wheel set 17.

[0070] In this embodiment, the cleaning width length of the floor washing brush assembly 15 is less than the water absorption width of the water absorption squeegee assembly 16. Here, the cleaning width is the length of the floor washing brush assembly 15 along the direction parallel to the central axis L1, and the water absorption width is the length of the water absorption squeegee assembly 16 along the direction parallel to the central axis L1. One end of the water absorption squeegee assembly 16 protrudes from the corresponding end of the floor washing brush assembly 15 on each side. See Figure 2 , which shows the lengths of one end of the water absorption squeegee assembly 16 and the corresponding end of the floor washing brush assembly 15 in the width direction of the chassis device 1. When the chassis device 1 walks straight forward on the ground, the water absorption area of the water absorption squeegee assembly 16 on the ground covers the area where the floor washing brush assembly 15 cleans the ground, so as to ensure that there is no water stain residue on the ground when the chassis device 1 walks straight forward on the ground.

[0071] Please refer to Figure 2 , which shows the center line of the chassis device 1 parallel to the X-axis direction. This center line is called the horizontal center line L2. In one example, the distances from both ends of the floor washing brush assembly 15 to the horizontal center line L2 are the same, and the distances from both ends of the water absorption squeegee assembly 16 to the horizontal center line L2 are the same.

[0072] In this embodiment, by setting the cleaning width of the floor washing brush assembly 15 to be less than the water absorption width of the water absorption squeegee assembly 16, when the chassis device 1 walks straight forward on the ground, the water absorption area of the water absorption squeegee assembly 116 on the ground covers the area where the floor washing brush assembly 15 cleans the ground, ensuring that there is no water stain residue on the ground when the chassis device 1 goes straight; in addition, this embodiment also sets that when the chassis device 1 turns at a set turning radius, the water absorption area of the water absorption squeegee assembly 16 on the ground covers the area where the floor washing brush assembly 15 cleans the ground, so as to avoid the situation of water stains on the ground when the chassis device 1 turns and ensure the cleaning effect.

[0073] In one embodiment, the chassis device 1 further includes a side brush assembly 10. The side brush assembly 10 is arranged on at least one side of the traveling direction of the floor sweeping brush assembly 12. The side brush assembly 10 is used to roll and sweep the garbage inward and backward, so that the garbage gathers in front of the floor sweeping brush assembly 12 for the floor sweeping brush assembly 12 to roll and sweep, improving the cleaning effect.

[0074] Preferably, side brush assemblies 10 are provided on both the left and right sides of the traveling direction of the floor sweeping roller brush assembly 12.

[0075] In one embodiment, the height of the floor sweeping roller brush assembly 12 is adjustable, and the heights of the floor washing roller brush assembly 15 and the water suction squeegee assembly 16 are adjustable.

[0076] The cleaning robot may further include a suction fan motor, which is both dry and wet usable and has water vapor separation: By using a suction fan motor that is both dry and wet usable, it can absorb water and dust; when absorbing water, through a water vapor separation design and a filter screen, the water vapor is blocked before the suction fan motor to protect the suction fan motor. The suction fan motor can instantly pump dry the sewage on the ground to prevent potential safety hazards caused by residual water on the ground.

[0077] It should be noted that the cleaning assemblies and other working assemblies in the above chassis device are only part of the working assemblies of the cleaning robot. Among them, the front cleaning assemblies (side brush assembly 10 and floor sweeping roller brush assembly 12) are used for dry cleaning, and the rear cleaning assemblies (floor washing roller brush assembly 15 and water suction squeegee assembly 16) are detachable multi-functional assemblies. At the floor washing roller brush assembly 15, water can be added with a floor washing roller / mopping brush for wet cleaning as needed, and the cleaning effect can be enhanced in cooperation with the water suction squeegee at the tail. Therefore, the cleaning robot provided by this application can achieve dry-wet separation cleaning. For example, the floor sweeping roller brush assembly 12 can be a double-roller brush structure, combined with the rear floor washing roller brush assembly 15, to achieve three-roller brush, dry-wet separation, and one-pass sweeping and washing, enhancing the cleaning effect.

[0078] The following describes the exemplary steps of the embodiments of the present application:

[0079] In step S101, the front cleaning strategy may include, in addition to the mode switching strategy, an avoidance strategy, a maintenance strategy, and a strategy for resweeping after other areas are completed. In the current ground material information, in addition to the current ground material information, ground demarcation information and the like may also be included.

[0080] In one example, step S101 includes: identifying whether the current cleaning mode of the cleaning robot is the first cleaning mode; if it is the first cleaning mode, determining the current cleaning strategy according to the first cleaning mode; if it is not the first cleaning mode, determining the current cleaning strategy according to the current cleaning mode and the current ground information.

[0081] Here, the current cleaning mode and the current floor information can be obtained in real time or periodically. The obtained current floor information of the area to be cleaned can be the area within a certain range in the area to be cleaned where the cleaning robot is located. The determination of the current floor information can be determined by collecting images of the current floor area and analyzing the collected images. After determining the current floor information, the determined current floor information can be adaptively displayed through the operation interface of the cleaning robot.

[0082] The first cleaning mode can be preset, and one or more first cleaning modes can be set.

[0083] Assume that the first cleaning mode is the sweeping mode, then identify whether the current cleaning mode of the cleaning robot is the sweeping mode; if it is the sweeping mode, determine the current cleaning strategy according to the sweeping mode; if it is not the sweeping mode, determine the current cleaning strategy according to the current cleaning mode and the current floor information.

[0084] Furthermore, the cleaning robot can be preset with two working methods (dry cleaning and wet cleaning), and multiple cleaning modes can be set under each working method. For each cleaning mode, the floor type applicable to the cleaning mode and the working components corresponding to each cleaning mode can be set.

[0085] Exemplarily, please refer to Table 1. Table 1 is a reference table of the floors applicable to different cleaning modes and the working components provided in the present application.

[0086] Table 1:

[0087]

[0088]

[0089] Therefore, in an implementation manner provided in the present application, the determining the current cleaning strategy according to at least one of the current floor information and the current cleaning mode in the area to be cleaned includes:

[0090] When the current cleaning mode is the sweeping mode or the sweeping and suction mode, the determined current cleaning strategy is to keep the cleaning mode unchanged;

[0091] When the current cleaning mode is the pushing and sweeping mode and the current floor material information includes carpet information, the determined current cleaning strategy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged;

[0092] When the current cleaning mode is the push-suction-sweeping mode and the current floor material information includes carpet information, the determined current cleaning strategy is that when cleaning the carpet area in the area to be cleaned, the push-suction-sweeping mode is switched to the suction-sweeping mode, and the cleaning mode remains unchanged for the floor areas of other materials;

[0093] When the current cleaning mode is the sweeping-washing mode and the current floor material information includes carpet information, the determined current cleaning strategy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged;

[0094] When the current cleaning mode is the water-suction mode and the current floor material information includes carpet information, the determined current cleaning strategy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged;

[0095] When the current cleaning mode is the sweeping-suction-mopping mode and the current floor material information includes carpet information, the determined current cleaning strategy is to bypass the carpet area in the area to be cleaned, keep the cleaning mode unchanged and continue to clean the floor areas of other materials. After the floor areas of other materials are cleaned, the carpet area is reswept according to the resweeping strategy.

[0096] In this way, by setting two working methods, and setting multiple cleaning modes under each working method, and setting the applicable floors and required working components (including cleaning components) for each cleaning mode, the cleaning robot can switch to a more suitable cleaning mode and start the corresponding components for different floors, thus ensuring the cleaning effect and further improving the intelligence level of the cleaning robot. In this embodiment, considering the particularity of the carpet material which is not suitable for wet cleaning, and that most carpet users expect the carpet to be set in a fixed area without displacement, when the carpet material is detected, combined with the characteristics of the current cleaning mode, the carpet area is selected to be bypassed without cleaning, or the cleaning mode is modified, or reswept after cleaning, to balance the cleaning efficiency and cleaning effect.

[0097] Furthermore, regarding the cleaning robot used in this application, the working components in Table 1 above can be all installed on the cleaning robot at the same time, or can be partially installed on the cleaning robot manually in advance according to the required cleaning mode. And in order to achieve the miniaturization of the cleaning robot, different working components can also be set to be installed in the same position. The working components can include fixed components and detachable components. And the adjustment schemes for different cleaning modes can also be different.

[0098] Exemplarily, if switching from dry cleaning to wet cleaning, the dust box needs to be replaced with a sewage box, and the water suction squeegee needs to be manually removed; vice versa for switching from wet to dry cleaning, that is, the dust box and the sewage box are in the same position. When switching from floor washing and water suction to wet mopping and disinfection, the floor washing brush needs to be replaced with a wet mopping brush, and the water suction squeegee needs to be manually removed; vice versa for switching from wet mopping and disinfection to floor washing and water suction. By setting the dust box and the sewage box in the same position, the overall robot can be made more compact, more suitable for use in narrow environments, with a smaller minimum passing width, and reducing the impact on people in the environment during use. At the same time, the sewage box can be disassembled and washed for easy cleaning.

[0099] In addition, by setting multiple cleaning components, multiple cleaning modes can be adapted to task scenarios. For cleaning modes with high usage frequency, such as sweeping and floor washing, there is no need to replace the roller brush, and multiple floor materials can be cleaned at one time. At the same time, some positions are compatible with different cleaning components, facilitating the robot to be applicable to more scenarios.

[0100] Exemplarily, the adjustment of relevant cleaning components can be as follows:

[0101] In the sweeping mode, there is no need for the user to adjust the cleaning components, and sweeping is achieved through the side brush and the sweeping brush.

[0102] In the sweep and suction mode, the user replaces the dust box and installs the dust collection box, and then can sweep and vacuum hard floors and carpets.

[0103] In the sweep and push mode, on hard floors such as marble and shiny ceramic tiles, the user replaces the dust box with a push dust brush and removes the water suction squeegee, and then can sweep and push dust on the hard floor.

[0104] In the sweep, suction and push mode, the user replaces the dust box and the push dust brush, removes the water suction squeegee, and starts cleaning in response to the start instruction.

[0105] In the sweep and wash mode, the user replaces the dust box with a sewage box, installs the floor washing brush, and installs the water suction squeegee.

[0106] In the water suction mode, the user replaces the dust box with a sewage box, installs the floor washing brush, and installs the water suction squeegee.

[0107] In the sweep, suction and mop mode, the user replaces the dust box with a wet mopping brush and removes the water suction squeegee.

[0108] Continuing to target step S101, in another implementation manner provided by the present application, the determining the current cleaning strategy according to at least one of the current ground information and the current cleaning mode in the area to be cleaned includes:

[0109] S1011. When the current ground material information includes carpet information, determine whether the cleaning components required for the current cleaning mode include a water suction squeegee;

[0110] S1012. When a water suction squeegee is included, the determined current cleaning strategy is to lift the water suction squeegee and switch the current cleaning mode to the floor sweeping mode.

[0111] Regarding step S1011, to determine whether the cleaning components required for the current cleaning mode include a water suction squeegee, it can be determined according to a preset mapping relationship, and the set mapping relationship can be the content shown in Table 1.

[0112] In addition, step S1011 can also be when the current floor material information includes soft floor information, to determine whether the cleaning components required for the current cleaning mode include a water suction squeegee. If so, execute step S1012.

[0113] Regarding step S1012, the cleaning components in the cleaning robot used in this application can be set with a lifting function. Specifically, the cleaning component with a lifting function is the water suction squeegee.

[0114] In this way, setting the cleaning components of the robot to be liftable enables the control of lifting the unsuitable cleaning components when passing through special material areas in different cleaning modes, reducing pollution. Specifically, lift the water suction squeegee when cleaning the carpet, thereby effectively avoiding polluting the carpet.

[0115] Regarding the identification of the carpet material, in an implementation manner provided in this application, the following steps are used to determine whether the current floor information includes carpet information:

[0116] S201. Identify the third image of the area to be cleaned collected by the visual imaging device on the cleaning robot, and determine whether there is a boundary in the floor area in the third image.

[0117] S202. If there is a boundary, execute the fourth processing strategy and obtain the echo data generated by the ultrasonic sensor on the cleaning robot when emitting ultrasonic waves and encountering an obstacle; where the fourth processing strategy includes at least one of the following: changing the operating parameters of the cleaning robot and starting the ultrasonic sensor.

[0118] S203. Determine whether the current floor information includes carpet information according to the echo data.

[0119] Regarding step S201, the visual imaging device can be a stereo vision, and this step includes: collecting an image of the current floor area in the area to be cleaned through the stereo vision imaging device on the cleaning robot to obtain a third image; analyzing the third image to determine whether there is a boundary in the floor area shown in the third image.

[0120] Here, the third image can be captured by an RGB camera in stereovision, so that the shape and color of the ground can be determined.

[0121] When analyzing the third image, the ground area can be dynamically segmented through an AI algorithm (such as semantic segmentation and pre-recognition of pictures in the way of SAM+Clip) to find out whether there is a boundary on the ground.

[0122] Among them, the installation position of the stereovision imaging device is installed based on the principle of minimizing the blind area and maximizing the shooting range. Thus, the robot can perceive obstacles in advance and avoid them.

[0123] For step S202, this step includes: if it is determined that there is a boundary in the ground area shown in the third image, then change the operating parameters of the cleaning robot and / or activate the ultrasonic sensor on the cleaning robot, and then obtain the echo data generated when the ultrasonic sensor emits ultrasonic waves and encounters an obstacle.

[0124] Here, changing the operating parameters of the cleaning robot can be to reduce the operating speed of the cleaning robot.

[0125] Among them, the ultrasonic sensor on the robot can be activated together with the startup of the robot, or can be activated when it is determined that there is a boundary on the ground.

[0126] The ultrasonic sensor can be installed at the bottom of the cleaning robot, as Figure 2 shown. The ultrasonic sensor 18 is arranged outside the movement range of the cleaning component such as the side brush, reducing the false detection that can be caused by the movement of the cleaning component and improving the accuracy of recognition.

[0127] For step S203, in this step, when determining whether the current ground information includes carpet information according to the echo data, specifically, the time-domain characteristics and frequency-domain characteristics in the echo data can be used to determine whether the current ground information includes carpet information.

[0128] Here, when the current ground information includes carpet information, it means that the current ground is a carpet.

[0129] Among them, according to the echo data, in addition to determining whether the current ground information includes carpet information, it can also be determined whether the current ground information includes other soft ground information. Different materials correspond to different echoes, and this echo data is used for judgment.

[0130] In this way, by combining both a visual imaging device and an ultrasonic sensor, the visual imaging device is installed on the front side of the machine and is set obliquely downward to collect ground information in front of the robot. When a boundary is recognized in the ground area, the robot can run at a reduced speed and approach the corresponding boundary area. Before the wet cleaning component of the robot is about to run to the boundary area, such as before the water suction squeegee passes through the carpet area, the ultrasonic sensor set on the front side of the bottom can detect and determine whether it is a carpet area, realizing the distinction and recognition between the carpet and other ground materials, thereby improving the accuracy of carpet recognition, making the determined cleaning strategy more accurate, and further improving the cleaning effect and efficiency. The robot can mark the corresponding grids and the corresponding grids on the map according to the ground boundary detection result of the visual imaging device, so as to correspond the ultrasonic detection result with the marked grids, further improving the detection accuracy.

[0131] Regarding step S102, this step includes updating the current cleaning mode according to the current cleaning strategy, and determining the updated current cleaning mode as the target cleaning mode when cleaning the current ground area in the area to be cleaned.

[0132] Here, the target cleaning mode may be the same as or different from the current cleaning mode.

[0133] Regarding step S103, this step includes: determining all the working components required for the cleaning robot to execute the target cleaning mode, and then controlling all the working components to start according to the corresponding working parameters, so as to clean the current ground area.

[0134] In an implementation manner provided by the present application, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0135] S10311. Identify the first image of the current ground area collected by the front image acquisition device on the cleaning robot.

[0136] S10312. Determine the corresponding first processing strategy according to the identified dirt attribute information, current ground information, and relevant information corresponding to the target cleaning mode.

[0137] S10313. Control the cleaning robot according to the first processing strategy to clean the identified dirt.

[0138] Regarding step S10311, this step includes: obtaining the first image of the current ground area collected by the front image acquisition device on the cleaning robot, and performing dirt recognition on the first image.

[0139] Here, when identifying dirt in the first image, it is to determine whether there are stains and / or garbage to be cleaned in the current ground area.

[0140] In addition, the first image captured by the front image acquisition device can also be used to identify whether there are obstacles in the current ground area. If an obstacle is identified, the subsequent cleaning path can be replanned according to the attribute information of the obstacle.

[0141] Regarding step S10312, when dirt is identified in the current ground area, according to the dirt attribute information of the identified dirt, the current ground information, and the target cleaning mode, determine the corresponding processing strategy (i.e., the first processing strategy) for cleaning the identified dirt.

[0142] The first processing strategy includes at least one of the following: switching the target cleaning mode, adjusting the gear of the target cleaning mode.

[0143] Here, multiple cleaning gears can be preset for some working components or cleaning components in each cleaning mode, so as to adopt different processing methods for different ground states to improve the cleaning effect. For example, first identify according to the first image to determine whether the identified object is dirt or an obstacle. For an obstacle, bypass it or perform edge cleaning. If it is dirt, combine the attributes of the dirt (such as dry / wet, size, type) and the ground material at the location, and the current cleaning mode to determine the corresponding first processing strategy.

[0144] Exemplarily, dry cleaning can include sweeping, sweep-suction, sweep-pushing, sweep-suction-pushing cleaning modes; wet cleaning can include sweep-washing, water suction, sweep-suction-mopping cleaning modes. Each cleaning mode can be provided with three gears: gentle, standard (i.e., the default gear), and strong. Exemplarily, the water flow rate in the sweep-washing mode is 2-4 times that in the sweep-suction-mopping mode, and the suction force is 1.2-1.5 times that in the sweep-suction-mopping mode. By adjusting the water flow rate and suction force, the cleaning effect of floor washing can be made better and the residual water stains can be reduced.

[0145] For the side brush rotation speed, the floor sweeping brush rotation speed, the floor washing brush rotation speed, the wet mop brush rotation speed, the dust pushing cloth brush rotation speed, the water flow rate, the water discharge speed, and the suction force, a standard fixed value can be preset. Determine the corresponding values for each gear based on the gear and the standard fixed value.

[0146] Regarding step S10313, this step can include: switching the target cleaning mode currently used by the cleaning robot, and controlling the cleaning robot to work according to the determined target cleaning mode after switching to clean the identified dirt.

[0147] Alternatively, adjust the gear of the target cleaning mode currently used by the cleaning robot, and control the cleaning robot to work according to the adjusted target cleaning mode to clean the identified dirt.

[0148] In this way, the present application accurately identifies the dirt on the current ground, and adjusts the operating parameters of the cleaning robot according to the identified dirt information (such as mode switching or gear adjustment, etc.), so as to achieve the effective cleaning of the dirt, thereby improving the cleaning effect and cleaning efficiency.

[0149] For example, if the dirt is a dry paper towel in the carpet area and the current mode is the sweep-suction-push mode, then adjust it to the sweep-wash mode and adjust to the strong gear, and control the robot to drive to the corresponding area to complete the fixed-point cleaning.

[0150] In order to determine the cleaning effect, the present application also provides a cleaning effect detection method.

[0151] In another embodiment provided by the present application, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0152] S10321. Identify whether there is dirt to be cleaned in the first image of the current ground area collected by the front image acquisition device on the cleaning robot.

[0153] S10322. If there is, after cleaning the dirt to be cleaned, obtain the second image of the current ground area collected by the rear image acquisition device on the cleaning robot.

[0154] S10323. Determine the cleaning effect of the cleaning robot cleaning the dirt according to the first image and the second image.

[0155] The description of step S10321 can refer to the description of step S10311, which will not be repeated here.

[0156] Regarding step S10322, this step may be: When it is determined that there is dirt to be cleaned in the current ground area shown in the first image, after a preset time interval, a second image of the current ground area collected by the rear image acquisition device on the cleaning robot is obtained. Exemplarily, after confirming the dirt to be cleaned in the first image, it can be marked at the corresponding position on the grid map. After the robot has traveled through the corresponding position, the grid map at the marked position and within a certain range around it can be found from the second image collected by the rear image acquisition device, so as to determine whether the dirt has been cleaned and whether it has shifted, thereby improving the cleaning effect. If the dirt has not been completely cleaned, the cleaning mode can be adjusted and the cleaning can be attempted again. Or if the dirt has shifted, a new first processing strategy can be determined according to the ground material after the shift. For example, if the dirt on the carpet has shifted away from the carpet during the cleaning process, the robot can adjust the cleaning mode / cleaning gear and attempt to clean again, and detect the effect.

[0157] Here, the preset time interval is determined according to the operating parameters of the cleaning robot. The second image should include the dirt area photographed in the first image.

[0158] Among them, during the docking process between the cleaning robot and the workstation, the rear image acquisition device can also play the role of identifying the workstation. The rear image acquisition device can be a camera, which is placed forward on the rear side of the robot.

[0159] Regarding step S10323, when determining the cleaning effect of the cleaning robot on the dirt according to the first image and the second image, it may specifically include: First, compare the difference areas of the two images to find the part of the dirt that has been cleaned; then, identify and segment the dirt area; then, calculate the change in the dirt area before and after cleaning; finally, determine the cleaning effect according to the quantization index.

[0160] In this way, by setting the front and rear image acquisition devices and analyzing the ground images collected by the front and rear cameras when obvious dirt is recognized, the cleaning effect of the robot can be determined in a timely and accurate manner, so as to adjust the cleaning strategy according to the cleaning effect, or adjust the working parameters of the robot according to the cleaning effect, thereby improving the cleaning effect and the working performance of the cleaning robot.

[0161] Continuing to refer to step S103, in another implementation manner provided in the present application, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0162] S10331. When the current ground area is a carpet area, identify the carpet type in the carpet area.

[0163] S10332. Update the working gear of the adjustable cleaning components used in the target cleaning mode according to the carpet type.

[0164] For step S10331, this step includes: determining whether the current ground area is a carpet area according to the ground material information in the current ground information; if it is a carpet area, determining the specific carpet type.

[0165] Exemplarily, the carpet type may include: short-pile carpet, long-pile carpet, loop-pile carpet or cut-pile carpet, etc.

[0166] For step S10332, according to the determined carpet type and the pre-determined adjustment strategy, when the robot works in the target cleaning mode, adjust the gears of some corresponding adjustable cleaning components currently used, and control the cleaning robot to work according to the adjusted working parameters to effectively clean this type of carpet. For example, short-pile carpets use standard gear suction, and the brush uses a rubber brush or a soft hair brush; long-pile carpets use strong gear suction, and the brush uses a high-torque roller brush (to improve the beating effect) or an anti-tangling rubber brush; loop-pile carpets use standard gear suction, and the brush uses a rubber brush; cut-pile carpets use standard gear suction, and the brush uses a soft hair brush or a mixed brush (to protect the surface). Detect whether the current brush type is matched, and use the matched brush for cleaning. If there are some brushes with unmatched types, they can be adjusted to the lifted state.

[0167] In this way, when the present application controls the cleaning robot to clean the carpet, the working parameters of the cleaning components are adjusted according to the carpet type, so as to achieve targeted cleaning of different carpets, thereby improving the cleaning efficiency and effect of the carpet.

[0168] Continuing to target step S103, in another implementation manner provided by the present application, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0169] S10341. Real-time identify the ground material of the current ground area, and determine whether the ground material of the current ground area corresponds to a cleaning component that is prohibited from working.

[0170] S10342. If there is, perform a lifting control on the cleaning component that is prohibited from working and / or control the cleaning component that is prohibited from working to pause.

[0171] For step S10341, the cleaning components that are prohibited from working can be set corresponding to different ground materials in advance.

[0172] For example, for marble floors, set the floor washing brush as the cleaning component that is prohibited from working, so as to effectively avoid damage to the floor when cleaning marble floors.

[0173] For step S10342, after determining the cleaning components that are prohibited from working corresponding to the current ground, one or both of the lifting control and controlling the suspension of the cleaning components that are prohibited from working can be adopted to ensure efficient cleaning.

[0174] In this way, by setting the corresponding prohibited working components for different ground materials, the damage to the ground during the cleaning process can be effectively avoided, thereby improving the cleaning effect.

[0175] Continuing to target step S103, in another implementation manner provided in the present application, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0176] S10351. Identify whether the water tank is included in the working components currently used when the cleaning robot performs ground cleaning according to the target cleaning mode.

[0177] S10352. If it is included, determine the current flow rate of the water tank according to the current motion parameters of the cleaning robot.

[0178] Regarding step S10351, since the working components (including cleaning components) required for each cleaning mode are pre-set, therefore, it can be directly determined whether the water tank is included in the working components currently used according to the target cleaning mode.

[0179] Exemplarily, assume that the target cleaning mode is the sweeping and washing mode, and it is determined that the water tank is included; assume that the target cleaning mode is sweeping and pushing, then it is determined that the water tank is not included.

[0180] Regarding step S10352, if it is determined that the water tank is included, the motion parameters of the robot are monitored in real time, and the current flow rate of the water tank is determined according to the monitored current motion parameters of the cleaning robot.

[0181] Here, different motion parameters can set different flow rate values for the water tank. For example, when the robot avoids obstacles or needs to turn or stop due to the path (the speed is zero or less than a certain preset value), the water volume is intelligently reduced.

[0182] Exemplarily, the flow rate adjustment strategy of the present application can be: when the center line speed of the robot < am / s, the fresh water flow rate is adjusted down to b% of the set water volume of the gear; when the robot stops in place for ≥ cS, the fresh water flow rate is turned off. The values of a, b, and c here can be adaptively set by relevant personnel.

[0183] In this way, when the water tank is required to cooperate with the cleaning, the flow rate of the fresh water in the water tank is intelligently adjusted according to the traveling speed, which can achieve the purpose of saving water and preventing waterlogging, thereby improving the cleaning effect.

[0184] Furthermore, in order to effectively avoid failures during the cleaning process, the present application also provides a method for detecting the in-place status of components, which specifically includes the following content.

[0185] In one example, when the cleaning task starts, the current cleaning mode is the initial cleaning mode set for the cleaning task. After determining the initial cleaning mode corresponding to the cleaning task, the control method further includes:

[0186] S301. Identify whether all the first components to be confirmed in the working components required for the cleaning robot to perform cleaning in the initial cleaning mode have successfully reached their positions.

[0187] S302. If any of the first components to be confirmed fails to reach its position, determine the corresponding third processing strategy based on the first component to be confirmed that fails to reach its position; wherein, the third processing strategy includes at least one of the following: abnormal situation prompt and reporting, and non-starting of the cleaning task.

[0188] Regarding step S301, according to the pre-set correspondence between the cleaning mode and the components to be confirmed, determine the first components to be confirmed corresponding to the initial cleaning mode, and then determine whether all the first components to be confirmed have successfully reached their positions.

[0189] If the working components of the cleaning robot are fixed structural parts, in-place detection is not required. If the working components of the cleaning robot are detachable structural parts, in-place detection generally needs to be carried out. For example, the water tank and the suction motor are fixed structural parts and do not require in-place detection, while the side brush, the sweeping brush, the dust box, the dust bag in the dust bin, the floor washing brush, the wet mopping brush, the dust pushing brush, the sewage tank, and the water suction squeegee require in-place detection for installation.

[0190] Exemplarily, please refer to Table 2, which is a reference comparison table of the working components that require in-place detection corresponding to different cleaning modes provided by the present application.

[0191] Table 2:

[0192]

[0193] In this way, the components to be confirmed corresponding to different cleaning modes can be determined according to Table 2.

[0194] In step S301, the first components to be confirmed can be one or more. The determination time of the first components to be confirmed can be after determining the initial cleaning mode but before the cleaning task starts.

[0195] Among them, when performing in-place detection, exemplarily, the detection means collected include: wireless detection (such as Hall, etc.) can detect whether it is in place, and structurally, it can be detected whether it is in place through centering guidance, snap sound, structural in-place cooperation, etc.

[0196] The cleaning task can be determined by the user after selecting the cleaning mode and cleaning area through the mobile app or the robot screen. The selected cleaning mode here is the initial cleaning mode. The cleaning task also includes a cleaning path, which can be determined by path planning according to the user's instructions or based on the existing taught path.

[0197] For step S302, when an abnormal situation is prompted, voice broadcast can be performed, or the prompt can be made through the operation interface on the cleaning robot, and the first component to be confirmed that needs to be replaced and has an abnormality can be prompted to the user.

[0198] Steps S301 - S302 are in - place detection before the co - cleaning work. Further, the present application also provides in - place detection during cleaning, which specifically includes the following content.

[0199] For step S103, when controlling the cleaning robot to clean the current ground area according to the target cleaning mode, the control method further includes:

[0200] S10371. Identify whether all the second components to be confirmed in the working components currently used when the cleaning robot cleans according to the target cleaning mode have successfully reached their positions.

[0201] S10372. If any of the second components to be confirmed fails to reach its position, determine the corresponding second processing strategy according to the second component to be confirmed that fails to reach its position; where the second processing strategy includes at least one of the following: abnormal situation prompt and reporting, suspension of the cleaning task, reporting of the current position, and return - to - base processing.

[0202] For step S10371, the determination method of the second component to be confirmed is the same as that of the first component to be confirmed, and will not be elaborated here.

[0203] When the target cleaning mode is the same as the initial cleaning mode, the first component to be confirmed and the second component to be confirmed can be the same or different.

[0204] For step S10372, during the cleaning process, different processing strategies can be set for different components to be confirmed.

[0205] Exemplarily, when it is detected during the cleaning process that a necessary working component (except the side brush) fails to reach its position, suspend the cleaning task, report the abnormal content and location, and voice - broadcast the abnormal situation and the next behavior, return to the task starting point or the charging station according to the robot task logic, and prompt the user to select to continue the task after the component is installed in place.

[0206] When it is detected that the side brush is not in place during the cleaning process, the cleaning task is not paused, but a notice that the side brush is not in place and the status of the robot (such as taking the elevator) or the floor position (such as when cleaning the 5th floor) when the non - in - place situation is detected are reported, and the voice broadcasts the behavior of "detecting that the side brush is not installed and continuing to clean", which is convenient for users to solve the abnormality in time.

[0207] In this way, by performing in - place detection both before and during the task, it is possible to identify the working components that are not correctly installed due to user negligence, or the situations where the cleaning effect is lost due to entanglement, falling, etc., thereby effectively avoiding the safety risks to the scene facilities, the ground, and the robot caused by the missing components.

[0208] Based on the same inventive concept, an embodiment of the present application also provides a control device corresponding to the control method. Since the principle of solving problems by the device in the embodiment of the present application is similar to the above - mentioned control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0209] Please refer to Figure 4 、 Figure 5 , Figure 4 which is one of the structural schematic diagrams of a control device for a cleaning robot provided by an embodiment of the present application. Figure 5 which is the second of the structural schematic diagrams of a control device for a cleaning robot provided by an embodiment of the present application. As Figure 4 shown in

[0210] A strategy determination module 310, configured to determine a current cleaning strategy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode; wherein, the current cleaning strategy includes a mode switching strategy, and the current ground information includes current ground material information;

[0211] A mode determination module 320, configured to determine a target cleaning mode when cleaning the current ground area in the area to be cleaned according to the current cleaning strategy and the current cleaning mode;

[0212] A cleaning module 330, configured to control the cleaning robot to clean the current ground area according to the target cleaning mode.

[0213] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current ground area according to the target cleaning mode, the cleaning module 330 is further configured to:

[0214] Identify a first image of the current ground area collected by a front image acquisition device on the cleaning robot;

[0215] Determine a corresponding first processing strategy according to the identified dirt attribute information, the current ground information, and the relevant information corresponding to the target cleaning mode; wherein, the first processing strategy includes at least one of the following: switching the target cleaning mode, adjusting the gear corresponding to the target cleaning mode;

[0216] Control the cleaning robot according to the first processing strategy to clean the identified dirt.

[0217] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current ground area according to the target cleaning mode, the cleaning module 330 is further configured to:

[0218] Identify whether there is dirt to be cleaned in the first image of the current ground area collected by the front image acquisition device on the cleaning robot;

[0219] If there is, after the dirt to be cleaned is cleaned, obtain the second image of the current ground area collected by the rear image acquisition device on the cleaning robot;

[0220] Determine the cleaning effect of the cleaning robot cleaning the dirt according to the first image and the second image.

[0221] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current ground area according to the target cleaning mode, the cleaning module 330 is further configured to:

[0222] Identify whether all the second components to be confirmed in the current working components used when the cleaning robot cleans according to the target cleaning mode are successfully in place;

[0223] If any of the second components to be confirmed for cleaning fails to be in place, determine a corresponding second processing strategy according to the second component to be confirmed for cleaning that fails to be in place; wherein, the second processing strategy includes at least one of the following: abnormal situation prompt and reporting, pausing the cleaning task, reporting the current position, and returning for navigation.

[0224] Optionally, as Figure 5 shown, the control device further includes a position detection module 340, and the position detection module 340 is configured to:

[0225] When the cleaning task starts, the current cleaning mode is the initial cleaning mode set for the cleaning task. After determining the initial cleaning mode corresponding to the cleaning task, identify whether all the first components to be confirmed in the working components required when the cleaning robot cleans according to the initial cleaning mode are successfully in place;

[0226] If any of the first components to be confirmed fails to be in place, determine a corresponding third processing strategy according to the first component to be confirmed that fails to be in place; wherein, the third processing strategy includes at least one of the following: abnormal situation prompt and reporting, and non-starting of the cleaning task.

[0227] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current ground area according to the target cleaning mode, the cleaning module 330 is further configured to:

[0228] Identify whether the water tank is included in the working components currently used when the cleaning robot performs ground cleaning according to the target cleaning mode.

[0229] If it is included, determine the current flow rate of the water tank according to the current motion parameters of the cleaning robot.

[0230] Optionally, when the policy determination module 310 is used to determine the current cleaning policy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode, the policy determination module 310 is configured to:

[0231] When the current cleaning mode is the sweeping mode or the sweeping and suction mode, the determined current cleaning policy is to keep the cleaning mode unchanged.

[0232] When the current cleaning mode is the pushing and sweeping mode and the current ground material information includes carpet information, the determined current cleaning policy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged.

[0233] When the current cleaning mode is the pushing, suctioning and sweeping mode and the current ground material information includes carpet information, the determined current cleaning policy is that when cleaning the carpet area in the area to be cleaned, switch the pushing, suctioning and sweeping mode to the sweeping and suction mode, and keep the cleaning mode unchanged for the ground areas of other materials.

[0234] When the current cleaning mode is the sweeping and washing mode and the current ground material information includes carpet information, the determined current cleaning policy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged.

[0235] When the current cleaning mode is the water suction mode and the current ground material information includes carpet information, the determined current cleaning policy is to bypass the carpet area in the area to be cleaned and keep the cleaning mode unchanged.

[0236] When the current cleaning mode is the sweeping, suctioning, and mopping mode and the current floor material information includes carpet information, the determined current cleaning strategy is to bypass the carpet area in the area to be cleaned and maintain the cleaning mode unchanged to continue cleaning the floor areas of other materials. After the cleaning of the floor areas of other materials is completed, the carpet area is reswept according to the resweeping strategy.

[0237] Optionally, when the strategy determination module 310 is used to determine the current cleaning strategy according to at least one of the current floor information and the current cleaning mode in the area to be cleaned, the strategy determination module 310 is used to:

[0238] When the current floor material information includes carpet information, determine whether the cleaning components required for the current cleaning mode include a water suction squeegee;

[0239] When a water suction squeegee is included, the determined current cleaning strategy is to lift the water suction squeegee and switch the current cleaning mode to the sweeping mode.

[0240] Optionally, the cleaning module 330 is further used to determine whether the current floor information includes carpet information through the following steps:

[0241] Identify the third image of the area to be cleaned collected by the stereo vision imaging device on the cleaning robot, and determine whether there is a boundary in the floor area in the third image;

[0242] If there is a boundary, execute the fourth processing strategy and obtain the echo data generated when the ultrasonic sensor on the cleaning robot emits ultrasonic waves and encounters an obstacle; wherein, the fourth processing strategy includes at least one of the following; changing the operating parameters of the cleaning robot and starting the ultrasonic sensor;

[0243] Determine whether the current floor information includes carpet information according to the echo data.

[0244] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current floor area according to the target cleaning mode, the cleaning module 330 is further used to:

[0245] When the current floor area is a carpet area, identify the carpet type in the carpet area;

[0246] Update the working gear of the adjustable cleaning components used in the target cleaning mode according to the carpet type.

[0247] Optionally, when the cleaning module 330 controls the cleaning robot to clean the current floor area according to the target cleaning mode, the cleaning module 330 is further used to:

[0248] Perform real-time identification of the ground material of the current ground area to determine whether the ground material of the current ground area corresponds to a cleaning component that is prohibited from working;

[0249] If so, perform a lifting control on the cleaning component prohibited from working and / or control the cleaning component prohibited from working to pause.

[0250] Please refer to Figure 6 , Figure 6 , which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 6 shown in, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0251] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 runs, the processor 510 communicates with the memory 520 through the bus 530. When the machine-readable instructions are executed by the processor 510, the steps in the method embodiment as described above can be executed. The specific implementation manner can refer to the method embodiment and will not be elaborated here. Figure 1 shown in, and will not be elaborated here.

[0252] An embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps in the method embodiment as described above can be executed. The specific implementation manner can refer to the method embodiment and will not be elaborated here. Figure 1 shown in, and will not be elaborated here.

[0253] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0254] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0255] The unit described as a separation component may or may not be physically separated. The component presented as a unit may or may not be a physical unit, that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0256] In addition, in each embodiment of this application, each functional unit may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0257] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0258] Finally, it should be noted that the above-described embodiments are only specific implementation manners of this application, used to illustrate the technical solutions of this application, rather than limiting it. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that: The control method comprises: Determine a current cleaning strategy according to current ground information in the area to be cleaned and at least one of the current cleaning modes; wherein the current cleaning strategy includes a mode switching strategy, and the current ground information includes current ground material information; Determining a target cleaning mode when cleaning a current floor area in the area to be cleaned according to the current cleaning strategy and the current cleaning mode; The cleaning robot is controlled to clean the current floor area according to the target cleaning mode.

2. The control method according to claim 1, characterized in that: When controlling the cleaning robot to clean the current floor area according to the target cleaning mode, the control method further includes: recognizing a first image of the current ground area captured by a front image capture device on the cleaning robot; Determine a corresponding first processing strategy according to the identified dirt property information, the current ground information and the relevant information corresponding to the target cleaning mode; wherein the first processing strategy includes at least one of the following: switching the target cleaning mode, adjusting the gear corresponding to the target cleaning mode; The cleaning robot is controlled according to the first processing strategy to clean the identified dirt.

3. The control method according to claim 1, characterized in that: When controlling the cleaning robot to clean the current floor area according to the target cleaning mode, the control method further includes: Identify whether there is dirt to be cleaned in the first image of the current ground area captured by the front image capture device on the cleaning robot; If so, after cleaning the dirt to be cleaned, obtaining a second image of the current ground area captured by a rear image capture device on the cleaning robot; The cleaning effect of the cleaning robot in cleaning the dirt is determined according to the first image and the second image.

4. The control method according to claim 1, characterized in that: When controlling the cleaning robot to clean the current floor area according to the target cleaning mode, the control method further includes: Identifying whether all second components to be confirmed in the working components currently used are successfully in place when the cleaning robot performs cleaning according to the target cleaning mode; If any second cleaning component to be confirmed fails to be in place, a corresponding second processing strategy is determined based on the second cleaning component to be confirmed that fails to be in place; wherein the second processing strategy includes at least one of the following: abnormal situation prompt and reporting, suspension of cleaning tasks, reporting of current position and return processing.

5. The control method according to claim 1, characterized in that: When a cleaning task starts, the current cleaning mode is an initial cleaning mode set for the cleaning task. After determining the initial cleaning mode corresponding to the cleaning task, the control method further includes: Identify whether all first components to be confirmed among the working components required to be used are successfully in place when the cleaning robot performs cleaning according to the initial cleaning mode; If any of the first components to be confirmed fail to arrive, determine a corresponding third processing strategy based on the first components to be confirmed that failed to arrive; wherein the third processing strategy includes at least one of the following: abnormal situation prompt and report, cleaning task not started; When controlling the cleaning robot to clean the current floor area according to the target cleaning mode, the control method further includes: Identify whether the working components currently used by the cleaning robot include a water tank when the cleaning robot performs floor cleaning according to the target cleaning mode; If included, determine the current flow rate of the water tank based on the current motion parameters of the cleaning robot.

6. The control method according to claim 1, characterized in that: The determining of the current cleaning strategy according to at least one of the current ground information in the area to be cleaned and the current cleaning mode includes: When the current cleaning mode is a sweeping mode or a sweeping and suction mode, the current cleaning strategy is determined to maintain the cleaning mode unchanged; When the current cleaning mode is the push-sweep mode and the current floor material information includes carpet information, the current cleaning strategy is determined to bypass the carpet area in the area to be cleaned and maintain the cleaning mode unchanged; When the current cleaning mode is the push-suction-sweep mode and the current floor material information includes carpet information, the current cleaning strategy is to switch the push-suction-sweep mode to the sweep-suction mode when cleaning the carpet area in the area to be cleaned, and maintain the cleaning mode of the floor areas of other materials unchanged; When the current cleaning mode is the sweeping mode and the current floor material information includes carpet information, the current cleaning strategy is to bypass the carpet area in the area to be cleaned and maintain the cleaning mode unchanged; When the current cleaning mode is the water absorption mode and the current floor material information includes carpet information, the current cleaning strategy is determined to bypass the carpet area in the area to be cleaned and maintain the cleaning mode unchanged; When the current cleaning mode is the sweeping, vacuuming and mopping mode and the current floor material information includes carpet information, the current cleaning strategy is to bypass the carpet area in the area to be cleaned, maintain the cleaning mode unchanged and continue to clean the floor areas of other materials; when the floor areas of other materials are cleaned, the carpet area is re-cleaned according to the re-sweeping strategy.

7. The control method according to claim 6, characterized in that: Determine whether the current ground information includes carpet information by the following steps: Recognize the third image of the area to be cleaned collected by the visual imaging device on the cleaning robot to determine whether there is a boundary in the ground area in the third image; If there is a boundary, execute the fourth processing strategy, and obtain the echo data generated by the ultrasonic sensor on the cleaning robot emitting ultrasonic waves and encountering the obstacle object; wherein the fourth processing strategy includes at least one of the following: changing the operating parameters of the cleaning robot, and starting the ultrasonic sensor; It is determined whether the current ground information includes carpet information according to the echo data.

8. The control method according to claim 1, characterized in that: When controlling the cleaning robot to clean the current floor area according to the target cleaning mode, the control method further includes: When the current ground area is a carpet area, identifying the type of carpet in the carpet area; The working gear position of the adjustable cleaning component used in the target cleaning mode is updated according to the carpet type.

9. A control device for a cleaning robot, characterized in that: The control device comprises: A strategy determination module, used to determine a current cleaning strategy according to current ground information in the area to be cleaned and at least one of the current cleaning modes; wherein the current cleaning strategy includes a mode switching strategy, and the current ground information includes current ground material information; A mode determination module, configured to determine a target cleaning mode when cleaning a current floor area in the area to be cleaned according to the current cleaning strategy and the current cleaning mode; The cleaning module is used to control the cleaning robot to clean the current floor area according to the target cleaning mode.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 8 are executed.

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