Cleaning robot control method and cleaning robot

Abstract

The invention relates to a control method of a cleaning robot and the cleaning robot. The method comprises the following steps: controlling the cleaning robot to clean target dirt according to a first cleaning parameter; monitoring a cleaning effect, and determining a second cleaning parameter according to the cleaning effect; and controlling the cleaning robot to clean the target dirt according to the second cleaning parameter. According to the method, the mode that the cleaning robot cleans the dirt through fixed cleaning parameters is changed, the cleaning parameters for the dirt can be dynamically adjusted in real time according to the feedback of the cleaning effect, and therefore the cleaning quality and the cleaning effect can be improved, and the intelligent degree of the cleaning robot is improved.

Description

Technical Field

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

[0002] With the development of cleaning robot technology, cleaning robots have greatly brought convenience to people's lives. Among them, cleaning robots are becoming an important member of families and other entertainment venues, and are playing an increasingly important role in cleaning services. However, traditional cleaning robots have problems with poor cleaning effects. Summary of the Invention

[0003] Based on this, it is necessary to provide a control method for a cleaning robot and a cleaning robot in view of the above technical problems.

[0004] In a first aspect, the present application provides a control method for a cleaning robot, the method comprising:

[0005] Controlling the cleaning robot to clean the target dirt according to a first cleaning parameter;

[0006] Monitoring the cleaning effect and determining a second cleaning parameter according to the cleaning effect;

[0007] Controlling the cleaning robot to clean the target dirt according to the second cleaning parameter.

[0008] In one embodiment, the cleaning effect includes a negative evaluation; when the cleaning effect is the negative evaluation, the cleaning intensity corresponding to the second cleaning parameter is greater than the cleaning intensity corresponding to the first cleaning parameter.

[0009] In one embodiment, the monitoring of the cleaning effect includes:

[0010] Monitoring the change in the dirt degree of the target dirt during the cleaning process;

[0011] Determining the cleaning effect according to the change in the dirt degree of the target dirt.

[0012] In one embodiment, the change in the dirt degree includes a decrease in the dirt degree and an increase in the dirt degree;

[0013] The determining of the cleaning effect according to the change in the dirt degree of the target dirt includes at least one of the following methods:

[0014] The first one:

[0015] When the dirt degree of the target dirt decreases, determining the cleaning effect as a positive evaluation;

[0016] The second one:

[0017] When the degree of soiling of the target soiling remains unchanged or increases, it is determined that the cleaning effect is a negative evaluation.

[0018] In one embodiment, the monitoring of the cleaning effect includes:

[0019] Determine the cleaning effect according to the absorption of soiling by the cleaning robot.

[0020] In one embodiment, the determining the cleaning effect according to the absorption of soiling by the cleaning robot includes at least one of the following methods:

[0021] The first method:

[0022] If the degree of soiling of the cleaning device of the cleaning robot increases, it is determined that the cleaning effect is a positive evaluation;

[0023] The second method:

[0024] If the degree of soiling of the cleaning device of the cleaning robot remains unchanged, it is determined that the cleaning effect is a negative evaluation.

[0025] In one embodiment, the method further includes:

[0026] Obtain the soiling information of the soiling recognized by the cleaning robot;

[0027] If it is determined that the soiling is the target soiling according to the soiling information, determine the first cleaning parameter for the target soiling.

[0028] In one embodiment, the soiling information includes at least one of the soiling category and the degree of soiling.

[0029] In one embodiment, the soiling category includes: cleanable soiling; the cleanable soiling includes at least one subclass;

[0030] If it is determined that the soiling is the target soiling according to the soiling information, determining the first cleaning parameter for the target soiling includes:

[0031] If the soiling is cleanable soiling, determine that the soiling is the target soiling;

[0032] Determine the first cleaning parameter according to the subclass of the cleanable soiling to which the target soiling belongs, or determine the first cleaning parameter according to the subclass of the cleanable soiling to which the target soiling belongs and the degree of soiling of the soiling.

[0033] In one embodiment, the method further includes:

[0034] For the target dirt, when the cleaning time or the number of cleaning times of the target dirt does not meet the requirements, the cleaning of the target dirt is ended.

[0035] In one embodiment, after the step of controlling the cleaning robot to clean the target dirt according to the second cleaning parameter, the method further includes:

[0036] If it is determined that the dirt is stubborn dirt according to the change in the dirt degree of the target dirt, information indicating stubborn dirt is output, and the information of the stubborn dirt includes at least one of the type, position, and image of the stubborn dirt.

[0037] In one embodiment, the method further includes:

[0038] If it is determined that the dirt is non-cleanable dirt according to the dirt information, a third cleaning parameter for the non-cleanable dirt and a safe distance from the dirt are determined;

[0039] Avoid the non-cleanable dirt based on the safe distance and the third cleaning parameter.

[0040] In one embodiment, the method further includes:

[0041] Output information of the non-cleanable dirt, and the information of the non-cleanable dirt includes at least one of the position, image, and type of the non-cleanable dirt.

[0042] In one embodiment, the output mode includes:

[0043] At least one of voice prompts of the cleaning robot, voice prompts in the application, text prompts in the application, and identification on the map in the application.

[0044] In a second aspect, the present application provides a cleaning robot, which includes a sensor, a cleaning device, and a driving wheel, and the cleaning robot performs the following steps:

[0045] Control the cleaning robot to clean the target dirt according to the first cleaning parameter;

[0046] Monitor the cleaning effect and determine the second cleaning parameter according to the cleaning effect;

[0047] Control the cleaning robot to clean the target dirt according to the second cleaning parameter.

[0048] The control method of the above-mentioned cleaning robot and the cleaning robot. The cleaning robot first cleans the dirt with the first cleaning parameter, monitors the cleaning effect, determines the second cleaning parameter according to the cleaning effect, and then controls the cleaning robot to clean the target dirt with the second cleaning parameter. This method changes the way that the cleaning robot uses fixed cleaning parameters to clean the dirt, and dynamically adjusts the cleaning parameters for the dirt in real time according to the feedback of the cleaning effect, thereby improving the cleaning quality and effect, and enhancing the intelligence level of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic structural diagram of the sensing and control part of the cleaning robot in an embodiment;

[0050] Figure 2 It is a schematic flowchart of the control method of the cleaning robot in an embodiment;

[0051] Figure 3 It is a schematic flowchart of the control method of the cleaning robot in another embodiment;

[0052] Figure 4 It is a schematic flowchart of the control method of the cleaning robot in still another embodiment;

[0053] Figure 5 It is a schematic flowchart of the control method of the cleaning robot in yet another embodiment;

[0054] Figure 6 It is a block diagram of the structure of the control device of the cleaning robot in an embodiment;

[0055] Figure 7 It is an internal structural diagram of the controller in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Such as Figure 1As shown in the figure, the sensing and control part 30 of the cleaning robot includes: a controller 301, a driver 302, multiple types of sensors 303, and a communication module 304. The multiple types of sensors may include an image module, an IMU (Inertial Measurement Unit), a lidar, and a target sensor, etc. Among them, each sensor in the multiple types of sensors 303 and the driver 302 are both signal-connected to the controller 301. The controller 301 processes the sensing data collected by the multiple types of sensors, makes decisions, generates control instructions based on the decision results, and sends the control instructions to the driver 302. The driver 302 may include a driver for the driving wheels of the cleaning robot, a driver for the module adjustment device, etc. The decisions may include navigation, obstacle avoidance, and control of each component of the cleaning robot. Based on the communication module 304, it can communicate with the server 10. The server 10 can be connected to the user terminal 20 for communication. Through the user terminal 20, control instructions can be sent to the cleaning robot. Such as the cleaning robot operation instruction, the cleaning robot charging instruction, the cleaning robot map building instruction, etc. It should be understood that the user terminal 20 is installed with an application related to the cleaning robot and can send relevant instructions to the cleaning robot.

[0058] Among them, the user terminal 20 can be but is not limited to various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0059] Among them, the cleaning robot refers to a self-mobile device configured with sensor components that can move autonomously to perform tasks. In one embodiment, the cleaning robot includes but is not limited to a sweeping cleaning robot, a food delivery cleaning robot, and a logistics cleaning robot. Among them, the cleaning robot includes cleaning robots for cleaning home and non-home scenarios, such as floor sweepers, mopping machines, automatic floor scrubbers, and various cleaning robots in entertainment venues (such as pool cleaning machines).

[0060] In one embodiment, as Figure 2 shown, a control method for a cleaning robot is provided. Taking the controller of the cleaning robot in Figure 1 as an example, the method includes the following steps:

[0061] Step 202, controlling the cleaning robot to clean the target dirt according to the first cleaning parameter.

[0062] Dirt refers to the filth in the working area of the cleaning robot, such as stains and garbage on the room floor. In one embodiment, the target dirt is dirt that can be cleaned. For the target dirt, the robot is controlled to clean according to the first cleaning parameter. The first cleaning parameter may include cleaning speed, pressure, water volume, number of times, whether the body rotates, etc.

[0063] The first cleaning parameter can be the initial cleaning parameter preset for the robot. To improve the cleaning effect, the first cleaning parameter can also be determined according to the dirt information. That is, the cleaning robot can identify the dirt information of the target dirt, and then determine the first cleaning parameter according to the dirt information, so that the robot can clean different dirts with different cleaning parameters, thereby improving the cleaning effect. In one embodiment, the dirt information may include at least one of the area material where the dirt is located, the dirt type, the dirt area size, and the dirt degree.

[0064] Step 204, monitor the cleaning effect and determine the second cleaning parameter according to the cleaning effect.

[0065] Among them, after the cleaning robot cleans the target dirt according to the first cleaning parameter for a preset time, the robot uses a sensor to monitor the cleaning effect. It can also be that the robot receives feedback from the user through the terminal to obtain the cleaning effect.

[0066] For the solution where the cleaning robot actively monitors the cleaning effect, the cleaning robot can compare the change in the dirt degree of the target dirt before and after cleaning through an image sensor to obtain the cleaning effect. For example, a small dirt area, a lighter dirt color, and a decrease in the number of dirts can all indicate that cleaning with the first cleaning parameter has a good cleaning effect.

[0067] For the solution where the cleaning robot actively monitors the cleaning effect, it can also be that the cleaning robot compares the dirt absorption situation of the cleaning device before and after cleaning through a sensor to infer the cleaning effect. It can be understood that the change in the dirt degree of the dirt itself is opposite to the dirt absorption situation of the cleaning robot for the dirt. When the cleaning device of the cleaning robot effectively absorbs the dirt, the dirt degree of the dirt decreases, indicating a good cleaning effect. When the cleaning robot cannot effectively absorb the dirt, the dirt degree of the dirt remains unchanged, indicating a poor cleaning effect.

[0068] In one embodiment, the cleaning device of the cleaning robot may include a cleaning part and a water tank. If the cleaning part and the water tank become dirtier due to effectively absorbing the dirt, it can be inferred that cleaning the target dirt with the first cleaning parameter has a good cleaning effect. Among them, the cleaning part can be a mop and a water tank. Specifically, the cleaning effect can be fed back according to the change in the sewage in the water tank and the dirt change of the mop. For example, the sewage in the water tank becomes turbid, or the mop becomes dirty, which can all indicate that cleaning this dirt with the first cleaning parameter has a good cleaning effect.

[0069] In one embodiment, the cleaning effect of the cleaning robot may include positive evaluations and negative evaluations. A positive evaluation indicates a good cleaning effect. For a positive evaluation, the cleaning parameters may not be adjusted. A negative evaluation indicates a poor cleaning effect. For a negative evaluation, the cleaning parameters may be adjusted to improve the cleaning effect on the target dirt.

[0070] Step 206, controlling the cleaning robot to clean the target dirt according to the second cleaning parameter.

[0071] Specifically, the first cleaning parameter is different from the second cleaning parameter. After determining the second cleaning parameter according to the cleaning effect, the cleaning robot cleans the target dirt according to the second cleaning parameter, enabling the cleaning robot to dynamically adjust the cleaning parameter according to the cleaning effect during the process of cleaning the target dirt, thereby improving the cleaning quality and cleaning effect.

[0072] For the above control method of the cleaning robot, the cleaning robot first cleans the dirt with the first cleaning parameter, monitors the cleaning effect, determines the second cleaning parameter according to the cleaning effect, and then controls the cleaning robot to clean the target dirt with the second cleaning parameter. This method changes the way the cleaning robot uses fixed cleaning parameters to clean the dirt, and can dynamically adjust the cleaning parameters for the dirt in real time according to the cleaning effect feedback, thereby improving the cleaning quality and cleaning effect, and enhancing the intelligence level of the cleaning robot.

[0073] In another embodiment, the cleaning effect includes a negative evaluation. A negative evaluation indicates that the cleaning effect fails to meet the expectation, that is, it indicates a poor cleaning effect.

[0074] When the cleaning effect is a negative evaluation, the cleaning intensity corresponding to the second cleaning parameter is greater than the cleaning intensity corresponding to the first cleaning parameter.

[0075] In this embodiment, when the cleaning effect of the cleaning robot is a negative evaluation, that is, the cleaning effect is poor, the cleaning parameter is adjusted to the second cleaning parameter with a greater cleaning intensity to improve the cleaning effect. Among them, at least one dimension of the intensity in the first cleaning parameter can be adjusted, such as at least one dimension of the intensity including cleaning speed, pressure, water volume, number of times, whether the body rotates, etc.

[0076] Generally speaking, the slower the cleaning speed, the greater the cleaning intensity. The greater the pressure, the greater the cleaning intensity. The more the number of cleaning times, the greater the cleaning intensity. When the body rotates, the cleaning intensity is greater than that when the body does not rotate. For example, if the cleaning effect is a negative evaluation, the cleaning robot can be controlled to adjust to adopt a strategy of slow cleaning or back-and-forth cleaning.

[0077] In order to obtain a better cleaning effect, when a negative evaluation is determined based on the cleaning effect, the negative evaluation level can be further determined. The higher the negative evaluation level, the worse the cleaning effect. For different negative evaluation levels, the adjustment degree of the cleaning parameters is determined. For example, the higher the negative evaluation level, the greater the adjustment degree of the cleaning parameters, and the greater the cleaning intensity of the second cleaning parameter after adjustment.

[0078] For the specific adjustment method of adjusting the cleaning parameters when the cleaning effect is a negative evaluation so that the second cleaning parameter is greater than the first cleaning parameter, this embodiment does not make a limitation. The specific adjustment method can be flexibly set according to actual needs, as long as it can achieve that the cleaning intensity of the second cleaning parameter is greater than that of the first cleaning parameter. For example, the cleaning speed of the second cleaning parameter can be set to be lower than the cleaning speed in the first cleaning parameter to increase the cleaning intensity. Another example is that the cleaning speed of the second cleaning parameter can be set to be lower than the cleaning speed in the first cleaning parameter, and the pressure magnitude of the second cleaning parameter can be set to be greater than the pressure magnitude in the first cleaning parameter.

[0079] In this embodiment, when the effect of cleaning the dirt with the first cleaning parameter is not good, by increasing the cleaning intensity, the target dirt can be cleaned with a greater cleaning intensity, thereby improving the cleaning efficiency and the cleaning effect.

[0080] In another embodiment, monitoring the cleaning effect includes: monitoring the change in the dirt degree of the target dirt during the cleaning process; and determining the cleaning effect according to the change in the dirt degree of the target dirt.

[0081] In order to monitor the change in the dirt degree during the cleaning process, a monitoring period can be set. After the time of this monitoring period is reached, the image sensor of the cleaning robot is used to collect the image of the target dirt after cleaning in this monitoring period. The image of the target dirt in the previous monitoring image (before cleaning) is compared with the image of the target dirt in this monitoring period (after cleaning) to determine the change in the dirt degree of the target dirt. In one embodiment, the monitoring period can be set to 5 - 10 seconds.

[0082] In one embodiment, the images of the target dirt before and after cleaning can be compared to determine the change in the target dirt before and after cleaning, and then the cleaning effect can be determined. For example, at least one of the area, color, quantity, etc. of the target dirt before and after cleaning can be compared to see if it has decreased. If the dirt area of the target dirt becomes smaller, the dirt color becomes lighter, the dirt quantity decreases, etc., it can all indicate that the dirt degree of the target dirt has decreased. And if the dirt area, dirt color, and dirt quantity of the target dirt have not changed, it means that the dirt degree of the target dirt has not changed.

[0083] In one embodiment, different levels of dirtiness can also be preset in advance. According to the change in the dirtiness level of the target dirt before and after cleaning, the change in dirtiness level is determined. In one embodiment, the higher the dirtiness level, the higher the degree of dirtiness, that is, the dirtier it is. If the dirtiness level decreases before and after cleaning, it means that the dirtiness degree has decreased. If the dirtiness level remains unchanged before and after cleaning, it means that the dirtiness degree remains unchanged.

[0084] In fact, the dirtiness level can be determined using a pre-trained dirt recognition model. Specifically, the picture of the dirt after cleaning is input into the dirt recognition model, and the dirtiness level of the dirt is output by the dirt recognition model. Then, according to the change in the dirtiness level before and after cleaning, the cleaning effect is determined. For example, if the dirtiness level decreases, it means that the current first cleaning parameter has a good cleaning effect on the dirt. If the dirtiness level remains unchanged or increases, it means that the current second cleaning parameter has a poor cleaning effect on the dirt.

[0085] In this embodiment, by monitoring the change in the dirtiness level of the dirt during the cleaning process and the change situation of the dirt itself, it can truly reflect the cleaning effect.

[0086] In another embodiment, the change in the dirtiness level includes a decrease in the dirtiness level and an increase in the dirtiness level. According to the change in the dirtiness level of the target dirt, the cleaning effect is determined, including: when the dirtiness level of the target dirt decreases, it is determined that the cleaning effect is a positive evaluation.

[0087] When the dirtiness level of the target dirt decreases, it is determined that the cleaning effect is a positive evaluation. A positive evaluation indicates a good cleaning effect, indicating that the current first cleaning parameter can effectively reduce the dirt. Correspondingly, if the cleaning effect is a positive evaluation, the target dirt can be continuously cleaned with the current first cleaning parameter.

[0088] In another embodiment, according to the change in the dirtiness level of the target dirt, the cleaning effect is determined, including: when the dirtiness level of the target dirt remains unchanged or the dirtiness level increases, it is determined that the cleaning effect is a negative evaluation. Correspondingly, when the dirtiness level of the dirt remains unchanged, it means that the current first cleaning parameter cannot effectively reduce the dirt. Correspondingly, a second cleaning parameter with a greater cleaning intensity is determined, and the dirt is cleaned with the second cleaning parameter.

[0089] When the dirtiness level of the dirt increases, it means that the current first cleaning parameter increases the dirtiness level. Correspondingly, different second cleaning parameters can be determined, such as stopping cleaning.

[0090] In this embodiment, for different changes in the dirtiness level, the cleaning effect is determined to realize a dynamic cleaning strategy for determining the cleaning effect.

[0091] In another embodiment, monitoring the cleaning effect includes: determining the cleaning effect according to the absorption of dirt by the cleaning robot.

[0092] The cleaning device of the cleaning robot acts on the target dirt, absorbs the target dirt, and cleans the target dirt. In one embodiment, the cleaning device may include a cleaning member and a water tank. The cleaning member directly acts on the target dirt to clean the target dirt. For example, the cleaning member can be a mop. The water tank can provide cleaning water for the mop. Therefore, it can be understood that the change in the dirt degree of the dirt itself is opposite to the absorption of dirt by the cleaning robot. When the cleaning robot effectively absorbs dirt, the dirt degree of the dirt decreases. When the cleaning robot cannot effectively absorb dirt, the dirt degree of the dirt remains unchanged.

[0093] In this embodiment, the cleaning effect is inferred based on the absorption of dirt by the cleaning robot. Among them, the cleaning device of the cleaning robot can be detected to determine the absorption of dirt by the cleaning robot. For example, the cleaning effect can be inferred based on whether the cleaning member gets dirty or whether the water tank gets dirty, etc.

[0094] Generally speaking, if the relevant cleaning device of the cleaning robot is detected and it is determined that the cleaning robot effectively absorbs dirt, it means that the cleaning robot can effectively clean the target dirt with the current first cleaning parameter, indicating that the cleaning effect is a positive evaluation. Correspondingly, the target dirt can be continuously cleaned with the current first cleaning parameter.

[0095] If the relevant configuration of the cleaning robot is detected and it is determined that the cleaning robot cannot effectively absorb dirt, it means that the cleaning robot cannot effectively clean the target dirt with the current first cleaning parameter, indicating that the cleaning effect is a negative evaluation.

[0096] In this embodiment, the cleaning effect is inferred by monitoring the absorption of dirt by the cleaning robot.

[0097] As mentioned before, the change in the dirt degree of the dirt itself is opposite to the absorption of dirt by the cleaning robot. When the cleaning robot effectively absorbs dirt, the dirt degree of the dirt decreases. When the cleaning robot cannot effectively absorb dirt, the dirt degree of the dirt remains unchanged. Therefore, if the dirt degree of the cleaning device of the cleaning robot increases, it means that the cleaning robot effectively absorbs dirt. If the dirt degree of the cleaning device of the cleaning robot decreases, it means that the cleaning robot does not effectively absorb dirt.

[0098] In another embodiment, determining the cleaning effect according to the absorption of dirt by the cleaning robot includes: if the dirt degree of the cleaning member of the cleaning robot increases, determining that the cleaning effect is a positive evaluation. It may also include: if the dirt degree of the cleaning device of the cleaning robot remains unchanged, determining that the cleaning effect is a negative evaluation.

[0099] In this embodiment, by monitoring the change in the degree of dirt on the cleaning device during the cleaning process, the absorption of dirt by the cleaning robot is reflected, and the cleaning effect is deduced inversely. Specifically, a monitoring period can be set. After the time of the monitoring period is reached, the sensor of the cleaning robot is used to collect the monitoring data of the cleaning device during this monitoring period, and the monitoring data of the previous monitoring period (before cleaning) is compared with the monitoring data of this monitoring period (after cleaning) to determine the degree of dirt on the cleaning device of the cleaning robot. In one embodiment, the monitoring period can be set to 5 to 10 seconds.

[0100] In one embodiment, the monitoring sensor can be a turbidity sensor. By monitoring the change in turbidity of the mop or water tank before and after cleaning through the turbidity sensor, the degree of dirt on the cleaning device is determined. If the turbidity increases, the degree of dirt on the cleaning device increases, indicating that the cleaning robot effectively absorbs dirt. If the turbidity remains unchanged, the degree of dirt on the cleaning device remains unchanged, indicating that the cleaning robot cannot effectively absorb dirt.

[0101] In this embodiment, by monitoring the change in the degree of dirt on the cleaning device during the cleaning process, the dirt absorption situation of the cleaning robot is inferred, and then the cleaning effect is deduced inversely.

[0102] In another embodiment, the control method of the cleaning robot is as Figure 3 shown and includes:

[0103] Step 302, obtaining the dirt information of the dirt recognized by the cleaning robot.

[0104] The dirt is the dirt in the operation area of the cleaning robot, such as stains and garbage on the room floor. The cleaning robot can collect the image of the cleaning operation area through the image sensor and use the image recognition method to identify whether the cleaning operation area includes stains. When the cleaning robot recognizes dirt, it obtains the dirt information.

[0105] Step 304, if it is determined that the dirt is the target dirt according to the dirt information, determine the first cleaning parameter for the target dirt.

[0106] Specifically, the cleaning robot recognizes the dirt information based on the collected image of the cleaning operation area, determines the target dirt and the first cleaning parameter corresponding to the target dirt according to the dirt information. One recognition method is to use the method of artificial intelligence. By pre-training a dirt recognition model for recognizing dirt information based on a labeled image set, the image set is labeled with whether it contains dirt and the dirt information. Using the trained recognition model, the image of the cleaning operation area is input into the dirt recognition model, and whether it includes dirt and the dirt information are output through the recognition model. Further, the first cleaning parameter is determined according to the dirt information.

[0107] In this embodiment, when the cleaning robot identifies dirt, the first cleaning parameter is determined according to the dirt information, so that the first cleaning parameter matches the dirt information, and the dirt can be effectively cleaned.

[0108] Step 306, control the cleaning robot to clean the target dirt according to the first cleaning parameter.

[0109] In this embodiment, the cleaning robot identifies the dirt information of the target dirt, and then determines the first cleaning parameter according to the dirt information, so that the robot can clean different dirt with different cleaning parameters, thereby improving the cleaning effect. In one embodiment, the dirt information may include at least one of the area material where the dirt is located, the dirt type, the dirt area size, and the dirt degree.

[0110] Step 308, monitor the cleaning effect, and determine the second cleaning parameter according to the cleaning effect.

[0111] In one embodiment, the cleaning effect may include a positive evaluation and a negative evaluation. A positive evaluation indicates a good cleaning effect. For a positive evaluation, the cleaning parameter may not be adjusted. A negative evaluation indicates a poor cleaning effect. For a negative evaluation, the cleaning parameter may be adjusted to improve the cleaning effect on the target dirt.

[0112] Step 310, control the cleaning robot to clean the target dirt according to the second cleaning parameter.

[0113] Specifically, the first cleaning parameter is different from the second cleaning parameter. After determining the second cleaning parameter according to the cleaning effect, the cleaning robot cleans the target dirt according to the second cleaning parameter, so that the cleaning robot can dynamically adjust the cleaning parameter according to the cleaning effect during the process of cleaning the target dirt, thereby improving the cleaning quality and cleaning effect.

[0114] In this embodiment, first, according to the dirt information of the target dirt, the first cleaning parameter is matched, that is, the target dirt is first cleaned with the first cleaning strategy. During the cleaning process, the cleaning effect is monitored, and the second cleaning parameter is adjusted in real time and actively according to the cleaning effect. This method changes the way that the cleaning robot uses a fixed cleaning parameter to clean dirt, and dynamically adjusts the cleaning parameter of the dirt in real time according to the feedback of the cleaning effect, thereby improving the cleaning quality and cleaning effect, and enhancing the intelligence level of the cleaning robot.

[0115] In one embodiment, the dirt information includes at least one of the dirt category and the dirt degree.

[0116] Cleaning robots are complex in their target objects, and there are many types of dirt in the cleaning environment, and there are also many bases for classification. For example, from the physical level, dirt categories can include: solid particles / powder, solid viscous matter, various liquids, solid-liquid mixtures, etc. For another example, from the perspective of the cleaning function and cleaning strategy of the cleaning robot, the cleaning robot can be divided into stains, cleanable garbage, and non-cleanable garbage.

[0117] The degree of dirtiness can reflect the difficulty of cleaning dirtiness. The degree of dirtiness is related to the size and area of ​​dirtiness. For the same type of dirtiness, the larger the area of ​​dirtiness, the higher the degree of dirtiness.

[0118] In one embodiment, the cleaning robot may determine the first cleaning parameter according to the type of dirt, the cleaning robot may also determine the first cleaning parameter according to the degree of dirt, or the cleaning robot may also determine the first cleaning parameter according to the type of dirt and the degree of dirt.

[0119] In one embodiment, the dirt category includes cleanable dirt. Cleanable dirt refers to dirt that can be cleaned by the cleaning robot. Cleanable dirt includes at least one subcategory.

[0120] If the dirt is determined to be a target dirt based on the dirt information, a first cleaning parameter for the target dirt is determined, including: if the dirt is cleanable dirt, the dirt is determined to be a target dirt; according to the subcategory of cleanable dirt to which the target dirt belongs, the first cleaning parameter is determined, or, according to the subcategory of cleanable dirt to which the target dirt belongs and the degree of dirtiness of the dirt, the first cleaning parameter is determined.

[0121] In this embodiment, cleanable dirt is determined as target dirt, and the target dirt is cleaned.

[0122] In one embodiment, for the target dirt, the first cleaning parameter is determined according to the subclass of cleanable dirt to which the dirt belongs. The method of determining the first cleaning parameter takes into account the differences in the specific cleanable subclasses to which the dirt belongs, and can specifically determine the first cleaning parameter according to the different characteristics of each subclass.

[0123] In another embodiment, for the target dirt, the first cleaning parameter is determined according to the subclass of cleanable dirt to which the target dirt belongs and the dirtiness of the dirt. The method for determining the first cleaning parameter takes into account the difference in the specific cleanable subclass to which the dirt belongs and the dirtiness, and can specifically determine the first cleaning parameter according to the different characteristics of each subclass and the dirtiness.

[0124] In one embodiment, the cleanable dirt includes two subcategories, one subcategory is stains, and the other subcategory is cleanable garbage.

[0125] From the physical level of dirt, stains include solid viscous substances, various liquids, and solid-liquid mixtures. Specifically, stains include but are not limited to coffee, soy sauce, cola, milk, juice, soup, muddy water, etc. From the perspective of function and user needs, for such dirt, the cleaning strategy needs to clean as thoroughly as possible, and the cleaning strategy should choose slow and multiple cleanings. For stains, different methods such as whether to increase the ground pressure and whether to increase the machine rotation action can also be determined according to the cleaning effect.

[0126] Cleanable garbage refers to the dirt that needs to be cleaned by a cleaning robot. From the physical level of dirt, cleanable garbage generally includes dry stains of solid powder type, stains of solid particle type, non-strongly corrosive liquids, and non-gummy liquids. Specifically, cleanable garbage includes but is not limited to cereal, peanuts, soybeans, biscuit crumbs, dog food, cat food, cat litter, etc. For cleanable garbage, the cleaning robot can combine relevant sensors with AI methods to identify the dirty area and the degree of dirt, and perform targeted cleaning on this area to avoid the spread of garbage while cleaning this area. Generally speaking, maintain a normal cleaning speed at a long distance, and set a relatively slow speed at a short distance, and avoid spreading the garbage (usually flying it to other areas) by changing the speed of the side brush roller; combined with the degree of dirt during cleaning, determine the cleaning time and whether to adopt different subsequent cleaning actions and strategies to improve efficiency while ensuring the cleaning quality.

[0127] In this embodiment, by identifying dirt, the cleanable dirt is determined as the target dirt, and the first cleaning parameter is determined for the target dirt according to the subcategory it belongs to, or the subcategory it belongs to and the degree of dirt, so as to formulate different cleaning strategies for dirt information and improve the intelligence level of the cleaning robot.

[0128] For the target dirt, if any one of the cleaning time, cleaning times, and cleaning effect of the target dirt does not meet the requirements, the cleaning of the target dirt is ended.

[0129] Specifically, when cleaning the target dirt, if the cleaning time or cleaning times of the target dirt do not meet the requirements, the cleaning of the target dirt is ended.

[0130] For example, if the cleaning time of the target dirt exceeds the preset maximum cleaning time, or the cleaning times exceed the preset maximum number of cleanings, the cleaning of the target dirt is ended.

[0131] Among them, the maximum cleaning time and the maximum number of cleanings can be set through the application program of the terminal.

[0132] In this embodiment, by setting the maximum number of cleanings and the maximum cleaning time, it is possible to prevent the cleaning robot from cleaning the target dirt for a long time.

[0133] In another embodiment, for the cleaning robot control method, after the step of controlling the cleaning robot to clean the target dirt according to the second cleaning parameter, it further includes: if it is determined that the dirt is stubborn dirt according to the change in the dirt degree of the target dirt, a stubborn dirt prompt is output.

[0134] Stubborn dirt is dirt whose change in dirt degree of the target dirt still does not meet the expectation after the cleaning parameters are adjusted. Specifically, stubborn dirt refers to dirt that cannot be cleaned within a certain period of time, or dirt whose change in dirt degree is not obvious enough within a certain period of time. After determining that the target dirt is stubborn dirt, a stubborn dirt prompt is output.

[0135] Among them, the stubborn dirt prompt may include: the location, type, image information of the stubborn dirt, and the first cleaning parameter and the second cleaning parameter used. The output method can be through the voice prompt of the cleaning robot, or sending the stubborn dirt prompt to the user terminal for prompting in the application program of the user terminal. If the user does not click "read" within the corresponding time for the above prompt, the interface screenshot can be saved, and the user can view it later in the "Stubborn Dirt Record" in the "Cleaning Record" of the application program.

[0136] In another embodiment, the dirt type includes non-cleanable dirt. The control method of the cleaning robot further includes: if it is determined that the dirt is non-cleanable dirt according to the dirt information, determining a third cleaning parameter for the non-cleanable dirt and a safe distance from the dirt; avoiding the non-cleanable dirt based on the safe distance and the third cleaning parameter.

[0137] Specifically, non-cleanable dirt refers to dirt that the cleaning robot cannot clean. Among them, specific types of dirt can be determined as non-cleanable dirt according to the physical characteristics of the dirt.

[0138] Non-cleanable dirt usually includes garbage that the cleaning robot should not touch and garbage that the cleaning robot has no ability to collect or may cause the machine components to jam and alarm after collection. Specifically, non-cleanable dirt includes but is not limited to: facial tissues, paper, garbage bags, paper boxes, cloth strips, thin foam boards, etc.

[0139] The most important cleaning strategy for non-cleanable dirt is for the machine to avoid it as much as possible, and remind the user to clean by identifying the category and area in the application program.

[0140] To prevent the cleaning robot from touching uncleanable dirt and garbage, the safety distance should be increased as much as possible to reduce the possibility of the machine touching and dragging after touching such dirt, so as to avoid causing malignant pollution to the environment. Therefore, the specific safety distance is as follows: To prevent the robot from touching the dirt that it does not want to touch, the distance between the center of the robot and the object, or the closest distance between the edge of the robot and the object can be used.

[0141] The specific safety distance to be avoided is set by the user or according to the default parameters at the factory. The safety distance should not be too close to the dirt, so the robot can move and clean at a relatively fast speed, thereby obtaining a more efficient cleaning.

[0142] Among them, uncleanable dirt can include multiple subclasses. For uncleanable dirt, the safety distance can be determined according to the subclasses it belongs to. For example, for garbage that cannot be collected or causes an alarm after collection, a smaller safety distance can be set. Since this type of uncleanable garbage will not cause malignant pollution to the environment and will not cause fatal failures, the safety distance for this type of dirt is allowed to be set lower. For target dirt such as feces that is likely to be dragged and cause malignant pollution to the environment, a larger safety distance can be set.

[0143] In this embodiment, by setting a safety distance for uncleanable dirt, it is possible to prevent the cleaning robot from touching this type of dirt and causing adverse effects on the environment or the machine.

[0144] For uncleanable dirt, information about the uncleanable dirt is further output. The information about the uncleanable dirt includes at least one of the position, image, and type of the uncleanable dirt. Among them, the output methods can include: at least one of voice prompts of the cleaning robot, voice prompts in the application, text prompts in the application, and marking on the map in the application.

[0145] Taking the marking on the map in the application as an example, by marking the category and position of the uncleanable dirt on the map in the application, the user is reminded to clean.

[0146] In one embodiment, the present application provides a control method for a cleaning robot, as Figure 4 shown, including:

[0147] Step 402, obtaining dirt information of the dirt recognized by the cleaning robot.

[0148] Among them, the dirt information includes at least one of the dirt category and the dirt degree.

[0149] Step 404, if it is determined that the dirt is the target dirt according to the dirt information, determining the first cleaning parameter for the target dirt.

[0150] Among them, if the dirt is cleanable dirt, determine that the dirt is the target dirt;

[0151] Determine the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs, or determine the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs and the degree of dirt of the dirt. For cleanable dirt, the intelligent cleaning mode of the cleaning robot in this application can identify snack crumbs in the home, etc., start slow cleaning and intelligently identify the cleaning effect, identify different objects in the swimming pool or the turbidity of the cleaning water to make decisions on the cleaning strategy.

[0152] Step 406, control the cleaning robot to clean the target dirt according to the first cleaning parameter.

[0153] Step 408, monitor the cleaning effect.

[0154] Among them, it is possible to monitor the change in the degree of dirt of the target dirt during the cleaning process; determine the cleaning effect according to the change in the degree of dirt of the target dirt.

[0155] The change in the degree of dirt includes a decrease in the degree of dirt and an increase in the degree of dirt. When the degree of dirt of the target dirt decreases, determine that the cleaning effect is a positive evaluation. When the degree of dirt of the target dirt remains unchanged or increases, determine that the cleaning effect is a negative evaluation.

[0156] Among them, it is also possible to determine the cleaning effect according to the absorption situation of the cleaning robot for the dirt.

[0157] If the degree of dirt of the cleaning device of the cleaning robot increases, determine that the cleaning effect is a positive evaluation. If the degree of dirt of the cleaning device of the cleaning robot remains unchanged, determine that the cleaning effect is a negative evaluation.

[0158] Step 410, determine the second cleaning parameter according to the cleaning effect.

[0159] Specifically, when the cleaning effect is the negative evaluation, the cleaning intensity corresponding to the second cleaning parameter is greater than the cleaning intensity corresponding to the first cleaning parameter.

[0160] Step 412, determine whether the cleaning time or the number of cleaning times of the target dirt meets the requirements. If so, execute step 413 to end the cleaning of the target dirt. If not, execute step 414 to determine whether the dirt is determined to be stubborn dirt according to the change in the degree of dirt of the target dirt. If so, execute step 416 to output a stubborn dirt prompt.

[0161] At the same time, as Figure 4 shown, the control method of the cleaning robot further includes:

[0162] Step 403, if the dirt is non-removable dirt, determine the third cleaning parameter for the non-removable dirt and the safety distance from the dirt.

[0163] Step 405, avoid the dirt of the non-removable dirt based on the safety distance and the third cleaning parameter.

[0164] Non-removable dirt such as pet feces, etc. The intelligent cleaning mode of the cleaning robot of the present application can identify the presence of pet feces, etc. in the scene and then activate the cleaning strategy that needs to bypass.

[0165] In this embodiment, through the intelligent identification of dirt, the dirt category and dirt degree can be identified, and then different cleaning strategies can be formulated according to the dirt category and dirt program, improving the product experience and skill level of the cleaning robot.

[0166] In one embodiment, the way of dynamically adjusting the cleaning parameter according to the cleaning effect in the present application is the intelligent cleaning mode of the cleaning robot.

[0167] The user can control the opening or closing of the intelligent cleaning mode in the application program of the terminal, or select whether to turn on the intelligent cleaning mode according to the application program. After the intelligent cleaning mode is turned on, the cleaning robot automatically selects the cleaning strategy according to the dirt information. For example, the cleaning robot automatically selects the cleaning strategy according to the dirt category and dirt program.

[0168] As Figure 5 shown, the cleaning robot obtains the sensor information collected by the sensor. The cleaning robot itself determines and asks whether to turn on dirt recognition. Among them, the user starts cleaning through the body button or the mobile app button, or the machine program itself starts cleaning according to the timing time set in advance by the user. The default cleaning area is all reachable areas. If the user makes a selection, clean the selected area.

[0169] The user can also set the dirt recognition function through the app (application program) interface. The cleaning robot prompts the dirt category and dirt degree during the cleaning process or through the app. The specific dirt categories can include stains, cleanable garbage, and garbage that the machine cannot clean. The above recognition process can be identified and stored in terms of category and area by the algorithm during the cleaning process or during the mapping process. If the robot needs to clean itself, it cleans according to the cleaning strategy. For the garbage that the robot cannot clean, the dirt category and the location area are informed to the user on the app interface later, and the user is prompted to deal with it in time.

[0170] After being turned on, during cleaning, the machine automatically detects the change in the dirt degree within the range that has been cleaned according to its own position and field of view. If the change in the dirt degree is obvious and the dirt degree is still high, it prompts the user whether to turn on the "intelligent cleaning mode".

[0171] Users can directly find the corresponding settings in the app to turn them on and off, or choose whether to turn them on according to the app's prompts. After enabling this mode, the machine will automatically select strategies based on the type and degree of dirt, such as adjusting the running speed of the machine; increasing the cleaning frequency in areas that still need to be cleaned, and returning to the normal cleaning process in real time according to the cleaning effect; according to the degree and change of dirt, specially treating stubborn dirt, such as increasing pressure, rotating the mopping cloth at variable speeds, increasing the water volume, keeping the body stationary, rotating the body while rotating the mopping cloth, etc., and returning to the normal cleaning process in real time according to the cleaning effect.

[0172] Specifically, for stain types, it is necessary to clean as clean as possible. The cleaning strategy should choose slow and multiple cleanings, and at the same time, decide whether to increase the ground pressure and whether to increase the machine rotation action according to the cleaning effect.

[0173] For cleanable types, the machine needs to clean itself, identify the dirty areas and the degree of dirt, and perform targeted cleaning on these areas to avoid garbage spreading while cleaning the areas.

[0174] For non-cleanable types, the machine tries to avoid them, identifies the types and areas through the app, and reminds the user to clean. The safety distance is set by the user or according to the factory default parameters.

[0175] The above strategies that need to continue cleaning according to the cleaning degree all include a timeout mechanism for the maximum number of times and the longest time. The specific settings of the maximum number of times and time are prompted to the user through the app to pop up a setting interface and the subsequent modification method.

[0176] If the cleaning time or the number of cleaning times of the target dirt (stains and cleanable types) reaches the maximum limit, the cleaning ends and returns to the normal cleaning mode.

[0177] For the target dirt, further determine that the dirt is stubborn dirt according to the change of the dirt degree. If it is stubborn dirt, return to the normal cleaning mode and prompt the user through the APP. For stubborn dirt, when the intelligent strategy cannot clean it clean within a certain time, or when the dirt degree does not change significantly within a certain time, it will actively return to the normal cleaning; prompt the user in the app that the stain at this position is difficult to clean, and give the user a proper prompt.

[0178] If the user does not click "Read" within the corresponding time for the above prompt, the screenshot of this interface can be saved, and the user can view it later in the "Stubborn Dirt Record" in the "Cleaning Record" of the app.

[0179] The intelligent cleaning strategy of the above process can take into account the cleaning effect while improving the cleaning speed, enhancing the user experience; at the same time, combined with the cleaning report, it can give prompts to the user, increasing the friendliness and intelligent experience of the product.

[0180] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless specifically stated herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0181] Based on the same inventive concept, the embodiments of the present application also provide a control device for a cleaning robot for implementing the control method of the cleaning robot involved above. The solutions for solving problems provided by each device are similar to the solutions described in the above method. Therefore, the specific limitations in the following device embodiments can refer to the limitations on the method in the above text and will not be repeated here.

[0182] In one embodiment, a control device for a cleaning robot is provided, as Figure 6 shown, including:

[0183] A cleaning control module 502, configured to control the cleaning robot to clean the target dirt according to the first cleaning parameter;

[0184] An adjustment module 504, configured to monitor the cleaning effect and determine a second cleaning parameter according to the cleaning effect;

[0185] The cleaning control module 502 is further configured to control the cleaning robot to clean the target dirt according to the second cleaning parameter.

[0186] In another embodiment, the cleaning effect includes a negative evaluation; the adjustment module is configured to, when the cleaning effect is the negative evaluation, the cleaning intensity corresponding to the second cleaning parameter is greater than the cleaning intensity corresponding to the first cleaning parameter.

[0187] In another embodiment, the adjustment module includes:

[0188] A monitoring module, configured to monitor the change in the dirt degree of the target dirt during the cleaning process.

[0189] An effect determination module for determining the cleaning effect according to the change in the degree of dirt of the target dirt.

[0190] In another embodiment, the change in the degree of dirt includes a decrease in the degree of dirt and an increase in the degree of dirt.

[0191] An effect determination module for determining that the cleaning effect is a positive evaluation when the degree of dirt of the target dirt decreases, or determining that the cleaning effect is a negative evaluation when the degree of dirt of the target dirt remains unchanged or increases.

[0192] In another embodiment, an adjustment module for determining the cleaning effect according to the absorption of dirt by the cleaning robot.

[0193] The adjustment module for determining that the cleaning effect is a positive evaluation if the degree of dirt of the cleaning device of the cleaning robot increases, or determining that the cleaning effect is a negative evaluation if the degree of dirt of the cleaning device of the cleaning robot remains unchanged.

[0194] In another embodiment, it further includes: a dirt identification module for obtaining the dirt information of the dirt identified by the cleaning robot.

[0195] A parameter determination module for determining the first cleaning parameter for the target dirt if it is determined that the dirt is the target dirt according to the dirt information.

[0196] In another embodiment, the dirt information includes at least one of the dirt category and the degree of dirt.

[0197] In another embodiment, the dirt category includes: cleanable dirt; the cleanable dirt includes at least one subclass;

[0198] The parameter determination module for determining that the dirt is the target dirt if the dirt is cleanable dirt; determining the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs, or determining the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs and the degree of dirt of the dirt.

[0199] In another embodiment, the cleaning control module is further configured to end the cleaning of the target dirt when the cleaning time or the number of cleaning times of the target dirt does not meet the requirements.

[0200] In another embodiment, it further includes a stubborn dirt identification module for outputting the information of the stubborn dirt if it is determined that the dirt is stubborn dirt according to the change in the degree of dirt of the target dirt, and the information of the stubborn dirt includes at least one of the type, location, cleaning parameter, and image of the stubborn dirt.

[0201] In another embodiment, the cleaning control module is further configured to determine a third cleaning parameter for the uncleanable dirt and a safe distance from the dirt if it is determined according to the dirt information that the dirt is uncleanable dirt; and avoid the uncleanable dirt based on the safe distance and the third cleaning parameter.

[0202] In another embodiment, an output module is further included, configured to output information about the uncleanable dirt, where the information about the uncleanable dirt includes at least one of the position, image, and type of the uncleanable dirt.

[0203] Among them, the output methods include at least one of: voice prompt of the cleaning robot, voice prompt through the application, text prompt in the application, and marking in the map of the application.

[0204] Each module in the control device of the above cleaning robot can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the controller of the cleaning robot in hardware form or independent of it, or stored in the memory in the controller of the cleaning robot in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0205] In one embodiment, a controller of a cleaning robot is provided, and its internal structure diagram can be as Figure 7 shown. The controller includes a processor, a memory, and a microphone connected through a system bus. Among them, the processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the controller is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for a cleaning robot.

[0206] Those skilled in the art can understand that Figure 7 the structure shown in

[0207] is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the controller to which the solution of this application is applied. The specific controller may include more or fewer components than those shown in the figure, or combine certain components, or have a different component layout.

[0208] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the steps of the methods in the above embodiments.

[0209] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0210] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0211] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that, The method includes: Controlling the cleaning robot to clean the target dirt according to the first cleaning parameter; Monitoring the cleaning effect and determining the second cleaning parameter according to the cleaning effect; Controlling the cleaning robot to clean the target dirt according to the second cleaning parameter.

2. The method according to claim 1, wherein The cleaning effect includes a negative evaluation; when the cleaning effect is the negative evaluation, the cleaning intensity corresponding to the second cleaning parameter is greater than the cleaning intensity corresponding to the first cleaning parameter.

3. The method according to claim 1, wherein The monitoring of the cleaning effect includes: Monitoring the change in the dirt degree of the target dirt during the cleaning process; Determining the cleaning effect according to the change in the dirt degree of the target dirt.

4. The method according to claim 3, wherein The change in the dirt degree includes a decrease in the dirt degree and an increase in the dirt degree; The determining of the cleaning effect according to the change in the dirt degree of the target dirt includes at least one of the following methods: The first method: When the dirt degree of the target dirt decreases, determining that the cleaning effect is a positive evaluation; The second method: When the dirt degree of the target dirt remains unchanged or increases, determining that the cleaning effect is a negative evaluation.

5. The method according to claim 1, wherein The monitoring of the cleaning effect includes: Determining the cleaning effect according to the absorption situation of the dirt by the cleaning robot.

6. The method according to claim 5, wherein The determining of the cleaning effect according to the absorption situation of the dirt by the cleaning robot includes at least one of the following methods: The first method: If the dirt degree of the cleaning device of the cleaning robot increases, determining that the cleaning effect is a positive evaluation; The second method: If the dirt degree of the cleaning device of the cleaning robot remains unchanged, determining that the cleaning effect is a negative evaluation.

7. The method according to claim 1, characterized in that The method further includes: Obtaining the dirt information of the dirt recognized by the cleaning robot; If it is determined that the dirt is the target dirt according to the dirt information, determining the first cleaning parameter for the target dirt.

8. The method according to claim 7, wherein The dirt information includes at least one of the dirt category and the dirt degree.

9. The method according to claim 8, wherein The dirt category includes: cleanable dirt; the cleanable dirt includes at least one subclass; If it is determined that the dirt is the target dirt according to the dirt information, determining the first cleaning parameter for the target dirt includes: If the dirt is cleanable dirt, determining that the dirt is the target dirt; Determining the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs, or determining the first cleaning parameter according to the subclass of the cleanable dirt to which the target dirt belongs and the dirt degree of the dirt.

10. The method according to claim 9, wherein The method further includes: For the target dirt, when the cleaning time or the number of cleaning times of the target dirt does not meet the requirements, ending the cleaning of the target dirt.

11. The method according to any one of claims 1 to 9, characterized in that, After the step of controlling the cleaning robot to clean the target dirt according to the second cleaning parameter, the method further includes: If it is determined that the dirt is stubborn dirt according to the change in the dirt degree of the target dirt, outputting the information of the stubborn dirt, and the information of the stubborn dirt includes at least one of the type, location, cleaning parameter, and image of the stubborn dirt.

12. The method according to claim 7, characterized in that The method further includes: If it is determined that the dirt is non-cleanable dirt according to the dirt information, determining the third cleaning parameter for the non-cleanable dirt and the safe distance from the dirt. Avoid the uncleanable dirt based on the safety distance and the third cleaning parameter.

13. The method according to claim 12, wherein The method further includes: Outputting information about the uncleanable dirt, where the information about the uncleanable dirt includes at least one of the position, image, and type of the uncleanable dirt.

14. The method according to claim 11 or 12, characterized in that, The output methods include: At least one of voice prompts of the cleaning robot, voice prompts through an application, text prompts in the application, and marking on the map of the application.

15. A cleaning robot, characterized in that, The cleaning robot includes: a sensor, a cleaning device, and drive wheels, and the cleaning robot performs the steps of any one of claims 1 to 14.

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