Carpet cleaning method and cleaning robot

Abstract

The invention relates to a carpet cleaning method and a cleaning robot. The method comprises the following steps: identifying a driving scene of the cleaning robot, acquiring a carpet type of a carpet driven by the cleaning robot in the carpet driving scene, determining a carpet cleaning mode according to the carpet type, and cleaning the driven carpet according to the carpet cleaning mode. According to the method, the corresponding carpet cleaning mode is determined according to the carpet type, the adaptation degree between the carpet type and the carpet cleaning mode is improved, targeted cleaning of the running carpet is achieved, and therefore the carpet cleaning effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a carpet cleaning method and a cleaning robot. BACKGROUND

[0002] With the development of technology, cleaning robots are more and more widely used.

[0003] In the related art, a cleaning robot can identify whether a travel scene is a ground scene or a carpet scene, so as to adopt a corresponding cleaning mode to perform a cleaning task.

[0004] However, the cleaning effect on the carpet in the related art is poor. SUMMARY

[0005] Therefore, it is necessary to provide a carpet cleaning method and a cleaning robot to solve the above technical problems.

[0006] In a first aspect, the present application provides a carpet cleaning method, comprising:

[0007] identifying a travel scene of a cleaning robot, and in a carpet travel scene, acquiring a carpet type of a carpet traveled by the cleaning robot;

[0008] determining a carpet cleaning mode according to the carpet type;

[0009] performing a cleaning operation on the traveled carpet according to the carpet cleaning mode.

[0010] In one embodiment, acquiring the carpet type of the carpet traveled by the cleaning robot comprises:

[0011] acquiring a detection distance of the cleaning robot to the carpet in the carpet travel scene;

[0012] determining the carpet type according to the detection distance and a reference distance; the reference distance is equal to a distance of the cleaning robot to a hard ground.

[0013] In one embodiment, determining the carpet type according to the detection distance and the reference distance comprises:

[0014] determining a pile length of the traveled carpet according to the detection distance and the reference distance;

[0015] determining the carpet type according to the pile length.

[0016] In one embodiment, determining the pile length of the traveled carpet according to the detection distance and the reference distance comprises:

[0017] acquiring a difference between the detection distance and the reference distance as a reference pile length of the traveled carpet;

[0018] The compensation pile length is determined according to the detection distance;

[0019] The sum of the reference pile length and the compensation pile length is obtained as the pile length of the traveled carpet.

[0020] In one embodiment, the carpet cleaning mode is determined according to the carpet type, including:

[0021] The control gear of the dry cleaning assembly in the cleaning robot is determined according to the carpet type;

[0022] The corresponding carpet cleaning mode is formed according to the control gear of the dry cleaning assembly; the carpet type includes short-pile carpet, medium-pile carpet and long-pile carpet, and the carpet cleaning mode includes at least two.

[0023] In one embodiment, the control gear of the dry cleaning assembly in the cleaning robot is determined according to the carpet type, including:

[0024] In the case of the carpet type being short-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the first gear;

[0025] In the case of the carpet type being medium-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the second gear;

[0026] In the case of the carpet type being long-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the third gear; the first gear, the second gear and the third gear are sequentially increased.

[0027] In one embodiment, the dry cleaning assembly includes a rolling brush and a fan; the cleaning robot is configured to adjust at least one of the lifting height of the rolling brush, the rotating speed of the rolling brush and the suction force of the fan according to the carpet type.

[0028] In a second aspect, the present application further provides a cleaning robot, including:

[0029] a robot body;

[0030] a cleaning assembly arranged on the robot body and configured to clean a surface to be cleaned;

[0031] a moving assembly connected to the robot body and configured to drive the robot body to move on the surface to be cleaned;

[0032] a recognition sensor arranged on the robot body;

[0033] a processor connected to the recognition sensor, the processor being configured to determine the carpet type according to the detection result of the recognition sensor and control the cleaning assembly to perform a cleaning operation on the traveled carpet in a carpet cleaning mode corresponding to the carpet type.

[0034] In one of the embodiments, the identification sensor comprises an ultrasonic sensor and a distance sensor; the ultrasonic sensor is used to identify the carpet, and the distance sensor is used to measure the distance between the cleaning robot and the surface to be cleaned.

[0035] In one of the embodiments, the moving assembly comprises a universal wheel, and the distance sensor is arranged at the bottom of the robot body and within a preset range of the universal wheel.

[0036] In one of the embodiments, the cleaning assembly comprises at least a dry cleaning assembly, and the dry cleaning assembly comprises a rolling brush and a fan; the rolling brush is rotationally connected to the robot body, and the fan is arranged in the robot body; the processor is used to control at least one of the lifting height of the rolling brush, the rotating speed of the rolling brush and the suction force of the fan according to the material of the surface to be cleaned and the type of the carpet.

[0037] In the above-mentioned carpet cleaning method and cleaning robot, the driving scene of the cleaning robot is identified, so as to obtain the type of the carpet on which the cleaning robot drives in the carpet driving scene, and determine the carpet cleaning mode according to the type of the carpet, thereby performing the cleaning operation on the driven carpet according to the carpet cleaning mode. In the above-mentioned method, the corresponding carpet cleaning mode is determined according to the type of the carpet, which improves the adaptability between the type of the carpet and the carpet cleaning mode, realizes the targeted cleaning of the driven carpet, and improves the carpet cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a schematic diagram of the internal structure of the cleaning robot in one of the embodiments;

[0039] Figure 2 FIG. 2 is a schematic diagram of the flow of the carpet cleaning method in one of the embodiments;

[0040] Figure 3 FIG. 3 is a schematic diagram of the flow of determining the type of the carpet in one of the embodiments;

[0041] Figure 4 FIG. 4 is a schematic diagram of the flow of determining the type of the carpet in another of the embodiments;

[0042] Figure 5 FIG. 5 is a schematic diagram of the flow of determining the carpet cleaning mode in one of the embodiments;

[0043] Figure 6 FIG. 6 is a schematic diagram of the flow of determining the length of the pile in one of the embodiments;

[0044] Figure 7 FIG. 7 is a schematic diagram of the relationship between the detection distance and the reference distance in one of the embodiments;

[0045] Figure 8 FIG. 8 is a schematic diagram of the flow of determining the control gear in one of the embodiments;

[0046] Figure 9 a flowchart of a carpet cleaning method in another embodiment;

[0047] Figure 10 a schematic diagram of a bottom of a cleaning robot in an embodiment;

[0048] Figure 11 a structural block diagram of a carpet cleaning device in an embodiment. DETAILED DESCRIPTION

[0049] In order to make the purposes, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0050] The carpet cleaning method provided by the embodiments of the present application can be applied to a cleaning robot as shown in the drawings. Figure 1 The cleaning robot includes a processor, a memory, a communication interface, a display screen, an input device, a cleaning assembly, a moving assembly and an identification sensor connected through a system bus. The processor of the cleaning robot is used to provide computing and control capabilities. The memory of the cleaning robot 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 operating system and the computer program in the non-volatile storage medium to run. The communication interface of the cleaning robot is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The display screen of the cleaning robot can be a liquid crystal display screen or an electronic ink display screen. The input device of the cleaning robot can be a touch layer overlaid on the display screen, or a key, trackball or touchpad provided on the shell of the cleaning robot. The cleaning assembly of the cleaning robot is provided on the robot body of the cleaning robot and is used to perform a cleaning task. The moving assembly of the cleaning robot is provided at the bottom of the robot body and is used to drive the robot body to move when driven. The identification sensor of the cleaning robot is used to obtain sensing data to achieve ranging and / or determine a travel scene for the processor. The computer program in the memory is used to implement a carpet cleaning method when executed by the processor.

[0051] Those skilled in the art can understand that Figure 1 The structure shown in the drawings is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the cleaning robot to which the scheme of the present application is applied. A specific cleaning robot can include more or fewer components than those shown in the drawings, or combine certain components, or have a different component arrangement.

[0052] In one embodiment, asFigure 2 As shown, a carpet cleaning method is provided, and the method is applied to the cleaning robot in Figure 1 The method comprises the following steps:

[0053] S210, identify the driving scene of the cleaning robot, and in the carpet driving scene, obtain the carpet type of the carpet on which the cleaning robot drives.

[0054] The driving scene is used to represent whether the ground on which the cleaning robot drives is carpeted. For example, the driving scene includes a ground driving scene without carpet and a carpet driving scene with carpet. The classification of the carpet type can be based on various factors. For example, the carpet type can be classified based on material, including leather carpet, wool carpet and plastic carpet, or based on color, including light-colored carpet and dark-colored carpet, or based on thickness, including thick carpet and thin carpet.

[0055] Optionally, the cleaning robot can detect the driving scene through the identification sensor carried by itself to identify the driving scene. The detection can be performed multiple times within a preset time period, and if the same result is obtained for multiple times, the corresponding driving scene is determined.

[0056] For example, the cleaning robot can obtain the echo signal generated on the ground through the ultrasonic sensor arranged at the bottom of the body, determine the driving scene according to the echo signal, and in the case that the identification result is stable and triggered for 5s and is carpet driving scene, the driving scene is determined as carpet driving scene. The driving scene can also be determined by collecting the ground image through the camera arranged on the body and inputting the ground image into the scene recognition model.

[0057] Generally, the echo signal generated by the ultrasonic sensor on the hard ground is strong and multiple, while the echo signal generated on the relatively soft carpet is weak, and in some cases, there is no echo signal. Based on this, the cleaning robot can identify the driving scene based on the strength of the echo signal of the ultrasonic sensor. For example, in the case that the strength of the echo signal is greater than or equal to the preset strength, the driving scene is determined as ground driving scene; in the case that the strength of the echo signal is less than the preset strength, the driving scene is determined as carpet driving scene.

[0058] Optionally, in the case that the driving scene is identified as ground driving scene, the cleaning robot uses the ground cleaning mode to clean the ground. The ground cleaning mode can include controlling the maximum sinking of the mop and / or the roller brush to perform the mop washing and / or dust removal task on the ground. In the case that the driving scene is identified as carpet driving scene, the cleaning robot can also lift the non-carpet cleaning assembly.

[0059] The non-carpet cleaning assembly is a cleaning assembly that is not used for carpet cleaning. For example, the carpet used in daily life is usually a pile carpet, and the cleaning robot usually uses a dry cleaning assembly to clean the pile carpet, and generally does not need to use a wet cleaning assembly. Therefore, the non-carpet cleaning assembly can include a wet cleaning assembly, such as a mop. In the case of a carpet driving scene, the cleaning robot can lift the mop so that the mop does not contact the carpet, thereby avoiding wetting the carpet.

[0060] Optionally, in the carpet driving scene, the cleaning robot can identify the type of the carpet driven by the identification sensor carried by the cleaning robot to obtain the carpet type of the carpet driven. For example, the cleaning robot can capture a carpet image through a camera installed at the bottom of the body, and determine the carpet type according to the carpet image. For example, the cleaning robot can input the carpet image into a carpet type identification model to determine the carpet type.

[0061] S220, determining a carpet cleaning mode according to the carpet type.

[0062] The carpet cleaning mode is used to represent the control mode of the cleaning robot for different cleaning assemblies when performing a carpet cleaning task. For different types of carpets, the required task content, cleaning assembly, and control parameters of the cleaning assembly can be different, so different carpet types can correspond to different carpet cleaning modes.

[0063] Optionally, after the cleaning robot determines the carpet type of the carpet driven, the cleaning robot can determine the carpet cleaning mode corresponding to the carpet type of the carpet driven based on the corresponding relationship between the carpet type and the carpet cleaning mode. For example, in the case of dividing the carpet type according to the material, in the case of determining that the carpet type is a leather carpet, the carpet cleaning mode includes performing a mop washing, dust collection, and drying task; in the case of determining that the carpet type is a pile carpet, the carpet cleaning mode includes performing a dust collection task; and in the case of determining that the carpet type is a plastic carpet, the carpet cleaning mode includes performing a mop washing and dust collection task. In the case of dividing the carpet type according to the thickness, in the case of determining that the carpet type is a thin carpet, the carpet cleaning mode includes controlling the fan to perform a dust collection task according to a smaller first output power; and in the case of determining that the carpet type is a thick carpet, the carpet cleaning mode includes controlling the fan to perform a dust collection task according to a larger second output power.

[0064] S230, performing a cleaning operation on the carpet driven according to the carpet cleaning mode.

[0065] Optionally, after obtaining the carpet cleaning mode, the cleaning robot can perform cleaning operation on the traveled carpet according to the carpet cleaning mode. Illustratively, continuing the above example, in the case that the carpet cleaning mode includes mopping, vacuuming and drying tasks, the cleaning robot performs cleaning operation on the traveled carpet according to the carpet cleaning mode by controlling the corresponding cleaning components to work according to the preset order and working parameters, so as to perform cleaning operation on the traveled carpet. For example, the mop is controlled to sink to perform the mopping task, the roller brush and the air blower are controlled to work to perform the cleaning and vacuuming tasks, and the electric heating cylinder and the air blower are controlled to work to perform the drying task.

[0066] In the embodiments of the present application, the traveled carpet type of the cleaning robot is obtained in the carpet traveling scenario, and the carpet cleaning mode is determined according to the carpet type, so that the cleaning operation is performed on the traveled carpet according to the carpet cleaning mode. In the above method, the corresponding carpet cleaning mode is determined according to the carpet type, which improves the adaptation degree between the carpet type and the carpet cleaning mode, realizes targeted cleaning of the traveled carpet, and thus improves the carpet cleaning effect.

[0067] The carpet type can be determined based on the reference distance from the cleaning robot to the hard floor and the detection distance from the cleaning robot to the carpet. Therefore, in one of the embodiments, as shown in Figure 3 The carpet type of the traveled carpet of the cleaning robot is obtained in S210, including:

[0068] S310, obtaining the detection distance from the cleaning robot to the carpet in the carpet traveling scenario.

[0069] The detection distance from the cleaning robot to the carpet is the distance from the bottom of the body of the cleaning robot to the carpet.

[0070] Optionally, in the carpet traveling scenario, the cleaning robot can obtain the detection distance from the cleaning robot to the carpet through the distance sensor installed at the bottom of the body. The cleaning robot can perform distance measurement multiple times within a preset time period through the distance sensor. If the multiple distance measurement results are the same, the distance obtained by distance measurement is determined as the detection distance from the cleaning robot to the carpet.

[0071] Illustratively, the distance sensor can be a pulse sensor, which measures the time length required for light pulse emission and reflection back, and calculates the detection distance from the cleaning robot to the carpet according to the time length and the propagation rate of the light pulse. If the measurement results are the same distance (or meet the error range) within 5s of stable triggering, the measured distance is determined as the detection distance from the cleaning robot to the carpet. The time length required for light pulse emission and reflection back is also called direct time of flight (Dtof). In this embodiment, the distance sensor can be a 3D TOF sensor.

[0072] The light pulse generated by the pulse sensor is not affected by the color, reflectivity and texture of the object, so the pulse light emitted to the carpet will not be absorbed or greatly deflected by the pile, and can be returned to the pulse sensor in the original state to the greatest extent, so that the pulse sensor can accurately measure the distance. Therefore, whether in a ground driving scene or a carpet driving scene, a single pulse sensor can obtain reliable distance measurement results for determining the type of carpet, without the need to introduce other devices for carpet type identification, thereby saving hardware costs. The fast distance measurement frequency of the pulse sensor can reach 90 Hz, and the accuracy can reach millimeter level.

[0073] S320, determining the type of carpet according to the detection distance and the reference distance; the reference distance is equal to the distance from the cleaning robot to the hard ground.

[0074] The reference distance is the distance from the bottom of the body of the cleaning robot to the hard ground. The type of carpet can be represented by the thickness of the carpet. For example, the type of carpet can include thick carpet and thin carpet.

[0075] Alternatively, after obtaining the detection distance in the carpet driving scene, the cleaning robot can directly read the pre-stored reference distance from the cleaning robot to the hard ground, to determine the thickness of the carpet according to the detection distance and the reference distance, and then determine the type of carpet according to the thickness of the carpet. The reference distance can be directly stored in the cleaning robot before the cleaning robot is shipped, or the distance from the cleaning robot to the hard ground can be measured by the distance sensor in the ground driving scene during use of the cleaning robot.

[0076] For example, the cleaning robot can obtain the difference between the detection distance and the reference distance as the thickness of the carpet, and compare the thickness of the carpet with the preset thickness, and then determine the type of carpet according to the comparison result. If the thickness of the carpet is greater than or equal to the preset thickness, the type of carpet is determined to be thick carpet; if the thickness of the carpet is less than the preset thickness, the type of carpet is determined to be thin carpet.

[0077] In the embodiments of the present application, the detection distance from the cleaning robot to the carpet in the carpet driving scene is obtained, and the type of carpet is determined according to the detection distance and the reference distance from the cleaning robot to the hard ground. In the above method, the type of carpet is quantitatively determined based on the detection distance in the carpet driving scene and the reference distance from the cleaning robot to the hard ground, which improves the accuracy of the determined type of carpet.

[0078] For commonly used pile carpet, the length of the pile directly affects the thickness of the carpet. Based on this, in one of the embodiments, as shown in Figure 4 S320, determining the type of carpet according to the detection distance and the reference distance, includes:

[0079] S410, determining the pile length of the traveled carpet according to the detection distance and the reference distance.

[0080] Optionally, the cleaning robot can directly obtain the difference between the detection distance and the reference distance as the pile length of the traveled carpet.

[0081] S420, determining the carpet type according to the pile length.

[0082] Optionally, after obtaining the pile length, the cleaning robot can determine the carpet type of the carpet traveled by the cleaning robot according to the preset correspondence between the carpet type and the pile length range. For example, the preset correspondence between the carpet type and the pile length range includes: short pile carpet when the pile length < 10 mm; medium pile carpet when 10 mm ≤ pile length ≤ 25 mm; long pile carpet when the pile length > 25 mm. For example, when the pile length of the traveled carpet is 20 mm, the cleaning robot can determine that the carpet type of the traveled carpet is medium pile carpet.

[0083] To improve the accuracy of the pile length, in one of the embodiments, as shown in Figure 5 S410, determining the pile length of the traveled carpet according to the detection distance and the reference distance, includes:

[0084] S510, obtaining the difference between the detection distance and the reference distance as the reference pile length of the traveled carpet.

[0085] Optionally, the cleaning robot obtains the detection distance and the reference distance, and can first obtain the difference between the detection distance and the reference distance as the reference pile length of the traveled carpet. For example, as shown in Figure 6 the height Dd of the roller installed at the bottom of the cleaning robot represents the reference distance from the hard ground, and Df is the detection distance from the carpet under the carpet travel scene, and the reference pile length Dsc of the traveled carpet is Dd-Df.

[0086] S520, determining the compensation pile length according to the detection distance.

[0087] It should be noted that the above reference pile length cannot reflect the true pile length of the traveled carpet, as shown in Figure 6 the robot travels on the carpet and is pressed on the pile, and the pressed pile lifts the robot to make Df smaller, which in turn causes Dsc to be smaller than the true pile length of the carpet. Therefore, Dsc needs to be compensated to obtain the pile length that can be used to reflect the true pile length of the carpet. The smaller Df is, the greater the length that needs to be compensated.

[0088] Optionally, the robot can read a preset compensation coefficient, and determine the compensation pile length according to the compensation coefficient and the detection distance. For example, e is the compensation coefficient, and the compensation pile length Do = e / Df.

[0089] S530, obtaining the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet.

[0090] Optionally, after obtaining the compensation pile length, the robot can obtain the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet. For example, the pile length of the traveled carpet Ds = Dsc + Do = Dsc + e / Df.

[0091] In the embodiments of the present application, the difference between the detection distance and the reference distance is obtained as the reference pile length of the traveled carpet, and the compensation pile length is determined according to the detection distance, so that the sum of the reference pile length and the compensation pile length is obtained as the pile length of the traveled carpet. In the above method, considering the part of the pile on the carpet that is pressed by the cleaning robot, the reference pile length calculated roughly is compensated by estimating the compensation pile length, so that the compensated pile length is obtained, and the accuracy of the determined pile length is improved.

[0092] The carpet cleaning mode includes a control gear for the dry cleaning assembly in the cleaning robot. Based on this, in one of the embodiments, as shown in Figure 7 the determination of the carpet cleaning mode according to the carpet type in S220 includes:

[0093] S710, determining a control gear for the dry cleaning assembly in the cleaning robot according to the carpet type.

[0094] Among them, the cleaning robot can include multiple types of cleaning assemblies. The dry cleaning assembly is a cleaning assembly for carpet cleaning. For example, for the pile carpet commonly used in daily life, the dry cleaning assembly can include at least one of the side brush, the roller brush and the air blower. The control gear is used to represent the adjustment range of the working parameter of the dry cleaning assembly. The higher the control gear, the greater the corresponding working parameter change.

[0095] Optionally, the cleaning robot can determine the control gear corresponding to the carpet type of the traveled carpet according to the preset corresponding relationship between the carpet type and the control gear, as the control gear for the dry cleaning assembly in the cleaning robot. For example, in the case where the carpet type includes short pile carpet and long pile carpet, and the dry cleaning assembly includes an air blower, the preset corresponding relationship between the carpet type and the control gear includes that the short pile carpet corresponds to a first air blower control gear, and the long pile carpet corresponds to a second air blower control gear. Among them, the second air blower control gear is greater than the first air blower control gear.

[0096] S720, forming a carpet cleaning mode corresponding to the control gear of the dry cleaning assembly.

[0097] The carpet type includes a short pile carpet, a medium pile carpet and a long pile carpet, and the carpet cleaning mode includes at least two.

[0098] Optionally, the cleaning robot forms a carpet cleaning mode corresponding to the control gear of the dry cleaning assembly after obtaining the control gear of the dry cleaning assembly, so as to subsequently adjust and control the working parameters of the dry cleaning assembly.

[0099] In the embodiments of the present application, the control gear of the dry cleaning assembly in the cleaning robot is determined according to the carpet type, and a carpet cleaning mode corresponding to the control gear of the dry cleaning assembly is formed. The carpet type includes a short pile carpet, a medium pile carpet and a long pile carpet, and the carpet cleaning mode includes at least two. In the above method, the control gear of the dry cleaning assembly is determined based on the carpet type to form a carpet cleaning mode corresponding to the control gear of the dry cleaning assembly, so as to realize the adjustment and control of the dry cleaning assembly for different types of carpets, improve the adaptation between the carpet type and the carpet cleaning mode, and improve the cleaning effect of the carpet.

[0100] In the case where the carpet type includes a short pile carpet, a medium pile carpet and a long pile carpet, in one embodiment, as shown in Figure 8 S710, determining the control gear of the dry cleaning assembly in the cleaning robot according to the carpet type, includes:

[0101] S810, in the case where the carpet type is a short pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a first gear.

[0102] The control gear of the dry carpet cleaning assembly can represent the cleaning ability that the dry cleaning assembly can achieve. The higher the control gear, the stronger the cleaning ability that the dry cleaning assembly can achieve, and the greater the energy consumption; on the contrary, the lower the control gear, the weaker the cleaning ability that the dry cleaning assembly can achieve, and the smaller the energy consumption.

[0103] The hiding ability of the short pile carpet is weak, and general cleaning can be performed. Optionally, the cleaning robot determines the control gear of the dry cleaning assembly in the cleaning robot as a smaller first gear in the case where the carpet type of the carpet traveled is a short pile carpet, so as to realize the general cleaning of the short pile carpet.

[0104] S820, in the case where the carpet type is a medium pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a second gear.

[0105] The medium-pile carpet has a stronger ability to hide dust, and the cleaning can be enhanced. Alternatively, the cleaning robot determines that the control gear of the dry cleaning assembly in the cleaning robot is the second gear in the middle, to achieve enhanced cleaning for the medium-pile carpet, in a case that the carpet type of the traveled carpet is determined to be a medium-pile carpet.

[0106] S830, in a case that the carpet type is a long-pile carpet, determining that the control gear of the dry cleaning assembly in the cleaning robot is a third gear; the first gear, the second gear, and the third gear are sequentially increased.

[0107] The long-pile carpet has the strongest ability to hide dust, and needs to be cleaned deeply. Alternatively, the cleaning robot determines that the control gear of the dry cleaning assembly in the cleaning robot is the third gear, to achieve deep cleaning for the long-pile carpet, in a case that the carpet type of the traveled carpet is determined to be a long-pile carpet.

[0108] In actual application, the dry cleaning assembly includes a roller brush and a fan, and the cleaning robot can be used to adjust at least one of the lifting height of the roller brush, the rotating speed of the roller brush, and the suction force of the fan according to the carpet type.

[0109] Alternatively, the first gear corresponding to the short-pile carpet includes a small range of increasing the lifting height and the rotating speed of the roller brush, and a small range of increasing the suction force of the fan. Illustratively, the first gear includes a roller brush lifting gear +1, a roller brush rotating speed gear +1, and a fan gear +1. The second gear corresponding to the medium-pile carpet includes a middle range of increasing the lifting height and the rotating speed of the roller brush, and a middle range of increasing the suction force of the fan. Illustratively, the second gear includes a roller brush lifting gear +2, a roller brush rotating speed gear +2, and a fan gear +2. The third gear corresponding to the long-pile carpet includes a large range of increasing the lifting height and the rotating speed of the roller brush, and a large range of increasing the suction force of the fan. Illustratively, the third gear includes a roller brush lifting gear +3, a roller brush rotating speed gear +3, and a fan gear +3.

[0110] Wherein, the longer the pile of the carpet, the higher the lifting height of the roller brush, that is, the larger the lifting range of the roller brush, which can effectively avoid that the pile on the carpet is too much rolled into the roller brush, resulting in pile winding and blocking, and then causing cleaning failure or cleaning accidents damaging the carpet, and the working stability and safety of the cleaning robot can be improved accordingly. Illustratively, the lifting height of the roller brush is greater than 1 / 2 of the pile length of the carpet traveled by the cleaning robot, and less than the pile length of the carpet traveled.

[0111] In this embodiment, when the carpet type is a short-pile carpet, the control level of the dry cleaning component in the cleaning robot is determined to be the first level; when the carpet type is a medium-pile carpet, the control level of the dry cleaning component in the cleaning robot is determined to be the second level; and when the carpet type is a long-pile carpet, the control level of the dry cleaning component in the cleaning robot is determined to be the third level. The first, second, and third levels increase sequentially. In the above method, the first, second, and third levels, which increase sequentially, are used as the control levels of the dry cleaning component for short-pile, medium-pile, and long-pile carpets respectively, to adapt to the dust-trapping capacity of carpets with different pile lengths. Compared to using a uniform control level, the above method can save energy while ensuring cleaning effectiveness, thereby improving the cleaning robot's battery life. It is easy to understand that in some embodiments, the same carpet cleaning mode can also be used for short-pile and medium-pile carpets, or the same carpet cleaning mode can be used for medium-pile and long-pile carpets.

[0112] To facilitate understanding by those skilled in the art, the carpet cleaning method provided in this application is described in detail below, such as... Figure 9 As shown, the method may include:

[0113] S901. Identify the driving scenario of the cleaning robot and obtain the detection distance between the cleaning robot and the carpet in the ground driving scenario;

[0114] S902. Obtain the difference between the detection distance and the reference distance as the reference pile length of the carpet being driven on; the reference distance is the distance from the cleaning robot to the hard surface.

[0115] S903. Determine the compensation fiber length based on the detection distance;

[0116] S904. Obtain the sum of the reference pile length and the compensated pile length as the pile length of the carpet being driven.

[0117] S905. Determine the carpet type based on the pile length;

[0118] S906. When the carpet type is a short-pile carpet, the control position of the dry cleaning component in the cleaning robot is set to the first position.

[0119] S907. When the carpet type is medium-pile carpet, determine the control position of the dry cleaning component in the cleaning robot to be the second position.

[0120] S908. When the carpet type is a long-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the third level; the first level, the second level, and the third level increase sequentially.

[0121] S909, The control settings of the dry cleaning components form corresponding carpet cleaning modes; the dry cleaning components include a roller brush and a blower; the carpet types include short-pile carpets, medium-pile carpets, and long-pile carpets; the carpet cleaning modes include at least two;

[0122] S910. Perform cleaning operations on the carpet being driven according to the carpet cleaning mode.

[0123] It should be noted that the descriptions in S901-S910 above can be found in the relevant descriptions in the above embodiments, and their effects are similar, so they will not be repeated here.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] In one embodiment, a cleaning robot is provided, comprising:

[0126] The robot itself;

[0127] The cleaning component, mounted on the robot body, is used to clean the surface to be cleaned;

[0128] The moving component, connected to the robot body, is used to move the robot body across the surface to be cleaned;

[0129] The identification sensor is installed on the robot body;

[0130] The processor, connected to the identification sensor, determines the carpet type based on the detection results of the identification sensor and controls the cleaning components to perform cleaning operations on the carpet in a carpet cleaning mode corresponding to the carpet type.

[0131] In one embodiment, the identification sensors include an ultrasonic sensor and a distance sensor. The ultrasonic sensor is used to identify the carpet, and the distance sensor is used to measure the distance between the cleaning robot and the surface to be cleaned.

[0132] For example, the distance sensor can be a pulse sensor. Figure 10As shown, both the ultrasonic sensor U and the pulse sensor P are located at the bottom of the cleaning robot. The ultrasonic sensor U is used to emit ultrasonic signals to the ground and receive the echo signals of the ultrasonic signals to identify whether there is a carpet on the ground. The pulse sensor P is used to emit light pulses to the ground and receive the echo signals of the light pulses to measure the distance between the cleaning robot and the surface to be cleaned.

[0133] The processor in the cleaning robot can identify the driving scenario based on the strength of the echo signal from the ultrasonic sensor. For example, if the intensity of the echo signal is greater than or equal to a preset intensity, the driving scenario is determined to be a ground driving scenario; if the intensity of the echo signal is less than the preset intensity, the driving scenario is determined to be a carpet driving scenario.

[0134] The processor in the cleaning robot can calculate the reference distance from the cleaning robot to the ground in a ground driving scenario, and / or the detection distance from the cleaning robot to the carpet in a carpet driving scenario, based on the time required for the light pulse to be emitted and reflected back, as measured by the pulse sensor and the propagation rate of the light pulse.

[0135] In one embodiment, the moving components of the cleaning robot include casters. A distance sensor is located on the bottom of the robot body and within a preset range of the casters.

[0136] For example, such as Figure 10 As shown, the distance sensor is a pulse sensor P, which is positioned within a preset range of the omnidirectional wheel W. The omnidirectional wheel W, under the instruction of the processor, controls the forward direction of the cleaning robot and guides the movement of other auxiliary moving components (such as side wheels) to propel the entire cleaning robot in the forward direction. For example, the omnidirectional wheel is located at the bottom of the cleaning robot's body, specifically at the foremost point in the robot's forward direction F. The pulse sensor P is positioned close to the omnidirectional wheel W, and the distance can be set within a preset range formed by a preset distance from the omnidirectional wheel W.

[0137] Optionally, to enable the ultrasonic sensor to promptly identify the driving scenario, the ultrasonic sensor can be positioned at the very front of the cleaning robot in its forward direction. For example, such as... Figure 10 As shown, the two ultrasonic sensors U on the cleaning robot are located on both sides of the omnidirectional wheel W.

[0138] It should be noted that the small size and large weight of the caster wheels, which make them easy to sink into the carpet, can be used to place the distance sensor near the caster wheels to improve the accuracy of distance measurement, thereby improving the accuracy of the obtained pile length.

[0139] In one embodiment, the cleaning component includes at least a dry cleaning component.

[0140] The dry cleaning assembly includes a roller brush and a fan. The roller brush is rotatably connected to the robot body, and the fan is installed inside the robot body. The processor is used to control at least one of the following based on the material of the surface to be cleaned and the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

[0141] The processor can be used to implement the steps of the carpet cleaning method in any of the above embodiments. For details, please refer to the foregoing embodiments, which will not be repeated here.

[0142] Based on the same inventive concept, this application also provides a carpet cleaning apparatus for implementing the carpet cleaning method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the carpet cleaning apparatus provided below can be found in the limitations of the carpet cleaning method described above, and will not be repeated here.

[0143] In one embodiment, such as Figure 11 As shown, a carpet cleaning device is provided, including: a type acquisition module 1101, a mode determination module 1102, and a cleaning operation module 1103, wherein:

[0144] The type acquisition module 1101 is used to identify the driving scenario of the cleaning robot. In the carpet driving scenario, it acquires the carpet type of the carpet that the cleaning robot is driving on.

[0145] The mode determination module 1102 is used to determine the carpet cleaning mode according to the carpet type;

[0146] The cleaning module 1103 is used to perform cleaning operations on the carpet being driven according to the carpet cleaning mode.

[0147] In one embodiment, the type acquisition module 1101 includes:

[0148] The distance acquisition submodule is used to acquire the detection distance between the cleaning robot and the carpet in a carpet driving scenario;

[0149] The type determination submodule is used to determine the carpet type based on the detection distance and the reference distance; the reference distance is equal to the distance from the cleaning robot to the hard surface.

[0150] In one embodiment, the type determination submodule:

[0151] Length unit, used to determine the pile length of the carpet being driven based on the detection distance and reference distance;

[0152] Type unit, used to determine carpet type based on pile length.

[0153] In one embodiment, the length unit includes:

[0154] The reference sub-unit is used to obtain the difference between the detection distance and the reference distance, which serves as the reference pile length of the carpet being driven.

[0155] The compensation subunit is used to determine the compensation fiber length based on the detection distance.

[0156] The length sub-unit is used to obtain the sum of the reference pile length and the compensation pile length, which is taken as the pile length of the carpet being driven.

[0157] In one embodiment, the pattern determination module 1102 includes:

[0158] The gear submodule is used to determine the control gear for the dry cleaning component in the cleaning robot based on the type of carpet.

[0159] The mode subunit is used to form a corresponding carpet cleaning mode based on the control settings of the dry cleaning component; the carpet types include short-pile carpets, medium-pile carpets and long-pile carpets, and the carpet cleaning modes include at least two.

[0160] In one embodiment, the gear position submodule includes:

[0161] The first gear unit is used to determine the control gear of the dry cleaning component in the cleaning robot as the first gear when the carpet type is a short-pile carpet.

[0162] The second gear unit is used to determine the control gear of the dry cleaning component in the cleaning robot to the second gear when the carpet type is medium-pile carpet.

[0163] The third gear unit is used to determine the control gear of the dry cleaning component in the cleaning robot to the third gear when the carpet type is a long-pile carpet; the first gear, second gear, and third gear increase sequentially.

[0164] In one embodiment, the dry cleaning assembly includes a roller brush and a fan; the cleaning robot is used to adjust at least one of the following according to the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

[0165] Each module in the aforementioned carpet cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0166] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0167] Identify the driving scenario of the cleaning robot; in the case of a carpet driving scenario, obtain the carpet type of the carpet being driven by the cleaning robot; determine the carpet cleaning mode based on the carpet type; and perform cleaning operations on the carpet being driven by the cleaning robot according to the carpet cleaning mode.

[0168] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0169] Obtain the detection distance between the cleaning robot and the carpet in a carpet driving scenario;

[0170] The carpet type is determined based on the detection distance and the reference distance; the reference distance is equal to the distance from the cleaning robot to the hard surface.

[0171] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0172] The pile length of the carpet being driven is determined based on the detection distance and reference distance; the carpet type is determined based on the pile length.

[0173] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0174] The difference between the detection distance and the reference distance is obtained as the reference pile length of the carpet being driven; a compensation pile length is determined based on the detection distance; the sum of the reference pile length and the compensation pile length is obtained as the pile length of the carpet being driven. In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0175] The control level of the dry cleaning component in the cleaning robot is determined according to the type of carpet; the control level of the dry cleaning component forms the corresponding carpet cleaning mode; the carpet types include short-pile carpets, medium-pile carpets and long-pile carpets, and the carpet cleaning mode includes at least two.

[0176] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0177] When the carpet type is short-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the first level; when the carpet type is medium-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the second level; when the carpet type is long-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the third level; the first level, the second level, and the third level increase sequentially.

[0178] In one embodiment, the dry cleaning assembly includes a roller brush and a fan; the cleaning robot is used to adjust at least one of the following according to the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

[0179] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0180] Identify the driving scenario of the cleaning robot; in the case of a carpet driving scenario, obtain the carpet type of the carpet being driven by the cleaning robot; determine the carpet cleaning mode based on the carpet type; and perform cleaning operations on the carpet being driven by the cleaning robot according to the carpet cleaning mode.

[0181] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0182] Obtain the detection distance between the cleaning robot and the carpet in a carpet driving scenario;

[0183] The carpet type is determined based on the detection distance and the reference distance; the reference distance is equal to the distance from the cleaning robot to the hard surface.

[0184] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0185] The pile length of the carpet being driven is determined based on the detection distance and reference distance; the carpet type is determined based on the pile length.

[0186] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0187] The difference between the detection distance and the reference distance is obtained as the reference pile length of the carpet being driven; the compensation pile length is determined based on the detection distance; the sum of the reference pile length and the compensation pile length is obtained as the pile length of the carpet being driven.

[0188] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0189] The control level of the dry cleaning component in the cleaning robot is determined according to the type of carpet; the control level of the dry cleaning component forms the corresponding carpet cleaning mode; the carpet types include short-pile carpets, medium-pile carpets and long-pile carpets, and the carpet cleaning mode includes at least two.

[0190] In one embodiment, when the computer program is executed by the processor, it further performs the following steps:

[0191] When the carpet type is short-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the first level; when the carpet type is medium-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the second level; when the carpet type is long-pile carpet, the control level of the dry cleaning component in the cleaning robot is set to the third level; the first level, the second level, and the third level increase sequentially.

[0192] In one embodiment, the dry cleaning assembly includes a roller brush and a fan; the cleaning robot is used to adjust at least one of the following according to the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

[0193] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. 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), magnetic 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 take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0194] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0195] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A carpet cleaning method, characterized in that, The method includes: Identify the driving scenario of the cleaning robot, and in the case of a carpet driving scenario, obtain the carpet type of the carpet that the cleaning robot is driving on; Determine the carpet cleaning mode based on the carpet type; The carpet is cleaned according to the carpet cleaning mode described above.

2. The method according to claim 1, characterized in that, The step of obtaining the carpet type of the carpet being cleaned by the cleaning robot includes: Obtain the detection distance between the cleaning robot and the carpet in the carpet driving scenario; The carpet type is determined based on the detection distance and the reference distance; the reference distance is equal to the distance from the cleaning robot to the hard surface.

3. The method according to claim 2, characterized in that, Determining the carpet type based on the detection distance and the reference distance includes: The pile length of the carpet being driven is determined based on the detection distance and the reference distance; The type of carpet is determined based on the pile length.

4. The method according to claim 3, characterized in that, Determining the pile length of the carpet being driven based on the detection distance and the reference distance includes: The difference between the detection distance and the reference distance is obtained and used as the reference pile length of the carpet being driven. The compensation fluff length is determined based on the detection distance; The sum of the reference pile length and the compensated pile length is obtained as the pile length of the carpet being driven.

5. The method according to any one of claims 1 to 4, characterized in that, Determining the carpet cleaning mode based on the carpet type includes: The control level for the dry cleaning component in the cleaning robot is determined based on the carpet type. The control settings of the dry cleaning component form corresponding carpet cleaning modes; the carpet types include short-pile carpets, medium-pile carpets, and long-pile carpets, and the carpet cleaning modes include at least two.

6. The method according to claim 5, characterized in that, Determining the control level for the dry cleaning component in the cleaning robot based on the carpet type includes: When the carpet type is a short-pile carpet, the control position of the dry cleaning component in the cleaning robot is determined to be the first position; When the carpet type is a medium-pile carpet, the control position of the dry cleaning component in the cleaning robot is determined to be the second position; When the carpet type is a long-pile carpet, the control level of the dry cleaning component in the cleaning robot is determined to be the third level; the first level, the second level, and the third level increase sequentially.

7. The method according to claim 5, characterized in that, The dry cleaning assembly includes a roller brush and a fan; the cleaning robot is used to adjust at least one of the following according to the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

8. A cleaning robot, characterized in that, include: The robot itself; A cleaning component, mounted on the robot body, is used to clean the surface to be cleaned; A mobile component, connected to the robot body, is used to move the robot body on the surface to be cleaned; The identification sensor is installed on the robot body; A processor, connected to the identification sensor, is used to determine the carpet type based on the detection result of the identification sensor, and control the cleaning component to perform cleaning operations on the carpet in a carpet cleaning mode corresponding to the carpet type.

9. The cleaning robot according to claim 8, characterized in that, The identification sensors include an ultrasonic sensor and a distance sensor; the ultrasonic sensor is used to identify carpets, and the distance sensor is used to measure the distance between the cleaning robot and the surface to be cleaned.

10. The cleaning robot according to claim 9, characterized in that, The moving component includes a omnidirectional wheel, and the distance sensor is located at the bottom of the robot body and within a preset range of the omnidirectional wheel.

11. The cleaning robot according to claim 8, characterized in that, The cleaning assembly includes at least a dry cleaning assembly, which includes a roller brush and a fan. The roller brush is rotatably connected to the robot body, and the fan is disposed within the robot body. The processor is used to control at least one of the following according to the material of the surface to be cleaned and the type of carpet: the lifting height of the roller brush, the rotation speed of the roller brush, and the suction power of the fan.

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