Robot mop state switching method

Abstract

The embodiment of the invention provides a robot mop state switching method, and relates to the technical field of robots. The method comprises the steps that a switching condition responding to a second working state is triggered, and a mop motor is controlled to drive a mop to rotate in the first direction according to first control logic; in response to triggering of the first detection assembly, the mop motor is controlled to stop rotating; after waiting for a first preset duration, detecting whether the first detection component is still in a triggered state; if it is detected that the first detection assembly is still in the triggered state, it is determined that the first cleaning face rotates to the preset position; and if it is detected that the first detection assembly is not in the triggered state, it is determined that the first cleaning face does not rotate to the preset position, and the mop motor is controlled to rotate again. By the adoption of the technical scheme, the mop does not need to be lifted, the mop and the carpet can be more accurately isolated, and then the problem that the mop makes contact with the carpet and stains the carpet is solved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a method for switching the state of a robot mop. Background Technology

[0002] With the development of smart homes, robots are being used more and more frequently in the home environment.

[0003] In a home environment, if a robot moves onto a carpet, the damp mop will soil the carpet upon contact. Current solutions involve lifting the mop to prevent this, but these control methods are complex and cannot completely eliminate the problem of mop-carpet contact causing soiling.

[0004] Regarding the disclosure of application number 202223237408.X, it can be seen that the prior art discloses adjusting the first cleaning part or the second cleaning part towards the bottom of the housing via a roller assembly to adapt to different cleaning environments or objects. In specific use, the roller assembly drives the mop to rotate, with one side of the first cleaning part facing the bottom of the housing, and the first cleaning part contacts the floor for cleaning. When moving to a carpet or similar location, the roller assembly drives the mop to rotate, with one side of the second cleaning part facing the bottom of the housing. However, in actual rotation, there is a problem that the first or second cleaning part may not rotate to the correct position. That is, when moving to a carpet or similar location, part of the second cleaning part may not face the bottom of the housing, resulting in part of the first cleaning part contacting the carpet and soiling it.

[0005] Therefore, there is an urgent need for a robotic mop state switching method that can eliminate the need to lift the mop and more accurately isolate the mop from the carpet, thereby solving the problem of the mop coming into contact with the carpet and soiling it. Summary of the Invention

[0006] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a method for switching robot mop states.

[0007] A first aspect of this disclosure provides a method for switching states of a robot mop. The mop has a first cleaning surface and a second cleaning surface, and the mop includes a first working state and a second working state. In the first working state, the first cleaning surface and the second cleaning surface alternately contact the surface to be cleaned; in the second working state, only the first cleaning surface contacts the surface to be cleaned. The robot is equipped with a first detection component for detecting whether the mop has rotated to a preset position. The method includes:

[0008] In response to the switching condition of the second working state being triggered, the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic;

[0009] In response to the first detection component being triggered, the mop motor is controlled to stop rotating;

[0010] After waiting for a first preset time, check whether the first detection component is still in a triggered state;

[0011] If the first detection component is detected to still be in a triggered state, then the first cleaning surface is determined to have rotated to a preset position;

[0012] If the first detection component is not detected to be in a triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the mop motor is controlled to rotate again.

[0013] In one example, controlling the mop motor to rotate again includes:

[0014] Obtain the number of times the mop motor restarts;

[0015] Determine whether the number of times exceeds the counting threshold;

[0016] If the count is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to drive the mop to rotate along the first direction according to the first control logic. The above steps of waiting for a first preset time and then detecting whether the first detection component is still in the triggered state are repeated.

[0017] If the count exceeds the threshold, the mop motor is controlled to rotate the mop according to the second control logic.

[0018] In one example, controlling the mop motor to drive the mop to rotate according to the second control logic includes:

[0019] The mop motor is controlled to rotate the mop along the second direction for a second preset time and then stop; wherein the second direction is the opposite direction of the first direction.

[0020] In one example, controlling the mop motor to drive the mop to rotate according to the second control logic includes:

[0021] The control mechanism stops after the mop motor drives the mop to rotate along the second direction for a second preset time.

[0022] After waiting for the first preset time, check whether the first detection component is still in the triggered state;

[0023] If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop along the second direction for a third preset time and then stop.

[0024] After waiting for the first preset time, check whether the first detection component is still in the triggered state;

[0025] If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop along the second direction for a fourth preset time and then stop; wherein the fourth preset time is less than the third preset time.

[0026] Until the first detection component is detected to be in a triggered state.

[0027] In one example, controlling the mop motor to drive the mop to rotate according to the second control logic includes:

[0028] The control motor drives the mop to rotate along the first direction for a fifth preset time and then stops.

[0029] In one example, the fifth preset duration is the time it takes for the mop to rotate once.

[0030] In one example, controlling the mop motor to drive the mop to rotate in a first direction according to the first control logic includes:

[0031] The mop motor is controlled to cycle periodically for a sixth preset time after being turned on, and then for a sixth preset time after being turned off.

[0032] In one example, the sixth preset duration is the duration from when the first detection component is in a triggered state until the first detection component changes to a non-triggered state when the mop motor is continuously rotating.

[0033] In one example, the first cleaning surface is a hydrophobic surface; the second cleaning surface is an absorbent surface.

[0034] In one example, the first detection component includes a magnetic element and a magnetic sensing element; wherein the magnetic element is disposed on the second cleaning surface;

[0035] The magnetic sensor is positioned above the mop on the bottom of the robot; when the magnetic sensor is located directly below the magnetic sensor, the first detection component is triggered.

[0036] This technical solution ensures that only the first cleaning surface contacts the surface to be cleaned in the second working state. Specifically, upon detecting that the second working state is triggered, the mop motor is controlled to rotate the mop in the first direction according to the first control logic. During this process, if the first detection component is triggered, the mop motor stops rotating and waits for a first preset time before re-detecting whether the first detection component is still in the triggered state. If the first detection component is still in the triggered state, it is determined that the first cleaning surface has rotated to the preset position. If the first detection component is not in the triggered state, it means that the first cleaning surface has not rotated to the preset position, and the mop motor needs to be controlled to rotate again. This technical solution, by continuously detecting whether the first detection component is still in the triggered state, determines whether the first cleaning surface has rotated to the preset position. This allows for more accurate isolation between the mop and the carpet without lifting the mop, thus solving the problem of the mop contacting and soiling the carpet.

[0037] In one implementation, the control strategy for the mop motor is determined by the relationship between the number of times the mop motor rotates and the counting threshold, thereby enabling the mop rotation to be controlled according to the actual situation and improving the flexibility of the mop rotation.

[0038] In another embodiment, by controlling the mop motor to rotate again after the first control logic has controlled the number of times to exceed the counting threshold, and then adjusting the position of the mop in the opposite direction, the first cleaning surface can be accurately rotated to the preset position.

[0039] In another embodiment, the mop motor is continuously controlled to rotate the mop in the second direction, and the rotation is continuously monitored until the first cleaning surface rotates to a preset position. This allows for continuous adjustment of the difference between the first cleaning surface and the preset position, ensuring that the first cleaning surface rotates accurately to the preset position.

[0040] In another embodiment, the first cleaning surface is rotated back to the preset position after another full rotation. This improves the accuracy of rotating the first cleaning surface to the preset position. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0042] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a robot mop state switching method provided in an embodiment of this disclosure;

[0044] Figure 2 This is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure;

[0045] Figure 3a This is a flowchart illustrating another robot mop state switching method provided in this embodiment of the disclosure;

[0046] Figure 3b This is a schematic diagram of the logic process of a robot mop state switching method provided in an embodiment of this disclosure;

[0047] Figure 4 This is a flowchart illustrating another robot mop state switching method provided in this embodiment of the disclosure;

[0048] Figure 5 This is a flowchart illustrating another robot mop state switching method provided in this embodiment of the disclosure;

[0049] Figure 6 This is a schematic diagram of the structure of a robot mop state switching device provided in an embodiment of this disclosure;

[0050] Figure 7 This is a schematic diagram of the structure of a robot according to an embodiment of this disclosure. Detailed Implementation

[0051] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0052] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0053] Figure 1 This is a flowchart illustrating a robot mop state switching method provided in an embodiment of this disclosure. Figure 2 A schematic diagram of the structure of a robot is shown. Figure 2As can be seen, the mop has a first cleaning surface and a second cleaning surface, wherein the first cleaning surface is a hydrophobic surface; and the second cleaning surface is an absorbent surface. The mop includes a first working state and a second working state. In the first working state, the first and second cleaning surfaces alternately contact the surface to be cleaned; in the second working state, only the first cleaning surface contacts the surface to be cleaned. The robot is equipped with a first detection component for detecting whether the mop has rotated to a preset position. This method can be executed by a robot. This robot can be exemplarily understood as a device such as a mobile phone, tablet, laptop, desktop computer, or smart TV. Figure 1 As shown, the method provided in this embodiment includes the following steps:

[0054] S101, In response to the switching condition of the second working state being triggered, the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic.

[0055] In one example, the first and second working states can be switched according to the actual situation. The first working state can be used for normal floor cleaning, while the second working state can be used when the robot is handling carpets, woolen clothing, or other situations where soiling is avoided.

[0056] In this embodiment, the switching condition for the second working state is triggered when the second detection component detects that the robot is in contact with a carpet or woolen clothing. The second detection component is an ultrasonic detection component, which can be positioned on the bottom of the robot.

[0057] The switching condition for the second working state can also be triggered by the user operating a smart device. The first control logic is the robot's built-in control logic, and the first direction can be either counterclockwise or clockwise.

[0058] S102, In response to the first detection component being triggered, control the mop motor to stop rotating.

[0059] In one example, the first detection component includes a magnetic element and a magnetic sensing element; wherein the magnetic element is disposed on the second cleaning surface;

[0060] The magnetic sensor is positioned above the mop on the bottom of the robot; the first detection component is triggered when the magnetic sensor is located directly below it.

[0061] In one example, the magnetic sensor uses a Hall effect element. When the mop motor rotates, the mop rotates, and the magnetic sensor rotates accordingly. During the rotation of the magnetic sensor, it will be positioned directly below the magnetic sensor, thereby triggering the first detection component. In this embodiment, the magnetic sensor being directly below the magnetic sensor indicates that the second cleaning surface is facing upwards.

[0062] In this embodiment, for clarity, it can be noted that when the magnetic component is directly below the magnetic induction component, the Hall signal of the magnetic induction component is a low-level signal.

[0063] In one example, after the first detection component is triggered, the mop motor stops rotating, meaning the second cleaning surface is facing up and the first cleaning surface is facing down.

[0064] S103. After waiting for the first preset time, check whether the first detection component is still in the triggered state.

[0065] In one example, the first preset duration is a pre-set duration, for example, 50ms. After waiting for the first preset duration, the first detection component is checked to determine whether it is still in a triggered state.

[0066] S104. If the first detection component is detected to still be in the triggered state, the first cleaning surface is determined to rotate to the preset position.

[0067] In one example, if the first detection component is still in a triggered state, i.e., the Hall signal of the magnetic induction element is a low-level signal, then it is determined that the first cleaning surface has rotated to a preset position. The preset position can mean that the first cleaning surface is completely facing upwards, i.e., both the left and right edges of the first cleaning surface are away from the ground.

[0068] S105. If it is detected that the first detection component is not in the triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the mop motor is controlled to rotate again.

[0069] In one example, if the first detection component is not detected to be in a triggered state, i.e., the Hall signal of the magnetic induction element is a high-level signal, it indicates that a portion of the left or right edge of the first cleaning surface is not off the ground. In this case, the mop motor needs to be controlled to rotate again so that both the left and right edges of the first cleaning surface are off the ground.

[0070] This disclosure provides a method for switching the state of a robotic mop. The method includes: responding to the triggering of a switching condition for a second working state, controlling a mop motor to rotate the mop along a first direction according to a first control logic; responding to the triggering of a first detection component, controlling the mop motor to stop rotating; waiting for a first preset time period, detecting whether the first detection component is still in a triggered state; if the first detection component is detected to still be in a triggered state, determining that the first cleaning surface has rotated to a preset position; if the first detection component is detected not to be in a triggered state, determining that the first cleaning surface has not rotated to the preset position, and controlling the mop motor to rotate again. Using this technical solution, it is possible to eliminate the need to lift the mop and to more accurately isolate the mop from the carpet, thereby solving the problem of the mop contacting and soiling the carpet.

[0071] Figure 3a This illustration shows a flowchart of another robot mop state switching method provided by an embodiment of the present disclosure. This embodiment of the present disclosure is an optimization based on the above embodiments, and can be combined with various optional solutions from one or more of the above embodiments.

[0072] like Figure 3a As shown, the robot mop state switching method may include the following steps:

[0073] S301, In response to the switching condition of the second working state being triggered, the control of the mop motor is to cycle periodically for a sixth preset time after being turned on and off.

[0074] In one example, the sixth preset duration is a pre-set duration. For example, the sixth preset duration could be 25ms. Here, the sixth preset duration is the time it takes for the first detection component to go from being in a triggered state to being in a non-triggered state while the mop motor is continuously rotating.

[0075] In one example, for clarity, it can be noted that when the magnetic component is directly below the magnetic sensor, the Hall signal of the magnetic sensor is a low-level signal; that is, when the first detection component is in a triggered state, the Hall signal of the magnetic sensor is a low-level signal. In this embodiment, the sixth preset duration can characterize the duration from when the Hall signal of the magnetic sensor is a low-level signal until it is no longer detectable that the Hall signal of the magnetic sensor is a low-level signal.

[0076] S302, In response to the first detection component being triggered, control the mop motor to stop rotating.

[0077] In one example, this step can be found in step S102.

[0078] S303. After waiting for the first preset time, check whether the first detection component is still in the triggered state.

[0079] In one example, this step can be found in step S103.

[0080] S304. If the first detection component is still in the triggered state, then the first cleaning surface is determined to rotate to the preset position.

[0081] In one example, this step can be found in step S104.

[0082] S305. If it is detected that the first detection component is not in the triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the number of times the mop motor rotates again is obtained; it is determined whether the number of times is greater than the counting threshold.

[0083] In one example, the number of times the mop motor rotates represents the number of times the mop motor is controlled to rotate along the first direction according to the first control logic. Specifically, the number of times the mop motor rotates again can be denoted as N. In this embodiment, the initial value of N can be 0. Furthermore, the counting threshold can be 1.

[0084] S306. If the count is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic. The above steps of waiting for the first preset time and then detecting whether the first detection component is still in the triggered state are repeated.

[0085] In one example, if the value of N is not greater than the counting threshold, that is, N is less than or equal to 1, then N is incremented by 1 and reassigned to the value of N, and the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic. The above steps of waiting for the first preset time and then detecting whether the first detection component is still in the triggered state are repeated.

[0086] In one example, controlling the mop motor to drive the mop to rotate in a first direction according to the first control logic includes: controlling the mop motor to cycle periodically according to the sixth preset time after being turned on and off for a sixth preset time.

[0087] S307. If the count is greater than the counting threshold, control the mop motor to drive the mop to rotate according to the second control logic.

[0088] In one example, if the value of N is greater than the counting threshold (i.e., N is greater than 1), then N is incremented by 1 and reassigned to the N value. The mop motor is then controlled to rotate according to the second control logic. This second control logic is different from the first control logic.

[0089] In one example, controlling the mop motor to drive the mop to rotate according to the second control logic includes: controlling the mop motor to drive the mop to rotate in the second direction for a second preset time and then stopping; wherein the second direction is the opposite direction of the first direction.

[0090] In one example, the second direction is the opposite of the first direction; if the first direction is clockwise, then the second direction is counterclockwise. The second preset duration can be 15ms.

[0091] Furthermore, the mop motor is controlled to rotate the mop in the opposite direction for 15ms before stopping.

[0092] For a clearer explanation, please refer to [link to relevant documentation]. Figure 3b This diagram illustrates the logic process of a robot mop state switching method. The detailed steps are as follows:

[0093] S308. Obtain the initial value of the number of times the mop motor restarts, and the initial value is 0.

[0094] S309. In response to the switching condition of the second working state being triggered, the control of the mop motor is to cycle periodically according to the sixth preset time after being turned on and off for the sixth preset time.

[0095] S310. Detect whether the first detection component is in a triggered state.

[0096] If yes, proceed to step S311; otherwise, proceed to step S309.

[0097] S311, Control the mop motor to stop rotating and wait for the first preset time.

[0098] S312. Check whether the first detection component is still in the triggered state.

[0099] If yes, proceed to step S313; otherwise, proceed to step S314.

[0100] S313, then determine that the first cleaning surface rotates to the preset position.

[0101] S314, Increment the count by 1 and reassign the value to the count N.

[0102] S315. Determine whether the value of N is greater than 1.

[0103] If yes, proceed to step S316; otherwise, proceed to step S309.

[0104] S316. Control the mop motor to drive the mop to rotate in the second direction for a second preset time and then stop.

[0105] This disclosure provides a method for switching the state of a robot mop. The method includes: when the first cleaning surface has not rotated to a preset position, determining control logic for the mop motor based on the relationship between the number of times the mop motor rotates again and a counting threshold. Further, if the number is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to rotate the mop in a first direction according to the first control logic; if the count is greater than the counting threshold, the mop motor is controlled to rotate the mop according to a second control logic. Using this technical solution, the mop can be rotated in the opposite direction when the first cleaning surface has not rotated to the preset position, thereby ensuring that the mop is fully turned over and improving the accuracy of the first cleaning surface rotating to the preset position.

[0106] Figure 4 This illustration shows a flowchart of another robot mop state switching method provided by an embodiment of the present disclosure. This embodiment of the present disclosure is an optimization based on the above embodiments, and can be combined with various optional solutions from one or more of the above embodiments.

[0107] like Figure 4 As shown, the robot mop state switching method may include the following steps:

[0108] S401, In response to the switching condition of the second working state being triggered, the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic.

[0109] In one example, this step can be found in step S101.

[0110] S402, In response to the first detection component being triggered, control the mop motor to stop rotating.

[0111] In one example, this step can be found in step S102.

[0112] S403. After waiting for the first preset time, check whether the first detection component is still in the triggered state.

[0113] In one example, this step can be found in step S103.

[0114] S404. If it is detected that the first detection component is still in the triggered state, then determine that the first cleaning surface has rotated to the preset position.

[0115] In one example, this step can be found in step S104.

[0116] S405. If it is detected that the first detection component is not in the triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the number of times the mop motor rotates again is obtained; it is determined whether the number of times is greater than the counting threshold.

[0117] In one example, this step can be found in step S305.

[0118] S406. If the count is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic.

[0119] In one example, this step can be found in step S306.

[0120] S407. If the count exceeds the threshold, control the mop motor to rotate the mop in the second direction for a second preset time and then stop.

[0121] In one example, this step can be found in step S307.

[0122] S408. After waiting for the first preset time, check whether the first detection component is still in the triggered state.

[0123] In one example, this step can be found in step S103.

[0124] S409. If it is detected that the first detection component is not in the triggered state, the mop motor is controlled to rotate the mop in the second direction for a third preset time and then stop; after waiting for the first preset time, it is detected whether the first detection component is still in the triggered state.

[0125] In one example, the third preset duration could be 15ms. After controlling the mop motor to rotate the mop in the second direction for 15ms, the control stops, and after waiting for the first preset duration again, the first detection component is re-detected to see if it is still in the triggered state.

[0126] S410. If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop in the second direction for a fourth preset time and then stop; wherein the fourth preset time is less than the third preset time; until the first detection component is detected to be in a triggered state.

[0127] In one example, if the first detection component is not detected to be in a triggered state (i.e., the Hall signal of the magnetic induction element is a high-level signal), the mop motor is controlled to continue rotating the mop in the second direction for a fourth preset time, after which it stops; the fourth preset time can be 10ms. Then, after waiting for the first preset time again, it is checked whether the first detection component is still in a triggered state. If yes, the process ends. If no, the mop motor is controlled to continue rotating the mop in the second direction for a time shorter than the fourth preset time, until the first detection component is detected to be in a triggered state.

[0128] This disclosure provides a method for switching the state of a robot mop. The method includes: if a first detection component is detected not to be in a triggered state, continuously controlling the mop motor to rotate the mop along a second direction for different preset durations and then stopping, until the first detection component is detected to be in a triggered state. Using this technical solution, the mop motor can be continuously controlled to rotate the mop along the second direction until the first cleaning surface rotates to a preset position, thereby improving the accuracy of the first cleaning surface rotating to the preset position.

[0129] Figure 5 This illustration shows a flowchart of another robot mop state switching method provided by an embodiment of the present disclosure. This embodiment of the present disclosure is an optimization based on the above embodiments, and can be combined with various optional solutions from one or more of the above embodiments.

[0130] like Figure 5 As shown, the robot mop state switching method may include the following steps:

[0131] S501, In response to the switching condition of the second working state being triggered, the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic.

[0132] In one example, this step can be found in step S101.

[0133] S502, In response to the first detection component being triggered, control the mop motor to stop rotating.

[0134] In one example, this step can be found in step S102.

[0135] S503. After waiting for the first preset time, check whether the first detection component is still in the triggered state.

[0136] In one example, this step can be found in step S103.

[0137] S504. If the first detection component is still in the triggered state, then the first cleaning surface is determined to rotate to the preset position.

[0138] In one example, this step can be found in step S104.

[0139] S505. If it is detected that the first detection component is not in the triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the number of times the mop motor rotates again is obtained; it is determined whether the number of times is greater than the counting threshold.

[0140] In one example, this step can be found in step S305.

[0141] S506. If the count is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic.

[0142] In one example, this step can be found in step S306.

[0143] S507. If the count exceeds the threshold, control the mop motor to rotate the mop along the first direction for a fifth preset time and then stop.

[0144] In one example, the fifth preset duration is the time it takes for the mop to rotate one revolution. In another example, the fifth preset duration can be 900ms. In this embodiment, if the time exceeds the counting threshold, in order to make the first cleaning surface rotate to the preset position as quickly as possible, it can be rotated significantly. At this time, the mop motor can be re-controlled to drive the mop to rotate one revolution in the first direction.

[0145] This disclosure provides a method for switching the state of a robot mop. The method includes: if the number of times the count exceeds a threshold, controlling the mop motor to rotate the mop one revolution along a first direction and then stopping. Using this technical solution, the first cleaning surface can be rotated to a preset position more quickly, thereby shortening the robot's adjustment time and improving the user experience.

[0146] Figure 6 This is a schematic diagram of a robot mop state switching device provided in an embodiment of this disclosure. This robot mop state switching device can be understood as the robot described above or a functional module within the robot. Figure 6 As shown, the mop has a first cleaning surface and a second cleaning surface, and the mop includes a first working state and a second working state. In the first working state, the first cleaning surface and the second cleaning surface alternately contact the surface to be cleaned; in the second working state, only the first cleaning surface contacts the surface to be cleaned. The robot is equipped with a first detection component, which is used to detect whether the mop has rotated to a preset position. The robot mop state switching device 60 includes:

[0147] The first control module 601 is used to control the mop motor to drive the mop to rotate in the first direction according to the first control logic in response to the triggering of the switching condition of the second working state.

[0148] The second control module 602 is used to control the mop motor to stop rotating in response to the triggering of the first detection component.

[0149] The detection module 603 is used to detect whether the first detection component is still in the triggered state after waiting for a first preset time.

[0150] The first determining module 604 is used to determine that the first cleaning surface rotates to a preset position if the first detection component is detected to still be in the triggered state.

[0151] The second determining module 605 is used to determine that the first cleaning surface has not rotated to the preset position if the first detection component is not detected to be in the triggered state, and to control the mop motor to rotate again.

[0152] In one example, the second determining module 605 includes:

[0153] The `get` submodule is used to obtain the number of times the mop motor has restarted.

[0154] The judgment submodule is used to determine whether the number of counts is greater than the counting threshold;

[0155] The first control submodule is used to increment the count by 1 if the count is not greater than the counting threshold, and control the mop motor to drive the mop to rotate in the first direction according to the first control logic, repeating the above steps of waiting for the first preset time and detecting whether the first detection component is still in the triggered state.

[0156] The second control submodule is used to control the mop motor to drive the mop to rotate according to the second control logic if the count exceeds the threshold.

[0157] In one example, the second control submodule is specifically used for:

[0158] The mop motor is controlled to rotate the mop in the second direction for a second preset time and then stop; wherein the second direction is the opposite direction of the first direction.

[0159] In one example, the second control submodule is specifically used for:

[0160] The control mop motor drives the mop to rotate in the second direction for a second preset time and then stops.

[0161] After waiting for the first preset time, check whether the first detection component is still in the triggered state;

[0162] If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop in the second direction for a third preset time and then stop.

[0163] After waiting for the first preset time, check whether the first detection component is still in the triggered state;

[0164] If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop in the second direction for a fourth preset time and then stop; wherein the fourth preset time is less than the third preset time.

[0165] Until the first detection component is detected to be in a triggered state.

[0166] In one example, the second control submodule is specifically used for:

[0167] The control system rotates the mop along the first direction for a preset time and then stops.

[0168] In one example, the fifth preset duration is the time it takes for the mop to complete one rotation.

[0169] In one example, the first control module 601 includes:

[0170] The third control submodule is used to control the mop motor to cycle periodically according to the sixth preset time period after being turned on and off.

[0171] In one example, the sixth preset duration is the duration from when the first detection component is in the triggered state until the first detection component changes to the untriggered state when the mop motor is continuously rotating.

[0172] In one example, the first cleaning surface is a hydrophobic surface; the second cleaning surface is an absorbent surface.

[0173] In one example, the first detection component includes a magnetic element and a magnetic sensor; wherein the magnetic element is disposed on the second cleaning surface; the magnetic sensor is disposed above the mop at the bottom of the robot; the first detection component is triggered when the magnetic element is located directly below the magnetic sensor.

[0174] The apparatus provided in this embodiment can execute the methods of any of the above embodiments, and its execution method and beneficial effects are similar, so they will not be described again here.

[0175] This disclosure also provides a robot, which includes: a memory storing a computer program; and a processor for executing the computer program, wherein when the computer program is executed by the processor, it can implement the methods of any of the above embodiments.

[0176] Example, Figure 7 This is a schematic diagram of the structure of a robot according to an embodiment of this disclosure. See below for details. Figure 7 The diagram illustrates a structural schematic suitable for implementing the robot 1000 in the embodiments of this disclosure. The robot 1000 in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The robot shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0177] like Figure 7As shown, robot 1000 may include a processing unit (e.g., central processing unit, graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1008 into random access memory (RAM) 1003. RAM 1003 also stores various programs and data required for the operation of robot 1000. Processing unit 1001, ROM 1002, and RAM 1003 are interconnected via bus 1004. Input / output (I / O) interface 1005 is also connected to bus 1004.

[0178] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the robot 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 A robot 1000 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0179] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1008, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0180] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0181] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0182] The aforementioned computer-readable medium may be included in the robot or may exist independently without being assembled into the robot.

[0183] The aforementioned computer-readable medium carries one or more programs. When the robot executes one or more of these programs, the robot: in response to the triggering of a switching condition for the second working state, controls the mop motor to rotate the mop along a first direction according to a first control logic; in response to the triggering of the first detection component, controls the mop motor to stop rotating; after waiting for a first preset time, detects whether the first detection component is still in a triggered state; if the first detection component is detected to still be in a triggered state, determines that the first cleaning surface has rotated to a preset position; if the first detection component is detected not to be in a triggered state, determines that the first cleaning surface has not rotated to the preset position, and controls the mop motor to rotate again.

[0184] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltank, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0185] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0186] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0187] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0188] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0189] This disclosure also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0190] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0191] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for switching states of a robot mop, wherein the mop is provided with a first cleaning surface and a second cleaning surface, the mop includes a first working state and a second working state, wherein in the first working state, the first cleaning surface and the second cleaning surface alternately contact the surface to be cleaned; and in the second working state, only the first cleaning surface contacts the surface to be cleaned. The robot is equipped with a first detection component, which is used to detect whether the mop has rotated to a preset position. The robot is characterized by including: In response to the switching condition of the second working state being triggered, the mop motor is controlled to drive the mop to rotate in the first direction according to the first control logic; In response to the first detection component being triggered, the mop motor is controlled to stop rotating; After waiting for a first preset time, check whether the first detection component is still in a triggered state; If the first detection component is detected to still be in a triggered state, then the first cleaning surface is determined to have rotated to a preset position; If the first detection component is not detected to be in a triggered state, it is determined that the first cleaning surface has not rotated to the preset position, and the mop motor is controlled to rotate again.

2. The method according to claim 1, characterized in that, The control of the mop motor to rotate again includes: Obtain the number of times the mop motor restarts; Determine whether the number of times exceeds the counting threshold; If the count is not greater than the counting threshold, the count is incremented by 1, and the mop motor is controlled to drive the mop to rotate along the first direction according to the first control logic. The above steps of waiting for a first preset time and then detecting whether the first detection component is still in the triggered state are repeated. If the count exceeds the threshold, the mop motor is controlled to rotate the mop according to the second control logic.

3. The method according to claim 2, characterized in that, The control of the mop motor to drive the mop to rotate according to the second control logic includes: The mop motor is controlled to rotate the mop along the second direction for a second preset time and then stop; wherein the second direction is the opposite direction of the first direction.

4. The method according to claim 2, characterized in that, The control of the mop motor to drive the mop to rotate according to the second control logic includes: The control mechanism stops after the mop motor drives the mop to rotate along the second direction for a second preset time. After waiting for the first preset time, check whether the first detection component is still in the triggered state; If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop along the second direction for a third preset time and then stop. After waiting for the first preset time, check whether the first detection component is still in the triggered state; If the first detection component is not detected to be in a triggered state, the mop motor is controlled to rotate the mop along the second direction for a fourth preset time and then stop; wherein the fourth preset time is less than the third preset time. Until the first detection component is detected to be in a triggered state.

5. The method according to claim 2, characterized in that, The control of the mop motor to drive the mop to rotate according to the second control logic includes: The control motor drives the mop to rotate along the first direction for a fifth preset time and then stops.

6. The method according to claim 5, characterized in that, The fifth preset duration is the time it takes for the mop to rotate one revolution.

7. The method according to claim 1, characterized in that, The control of the mop motor to drive the mop to rotate in a first direction according to the first control logic includes: The mop motor is controlled to cycle periodically for a sixth preset time after being turned on, and then for a sixth preset time after being turned off.

8. The method according to claim 7, characterized in that, The sixth preset duration is the duration from when the first detection component is in a triggered state until the first detection component changes to a non-triggered state when the mop motor is continuously rotating.

9. The method according to claim 1, characterized in that, The first cleaning surface is a hydrophobic surface; the second cleaning surface is an absorbent surface.

10. The method according to claim 1, characterized in that, The first detection component includes a magnetic element and a magnetic sensing element; wherein the magnetic element is disposed on the second cleaning surface; the magnetic sensing element is disposed above the mop at the bottom of the robot; the first detection component is triggered when the magnetic element is located directly below the magnetic sensing element.

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