Cleaning method, cleaning robot, readable storage medium and program product

Abstract

The invention relates to a cleaning method and device, computer equipment, a computer readable storage medium and a computer program product. The method is applied to the cleaning robot, the cleaning robot comprises a cleaning part, a cleaning liquid storage space and a first spraying hole communicating with the cleaning liquid storage space, and the method comprises the steps that based on the smudginess degree and the smudginess position of a to-be-cleaned area, a cleaning route is planned, and the cleaning liquid storage space and the first spraying hole are controlled to spray the to-be-cleaned area in a preset spraying mode; spraying a cleaning solution to the dirty position of the cleaning piece and / or the to-be-cleaned area; and controlling the cleaning piece to clean the to-be-cleaned area. By adopting the method, the overall cleaning effect can be improved.

Description

[0001] This application is a divisional application of application number 2025114040322 (cleaning method, apparatus, cleaning robot, readable storage medium and program product, application date: 2025-09-28). Technical Field

[0002] This application relates to the field of cleaning robot technology, and in particular to a cleaning method, apparatus, cleaning robot, computer-readable storage medium, and computer program product. Background Technology

[0003] Cleaning robots have a wide range of applications. Taking household sweeping robots as an example, they can automatically complete operations such as sweeping, vacuuming, and mopping.

[0004] Current robotic vacuum cleaners, during routine cleaning operations such as sweeping, vacuuming, and mopping, need to return to the base station to clean the mop cloth. The base station has storage spaces for cleaning solution and clean water. When the vacuum cleaner returns to the base station, the cleaning solution and clean water storage spaces spray cleaning solution and clean water respectively, mix them, and then spray the mixture onto the mop cloth, thus cleaning it. Once the mop cloth is clean, the vacuum cleaner then leaves the base station to continue cleaning the floor.

[0005] However, when it comes to cleaning heavily soiled floors, the sweeping machine relies solely on the cleaning capabilities of its cleaning components to effectively remove the dirt, resulting in a poor cleaning effect. Summary of the Invention

[0006] Therefore, it is necessary to provide a cleaning method, apparatus, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0007] In a first aspect, this application provides a cleaning method applied to a cleaning robot, the cleaning robot comprising a cleaning component, a cleaning fluid storage space, and a first spray hole communicating with the cleaning fluid storage space, the method comprising:

[0008] Based on the degree of dirt and the location of dirt in the area to be cleaned, a cleaning route is planned and the cleaning liquid storage space and the first spray hole are controlled to spray cleaning liquid onto the cleaning component and / or the location of dirt in the area to be cleaned in a preset spraying mode.

[0009] The cleaning component is controlled to clean the area to be cleaned.

[0010] In one embodiment, the cleaning robot further includes at least one image acquisition unit, and the process of planning a cleaning route based on the degree of dirt and the location of dirt in the area to be cleaned includes:

[0011] The image acquisition unit acquires image data of the area to be cleaned, and detects the degree of dirt and location of dirt in the area to be cleaned based on the image data.

[0012] Based on the degree of dirt and the location of the dirt, the cleaning route of the cleaning robot is planned.

[0013] In one embodiment, acquiring image data of the area to be cleaned through the image acquisition unit, and detecting the degree of dirt and location of dirt in the area to be cleaned based on the image data, includes:

[0014] Based on the image acquisition unit set at the front end, image data of the area to be cleaned located on the forward path of the cleaning robot is acquired;

[0015] Based on the image data, the location and degree of dirt along the forward path are determined.

[0016] In one embodiment, planning the cleaning route based on the degree of dirt and the location of dirt in the area to be cleaned includes:

[0017] When the first spray nozzle is positioned at the front end of the cleaning robot, the cleaning robot is controlled to move forward a first distance to the detected dirty location; and / or,

[0018] When the first spray nozzle is located at the rear end of the cleaning robot, the cleaning robot is controlled to turn around in response to the detected dirt location so that the first spray nozzle is aligned with the direction of the dirt, and then moves back a second distance to the dirt location.

[0019] In one embodiment, acquiring image data of the area to be cleaned through the image acquisition unit, and detecting the degree of dirt and location of dirt in the area to be cleaned based on the image data, includes:

[0020] Based on the image acquisition unit located at the back end, image data of the area to be cleaned located on the backward path of the cleaning robot is acquired;

[0021] Based on the image data, the location and degree of dirt on the backward path are determined.

[0022] In one embodiment, planning the cleaning route based on the degree of dirt and the location of dirt in the area to be cleaned includes:

[0023] When the first spray nozzle is positioned at the front end of the cleaning robot, the robot is controlled to turn around in response to the detected dirt location, so that the first spray nozzle is aligned with the direction of the dirt, and then moves forward a third distance to the dirt location, and / or,

[0024] When the first spray nozzle is located at the rear end of the cleaning robot, the cleaning robot is controlled to retreat a fourth distance to the detected dirty location.

[0025] In one embodiment, planning the cleaning route based on the degree of dirt and the location of dirt in the area to be cleaned includes:

[0026] When the first spray nozzle is located at the bottom of the cleaning robot, the robot's chassis is controlled to move closer to the detected dirt location, and the first spray nozzle is controlled to align with the dirt location.

[0027] In one embodiment, the first distance, the second distance, the third distance, and the fourth distance are determined based on one or more of the cleaning robot's body length, travel speed, travel time, and estimated spray position.

[0028] In one embodiment, controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component and / or the dirty area of ​​the area to be cleaned in a preset spray pattern includes:

[0029] When the area to be cleaned is at the first level of dirtiness, the cleaning liquid storage space is controlled to output cleaning liquid at the first liquid supply volume, and the first spray nozzle is controlled to spray the cleaning liquid at the dirty position of the area to be cleaned.

[0030] When the area to be cleaned reaches the second level of dirtiness, the cleaning fluid storage space is controlled to output the cleaning fluid at a second supply volume, and the first spray nozzle is controlled to spray the cleaning fluid onto the cleaning component.

[0031] When the area to be cleaned reaches the third level of dirtiness, the cleaning fluid storage space is controlled to output cleaning fluid at the third supply volume, and the first spray nozzle is controlled to spray the cleaning fluid onto the dirty position of the area to be cleaned and the cleaning component.

[0032] In one embodiment, the cleaning robot further includes a clean water storage space and a second spray hole communicating with the clean water storage space, and the method further includes:

[0033] Control the clean water storage space and the second spray hole to spray clean water onto the cleaning component and / or the dirty area of ​​the area to be cleaned in a preset spray mode;

[0034] The cleaning component is controlled to clean the area to be cleaned.

[0035] In one embodiment, the cleaning component includes any of the following:

[0036] Disc rags, roller rags, and conveyor belt rags.

[0037] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. The step of controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component in a preset spray pattern, and the step of controlling the clean water storage space and the second spray hole to spray clean water onto the cleaning component in a preset spray pattern, includes:

[0038] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the clean water storage space is controlled to output clean water at a preset supply volume. Simultaneously, the first spray hole and the second spray hole are controlled to spray liquid, so that the first spray hole is aimed at the first disc cloth to spray cleaning fluid, and the second spray hole is aimed at the second disc cloth to spray clean water.

[0039] In one embodiment, controlling the cleaning component to clean the area to be cleaned includes:

[0040] The first disc-shaped cloth sprayed with cleaning liquid is controlled to descend to a preset height to the surface of the area to be cleaned, and the area to be cleaned is cleaned by the first disc-shaped cloth. After the cleaning is completed, the first disc-shaped cloth is controlled to rise to the preset height.

[0041] The second disc cloth sprayed with clean water is controlled to descend to the preset height to the surface of the area to be cleaned, so as to perform a secondary cleaning treatment on the area to be cleaned by the second disc cloth. After the cleaning treatment is completed, the second disc cloth is controlled to rise to the preset height.

[0042] In one embodiment, the rotational speed of the first disc wipe is less than that of the second disc wipe.

[0043] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. The step of controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component in a preset spray pattern, and the step of controlling the clean water storage space and the second spray hole to spray clean water onto the cleaning component in a preset spray pattern, includes:

[0044] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the clean water storage space is controlled to output clean water at a preset supply volume. The cleaning fluid and the clean water are mixed through an intermediate connecting pipe to obtain a mixed solution.

[0045] Control the first spray nozzle to spray the mixture onto the first disc cloth, and simultaneously control the second spray nozzle to spray water onto the second disc cloth.

[0046] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. The step of controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component in a preset spray pattern, and the step of controlling the clean water storage space and the second spray hole to spray clean water onto the cleaning component in a preset spray pattern, includes:

[0047] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the clean water storage space is controlled to output clean water at a preset supply volume;

[0048] The system synchronously controls the first and second spray holes to spray the cleaning liquid and the clean water onto the first disc-shaped cloth in sequence, and controls the second spray hole to spray the clean water onto the second disc-shaped cloth.

[0049] In one embodiment, when the cleaning component is the roller wipe or the track wipe, the roller wipe or the track wipe is provided with a cleaning scraper, and the method further includes:

[0050] Water is sprayed onto the roller cloth or the track cloth, and the cleaning scraper cleans the roller cloth or the track cloth by means of the cleaning scraper as the roller cloth or the track cloth rotates.

[0051] In one embodiment, the cleaning squeegee includes a raised state and a lowered state; the method further includes:

[0052] When the roller cloth or the conveyor cloth cleans the area to be cleaned, the cleaning squeegee is controlled to be in a raised state;

[0053] When self-cleaning by spraying the roller cloth or the track cloth, the cleaning squeegee is controlled to be in a descending state.

[0054] In one embodiment, controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component in a preset spray pattern, and controlling the clean water storage space and the second spray hole to spray clean water onto the cleaning component in a preset spray pattern, includes:

[0055] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the first spray hole is controlled to spray the cleaning fluid onto the roller cloth or the conveyor cloth.

[0056] After the roller cloth or the track cloth spraying the cleaning liquid completes the initial cleaning of the area to be cleaned, the clean water storage space is controlled to output clean water at a preset water supply volume, and the second spray hole is controlled to spray clean water onto the roller cloth or the track cloth, so that the roller cloth or the track cloth spraying clean water can perform a secondary cleaning of the area to be cleaned.

[0057] In one embodiment, a cleaning fluid pipeline is connected between the cleaning fluid storage space and the first spray hole, and a clean water pipeline is connected between the clean water storage space and the second spray hole;

[0058] The spray volume of the first spray hole and the second spray hole are set to a first preset ratio, and the diameter ratio of the cleaning liquid pipeline to the clean water pipeline is a second preset ratio.

[0059] In one embodiment, planning the cleaning route based on the degree of dirt and the location of dirt in the area to be cleaned includes:

[0060] Based on the degree and location of dirt in the area to be cleaned, the area to be cleaned is divided into zones, and the dirt level of each zone is determined.

[0061] Based on the order of dirt levels from low to high, a priority cleaning route is planned for each zone, and each zone is cleaned.

[0062] In one embodiment, the method further includes:

[0063] During the process of cleaning the area to be cleaned in sections, the degree of dirt on the cleaning components is detected in real time.

[0064] If the degree of dirtiness of the cleaning component reaches a preset dirtiness threshold, the cleaning robot is controlled to return to the base station so that the base station can clean the cleaning component.

[0065] Based on the cleaned cleaning components, the uncleaned sections of the area to be cleaned are then cleaned.

[0066] In one embodiment, the method further includes:

[0067] Detect cleaning solution residue in the area to be cleaned;

[0068] If the residual cleaning fluid exceeds a preset cleaning fluid residue threshold, the water storage space and the second spray hole are controlled to spray water onto the cleaning component and / or the area to be cleaned in a preset spraying mode.

[0069] The cleaning component is controlled to perform a secondary cleaning of the area to be cleaned.

[0070] In one embodiment, before controlling the water storage space and the second spray hole to spray water onto the cleaning component and / or the area to be cleaned in a preset spray pattern, the method further includes:

[0071] The cleaning solution remaining in the area to be cleaned is blown out through a preset air outlet, and / or the interval between the second cleaning is extended.

[0072] Secondly, this application also provides a cleaning device applied to a cleaning robot, the cleaning robot including a cleaning component, a cleaning fluid storage space, and a first spray hole communicating with the cleaning fluid storage space, the device comprising:

[0073] The first spray module is used to plan a cleaning route and control the cleaning liquid storage space and the first spray hole to spray cleaning liquid onto the cleaning component and / or the dirty location of the area to be cleaned in a preset spray mode, based on the degree of dirt and the location of the dirt in the area to be cleaned.

[0074] The cleaning module is used to control the cleaning component to clean the area to be cleaned.

[0075] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0076] Based on the degree of dirt and the location of dirt in the area to be cleaned, a cleaning route is planned and the cleaning liquid storage space and the first spray hole are controlled to spray cleaning liquid onto the cleaning component and / or the location of dirt in the area to be cleaned in a preset spraying mode.

[0077] The cleaning component is controlled to clean the area to be cleaned.

[0078] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0079] Based on the degree of dirt and the location of dirt in the area to be cleaned, a cleaning route is planned and the cleaning liquid storage space and the first spray hole are controlled to spray cleaning liquid onto the cleaning component and / or the location of dirt in the area to be cleaned in a preset spraying mode.

[0080] The cleaning component is controlled to clean the area to be cleaned.

[0081] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0082] Based on the degree of dirt and the location of dirt in the area to be cleaned, a cleaning route is planned and the cleaning liquid storage space and the first spray hole are controlled to spray cleaning liquid onto the cleaning component and / or the location of dirt in the area to be cleaned in a preset spraying mode.

[0083] The cleaning component is controlled to clean the area to be cleaned.

[0084] The aforementioned cleaning method, device, cleaning robot, computer-readable storage medium, and computer program product precisely plan the cleaning route based on the degree of dirt and location of the dirt in the area to be cleaned. By controlling the cleaning fluid storage space and the first spray nozzle through a preset spray pattern, it targets the cleaning components and / or dirty locations with cleaning fluid, completely overcoming the problem of traditional robotic vacuum cleaners relying solely on the cleaning components' own cleaning capabilities and having poor cleaning effects on heavily soiled floors. This significantly improves the cleaning effect on heavily soiled areas, ensuring the floor is thoroughly cleaned. Secondly, the cleaning fluid spraying method avoids the indiscriminate use of cleaning fluid, reducing waste. Combined with the planned cleaning route, it effectively reduces ineffective movement of the cleaning robot during the cleaning process, improving cleaning efficiency and shortening the overall cleaning time. Furthermore, the cleaning fluid can be applied directly to the dirty locations or pre-wetted to the cleaning components, allowing them to remove stains more efficiently during cleaning, further optimizing the cleaning experience and making the cleaning robot more adaptable and practical in dealing with different levels of dirt. Attached Figure Description

[0085] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0086] Figure 1 This is a schematic diagram of the structure of a cleaning robot in one embodiment;

[0087] Figure 2 This is a flowchart illustrating a cleaning method in one embodiment;

[0088] Figure 3 This is a flowchart illustrating the steps for planning the cleaning route of the cleaning robot in the first embodiment;

[0089] Figure 4 This is a flowchart illustrating the steps of determining the location and degree of dirt on the forward path based on the front-end image acquisition unit in one embodiment.

[0090] Figure 5This is a flowchart illustrating a method for controlling the alignment of a first spray nozzle with a dirty location in one embodiment;

[0091] Figure 6 This is a flowchart illustrating the steps of determining the location and degree of dirt on the backward path based on the back-end image acquisition unit in one embodiment.

[0092] Figure 7 This is a flowchart illustrating a method for controlling the alignment of the first spray nozzle with the contaminated area in another embodiment;

[0093] Figure 8 This is a flowchart illustrating the step of controlling the first spray nozzle to align with the dirty position in one embodiment.

[0094] Figure 9 This is a flowchart illustrating the steps of controlling the first spray nozzle to align with the dirty location in the cleaning area and / or the cleaning component to spray cleaning fluid according to different levels of dirt in one embodiment.

[0095] Figure 10 This is a schematic diagram of the structure of the cleaning fluid storage space in one embodiment;

[0096] Figure 11 This is a schematic diagram of the process of spraying clean water onto the dirty parts and / or the area to be cleaned based on the second spray hole in one embodiment;

[0097] Figure 12 This is a flowchart illustrating the steps of partitioned management of the first and second disc wipes for spraying liquid in one embodiment.

[0098] Figure 13 This is a flowchart illustrating the steps of controlling the first and second disc-shaped cleaning cloths to clean the area to be cleaned in one embodiment.

[0099] Figure 14 This is a flowchart illustrating the steps of generating a mixture and spraying it onto the first disc-shaped cloth, and controlling the second spray nozzle to spray water onto the second disc-shaped cloth in one embodiment.

[0100] Figure 15 This is a flowchart illustrating the scraping and cleaning steps based on a scraper, roller cloth, or conveyor belt cloth in one embodiment.

[0101] Figure 16 This is a flowchart illustrating the step of controlling the lifting of the cleaning squeegee during the cleaning process in one embodiment.

[0102] Figure 17 This is a flowchart illustrating a secondary cleaning step for the area to be cleaned based on a roller mop or a conveyor belt mop in one embodiment.

[0103] Figure 18This is a flowchart illustrating the steps of cleaning a specific area in one embodiment.

[0104] Figure 19 This is a flowchart illustrating the step of returning to the base station to clean the cleaning components in one embodiment.

[0105] Figure 20 This is a flowchart illustrating a secondary cleaning step for a cleaning component based on its cleanliness status in one embodiment.

[0106] Figure 21 This is a flowchart illustrating the steps of blowing cleaning fluid through a preset air outlet or extending the interval between secondary cleanings in one embodiment.

[0107] Figure 22 This is a structural block diagram of a cleaning device in one embodiment. Detailed Implementation

[0108] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0109] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0110] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0112] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0113] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0114] In one exemplary embodiment, a cleaning robot is provided, which may be a sweeping robot, a mopping robot, a vacuuming robot, etc. Figure 1 As shown, the cleaning robot may include a body, a walking system, a sensing system, a control module, cleaning components, a cleaning fluid storage space, and a first spray nozzle communicating with the cleaning fluid storage space. The cleaning components of the cleaning robot include, but are not limited to: a disc-shaped cloth, a roller cloth, and a tracked cloth.

[0115] For disc-shaped cleaning cloths, the disc-shaped cleaning cloth can include a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. The first and second disc-shaped cleaning cloths have independent lifting functions. When a certain function is performed, the first disc-shaped cleaning cloth descends to the working state, while the second disc-shaped cleaning cloth rises. Similarly, both the first and second disc-shaped cleaning cloths can also descend to the working state simultaneously to clean the floor. For roller cleaning cloths, the core structure is a cylindrical roller body. The roller surface is covered with hydrophilic non-woven fabric or microfiber material. Both ends of the roller are connected to the machine body support via bearings. A drive gear set inside the machine body is linked to the roller shaft, driving the roller to continuously roll and achieve reciprocating wiping of the floor. Optionally, the roller mop also integrates spray nozzles that can connect to water and / or cleaning fluid lines, replenishing liquid in real time during the rolling wiping process to enhance cleaning power. The tracked mop can have both outward and inward retraction modes. When performing cleaning work, it primarily uses water or cleaning agent to wet the tracked mop and removes stains and dust from the floor by mopping. The tracked mop also has an independent lifting function; by adjusting the chassis height and / or the lifting angle of the tracked mop, the tracked mop can cover the cleaning area. Furthermore, the tracked mop is suitable for cleaning large areas of flat surfaces. Its mop unit can usually be disassembled and replaced individually, and the inner side of the track has scrapers that can scrape off large pieces of dirt attached to the mop surface in real time during movement, reducing secondary pollution.

[0116] Optionally, regardless of the type of cleaning component, its surface material is treated with anti-fouling and antibacterial properties, and the components are equipped with overload protection devices, such as motor overheat protection and drive shaft torque limiters, to ensure a stable and reliable cleaning process and adapt to the automated cleaning needs of cleaning robots.

[0117] In one exemplary embodiment, such as Figure 2 As shown, a cleaning method is provided, which is applied to Figure 1 Taking a cleaning robot as an example, the cleaning robot includes a cleaning component, a cleaning fluid storage space, and a first spray hole communicating with the cleaning fluid storage space, and includes the following steps 202 to 204. Wherein:

[0118] Step 202: Based on the degree of dirt and location of dirt in the area to be cleaned, plan a cleaning route and control the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the dirty location of the cleaning part and / or the area to be cleaned in a preset spraying mode.

[0119] The cleaning solution refers to a functional liquid used to enhance the cleaning robot's stain removal capabilities. Its composition comprises two core forms: one is pure detergent, which is an undiluted solution consisting solely of surfactants, chelating agents, and stain-removing agents. This form of cleaning solution has a high cleaning concentration and strong stain removal power, suitable for heavily soiled areas such as dried stains and oil. The other form is a mixture of detergent and water, a diluted solution formed by mixing pure detergent and water in a preset ratio. This form of cleaning solution has a moderate concentration, suitable for daily cleaning of lightly soiled areas or secondary auxiliary cleaning after cleaning heavily soiled areas. These two forms of cleaning solution can be flexibly switched between using the cleaning robot's control module and piping system, depending on the degree of soiling of the area to be cleaned, to meet different cleaning needs.

[0120] In practice, the cleaning robot's perception system includes, but is not limited to, image acquisition units, LiDAR, and infrared sensors. Before performing a cleaning task, the robot's perception system can comprehensively scan and collect data on the area to be cleaned, accurately identifying the degree of dirt within the area. Image recognition technology analyzes the color depth and size of stains, or pressure sensors determine the thickness of dust and the location of dirt. Subsequently, the cleaning robot's control module plans a path based on this real-time dirt information and the terrain of the area to be cleaned, prioritizing cleaning routes through heavily soiled areas while avoiding obstacles to ensure smooth movement. After planning the cleaning route, the control module further retrieves a preset spray strategy, sends a release command to the cleaning fluid storage space, and the cleaning fluid is delivered to the first spray nozzle through a connecting pipe. Simultaneously, the control module controls the opening and closing frequency, spray angle, and spray duration of the first spray nozzle to spray the cleaning fluid onto the cleaning parts and / or the dirty locations in the area to be cleaned. For example, if strong adhesion of dirt is detected in the area to be cleaned, the first spray nozzle will be controlled to spray cleaning fluid directly onto the dirty area, allowing the cleaning fluid to penetrate and decompose the stains in advance. If it is necessary to improve the overall cleaning ability of the cleaning component, the first spray nozzle will be controlled to spray cleaning fluid onto the cleaning component, allowing the cleaning component to evenly absorb the cleaning fluid before contacting the ground. This achieves precise and efficient use of the cleaning fluid, laying the foundation for subsequent cleaning operations.

[0121] Step 204: Control the cleaning component to clean the area to be cleaned.

[0122] In practice, after the cleaning fluid is sprayed, the control module of the cleaning robot will send a working instruction to the drive component corresponding to the cleaning component according to the type of cleaning component and the degree of dirt in the area to be cleaned, so that the cleaning component can clean the area to be cleaned. The cleaning component can be sprayed with cleaning fluid, and / or the ground of the area to be cleaned can be sprayed with cleaning fluid, thereby effectively enhancing the cleaning effect of the area when cleaning the area to be cleaned in conjunction with the cleaning fluid. Specifically, if the cleaning component is a disc-shaped cloth, the drive motor will rotate the cloth base plate at a preset speed. At the same time, the walking system will move the robot slowly along the planned cleaning route, so that the rotating cloth is in close contact with the ground and wipes away the stains that have been broken down by the cleaning liquid through friction. If the cleaning component is a roller cloth, the drive gear set will drive the roller to roll at a constant speed. The hydrophilic material on the surface of the roller will be in continuous contact with the ground during the rolling process. It can not only wipe away stains, but also further dissolve stubborn stains with the help of the pre-sprayed cleaning liquid. The cleaning robot can also continuously add a small amount of water through the second spray hole to enhance the wiping effect. If the cleaning component is a tracked cloth, the stepper motor will drive the drive wheel to rotate, so that the ring-shaped tracked cloth moves at a constant speed along the pre-planned cleaning route. The flexible cloth on the track surface removes stains through continuous friction, while the inner scraper scrapes away the dirt attached to the cloth surface in real time to avoid secondary pollution. During the cleaning process, the cleaning robot's sensing system provides real-time feedback on the cleaning effect. If residual stains are detected in some areas, the control module will instruct the robot to clean those areas repeatedly until the stains are removed, ensuring that the area to be cleaned meets the preset cleaning standards.

[0123] The aforementioned cleaning method precisely plans the cleaning route based on the degree of dirt and location of the dirt in the area to be cleaned. It controls the cleaning fluid storage space and the first spray nozzle through a preset spray pattern, targeting the cleaning components and / or dirty areas with cleaning fluid. This completely changes the problem of traditional robot vacuums relying solely on the cleaning components' own cleaning capabilities and having poor cleaning performance on heavily soiled floors. It significantly improves the cleaning effect on heavily soiled areas, ensuring the floor is thoroughly cleaned. Secondly, the cleaning fluid spraying method avoids indiscriminate use of cleaning fluid, reducing waste. Combined with the planned cleaning route, it effectively reduces ineffective movement of the cleaning robot during the cleaning process, improving cleaning efficiency and shortening the overall cleaning time. Furthermore, the cleaning fluid can be applied directly to the dirty areas or pre-wetted to the cleaning components, allowing them to remove stains more efficiently during cleaning, further optimizing the cleaning experience and making the cleaning robot more adaptable and practical in dealing with different levels of dirt.

[0124] In one exemplary embodiment, such as Figure 3As shown, the cleaning robot also includes at least one image acquisition unit. Step 202, based on the degree of dirt and the location of the dirt in the area to be cleaned, plans the cleaning route, specifically including steps 302 to 304. Wherein:

[0125] Step 302: Acquire image data of the area to be cleaned through the image acquisition unit, and detect the degree of dirt and location of dirt in the area to be cleaned based on the image data.

[0126] In implementation, the image acquisition unit in the cleaning robot can be a high-definition wide-angle camera, a depth camera, etc. This embodiment does not limit the type and number of image acquisition units. Thus, after the cleaning robot starts its cleaning task, its onboard image acquisition unit will continuously acquire images of the area to be cleaned at a preset frequency. During the acquisition process, it will combine the movement trajectory of the walking system to ensure that the image coverage is without blind spots. At the same time, through technologies such as automatic exposure adjustment, it will avoid interference from changes in light intensity on image quality, ensuring that the acquired image data clearly presents ground details. Subsequently, the cleaning robot's image processing module will perform multi-dimensional analysis on the acquired image data: on the one hand, through grayscale value comparison and stain contour extraction algorithms, it will identify areas in the image that differ from the normal ground in color and texture, determine the location of dirt, and, combined with the robot's positioning module, convert the pixel coordinates of the dirty area into actual spatial coordinates, accurately marking the specific location of each stain in the environment to be cleaned; on the other hand, the cleaning robot will determine the degree of dirtiness through stain area calculation, color depth quantization, and texture complexity analysis. For example, when a stain is detected in an area that is larger than 5cm², has a color depth value lower than a preset threshold (indicating that the stain is dark), and has a messy texture, it is judged as heavily soiled; if the stain is small, light in color, and has a uniform texture, it is judged as lightly soiled. Finally, the cleaning robot integrates the degree of soiling and the corresponding location information into structured data and transmits it to the control module for planning the cleaning route in the subsequent cleaning process.

[0127] Step 304: Based on the degree of dirt and the location of the dirt, plan the cleaning route for the cleaning robot.

[0128] During implementation, after receiving structured data on the degree and location of dirt, the cleaning robot's control module prioritizes the data according to the principle of "lightly dirty areas first, heavily dirty areas last." For example, the robot marks lightly dirty areas as Level 1, moderately dirty areas as Level 2, and heavily dirty areas as Level 3. This ensures the robot prioritizes areas with less cleaning difficulty and less impact on environmental cleanliness, focusing on heavily dirty areas later. This prevents the robot from spreading light dirt to already cleaned areas or mixing it with heavy dirt during cleaning, which would increase the cleaning area and difficulty. After determining the cleaning priority, the robot uses path planning algorithms to generate an initial cleaning route, based on spatial layout data of the area to be cleaned, such as furniture positions, wall boundaries, and obstacle coordinates. This initial route design avoids obstacles, allows sufficient cleaning time and movement space in heavily dirty areas, reduces unnecessary backtracking, and shortens the overall cleaning path length. For example, the cleaning robot plans a circular or reciprocating path to ensure that the cleaning components can be applied to the area multiple times. Furthermore, based on the initial cleaning route, the control module dynamically adjusts the path according to the robot's battery life and remaining cleaning fluid. For instance, if a heavily soiled area is far from the base station and the robot has insufficient battery or cleaning fluid, it will prioritize cleaning routes to areas closer to the base station to avoid interruptions due to resource shortages. If multiple heavily soiled areas are scattered, a "serial" route is planned, passing through each heavily soiled area sequentially before covering lighter soiled areas, ultimately forming an optimal cleaning route that balances cleaning efficiency, effectiveness, and resource consumption. The route instructions are then translated into specific motion parameters for the walking system, ensuring the robot accurately executes the cleaning task according to the planned route.

[0129] In this embodiment, the image acquisition unit accurately acquires image data of the area to be cleaned, identifies the degree of dirt and its specific location, precisely pinpoints each stain, avoids missed areas due to unidentified dirt, and clearly distinguishes the severity of stains, providing a basis for subsequent targeted cleaning, significantly improving the accuracy and comprehensiveness of cleaning. Furthermore, planning the cleaning route based on the clearly defined degree and location of dirt effectively reduces ineffective walking paths and redundant cleaning actions, significantly improving cleaning efficiency, shortening cleaning time, and avoiding waste of cleaning fluid and electricity. In addition, this mode of first identifying the degree of dirt and then planning the route makes the cleaning process more logical, reduces unnecessary wear and tear on cleaning components caused by blind cleaning, extends the equipment's lifespan, and provides users with an efficient and reliable cleaning experience.

[0130] In one exemplary embodiment, such as Figure 4As shown, the image acquisition unit on the cleaning robot can typically be located at any position on the front, rear, or side of the robot. The cleaning robot will perform different tasks in terms of dirt detection and cleaning route planning depending on the location of the image acquisition unit. This embodiment first illustrates a case where the image acquisition unit is located at the front of the robot for dirt detection. The specific processing steps in step 302 include:

[0131] Step 402: Based on the image acquisition unit set at the front end, image data of the area to be cleaned located on the forward path of the cleaning robot is acquired.

[0132] During implementation, after the cleaning robot starts its cleaning task, its pre-set image acquisition unit at the front end is activated synchronously with the operation of the walking system. The field of view of this image acquisition unit is calibrated to focus on the area directly in front of and extending to both sides of the cleaning robot's path, ensuring that the area the cleaning robot is about to reach can be completely captured, avoiding the omission of dirt on the path due to blind spots. During the acquisition process, the image acquisition unit adaptively adjusts its working parameters according to changes in ambient light. For example, when the light is sufficient, it automatically switches to high-resolution mode to clearly present the details of the ground texture, making it easier to identify fine dust; when the light is dim, it automatically activates the infrared supplementary light function and reduces the resolution while increasing the sensitivity to ensure the clarity of the image data. At the same time, it continuously acquires images at a frequency of 2-3 frames per second, forming a dynamic image stream of the forward path, which is transmitted in real time to the cleaning robot's image processing module, providing continuous and complete visual data support for subsequent dirt identification.

[0133] Step 404: Based on the image data, determine the location and degree of dirt along the forward path.

[0134] In practice, after receiving the dynamic image stream transmitted by the front-end image acquisition unit, the cleaning robot's image processing module first preprocesses each frame of the image. Noise reduction algorithms (e.g., Gaussian filtering) are used to remove noise caused by environmental interference. Image enhancement techniques are then used to highlight the color and texture differences between the ground and dirt, making dirty areas easier to identify. Subsequently, the cleaning robot calls a dirt recognition algorithm. Pixel comparison analysis compares the RGB color values ​​and grayscale values ​​of the ground area in the image with a preset "clean ground baseline value," marking areas where the color deviation exceeds a threshold. A contour extraction algorithm is then used to determine the boundary of this area, and pixel counting is used to calculate the actual area of ​​the dirt, initially locating the dirt position on the forward path. Simultaneously, the cleaning robot's image processing module performs texture sampling on the marked dirty areas through texture feature analysis. If the texture within the area is messy and the color depth value is lower than the clean ground threshold, it is judged as heavily dirty; if the texture within the area is uniform and the color deviation is small, it is judged as lightly dirty. Finally, the specific coordinates of each piece of dirt on the forward path and the corresponding dirt level classification results are integrated into structured data and transmitted to the control module.

[0135] In this embodiment, by relying on the image acquisition unit at the front of the robot body to focus on the forward path and collect image data, the cleaning robot can capture the ground conditions of the area it is about to enter in real time, avoid missing dirt due to the image acquisition range deviating from the path, ensure that there are no blind spots in the dirt monitoring in the forward direction, and lay the foundation for subsequent precise cleaning.

[0136] In one exemplary embodiment, such as Figure 5 As shown, a spray nozzle is provided on the body of the cleaning robot. This nozzle can be located at any position on the front, rear, or bottom of the robot; this embodiment does not limit this. Depending on the location of the spray nozzle, and in conjunction with image acquisition units at different positions, the cleaning robot will execute different cleaning routes when initiating a cleaning task. The following embodiment uses the front-end image acquisition unit to determine the degree and location of dirt, and provides examples of controlling the spraying of cleaning fluid according to the different locations of the spray nozzles. The specific processing steps of step 202 can be categorized into the following cases:

[0137] Step 501: When the first spray hole is set at the front end of the cleaning robot, the cleaning robot is controlled to move forward a first distance to the detected dirty location.

[0138] In practice, when the first spray nozzle of the cleaning robot is located at the front of the robot body, the control module in the cleaning robot, based on the image acquisition unit also located at the front, detects the location of dirt and its specific coordinates on the forward path. Combining this with the relative distance between the cleaning robot's current position and the dirt location, it generates a travel command to control the cleaning robot to move forward to the dirt location. Specifically, the cleaning robot uses the drive motor of the walking system to control it to move forward in a straight line at a preset low speed. Simultaneously, the encoder monitors the number of rotations of the drive wheels in real time and calculates the travel distance. When the cleaning robot reaches the first distance, the control module issues a stop command, causing the cleaning robot to stop at the preset spray point in front of the dirt location. At this point, the distance and angle between the first spray nozzle at the front of the cleaning robot and the dirt location are optimal, ensuring accurate spraying of the subsequent cleaning fluid.

[0139] It is worth noting that the first distance is usually 0-0.4 meters. When the first distance is 0 meters, it means that the current dirty position is within the effective spray range of the first spray hole of the cleaning robot. The cleaning robot does not need to move forward. The central axis of the first spray hole at the front end is precisely aligned with the direction of the dirty position, and the cleaning liquid can be sprayed onto the dirty position.

[0140] Step 502: When the first spray nozzle is set at the rear end of the cleaning robot, the cleaning robot is controlled to turn around in response to the detected dirt position so that the first spray nozzle is aligned with the direction of the dirt and moves back a second distance to the dirt position.

[0141] In implementation, when the first spray nozzle is located at the rear of the cleaning robot, the control module, based on the image acquisition unit at the front of the robot, detects the location of dirt using the image acquisition unit. For each detected dirt location, the control module first calculates the required turning angle based on the relative angle between the dirt location and the robot's current orientation. For example, if the dirt location is to the side of the cleaning robot, it needs to rotate within a range of (0°, 180°) to align the first spray nozzle with the direction of the dirt. If the dirt location is directly behind, the cleaning robot needs to turn 180°. This is achieved by sending a command to the left and right drive wheels of the walking system to rotate at a differential speed, thus aligning the first spray nozzle with the dirt. The control module ensures that the central axis of the first spray nozzle at the rear end is precisely aligned with the direction of the dirt. After the turning action is completed, the control module determines a second distance based on the distance between the first spray nozzle at the rear end and the rear edge of the cleaning robot, as well as the effective spray radius of the first spray nozzle. For example, it is usually 0-0.4 meters to adapt to the position characteristics of the rear spray nozzle. The control module then controls the cleaning robot to move backward at a low speed, while using LiDAR to assist in calibrating the position and avoid collisions with obstacles during the backward movement. When the backward movement reaches the second distance, the cleaning robot stops moving. At this time, the dirt position is exactly within the optimal spray range of the first spray nozzle at the rear end, ensuring that the cleaning fluid can accurately cover the dirty area and provide effective support for subsequent cleaning operations.

[0142] It is worth noting that when the second distance is 0 meters, it means that the current dirty position is within the effective spray range of the first spray hole of the cleaning robot. The cleaning robot does not need to move. After the turning action is completed, the central axis of the first spray hole at the rear end is precisely aligned with the direction of the dirty position, and the action of spraying cleaning liquid onto the dirty position can be performed.

[0143] In this embodiment, when the first spray nozzle is located at the front end, the robot moves forward a first distance to the dirty area. This fully utilizes the natural consistency between the front spray nozzle and the robot's forward direction, eliminating the need for additional adjustments to the robot's orientation. A short, precise movement allows the first spray nozzle to quickly align with the dirty area, reducing the time and steps required for position calibration. Furthermore, the preset first distance ensures precise coverage of the dirt by the cleaning fluid, preventing spray deviation. When the first spray nozzle is located at the rear end, the robot first turns to align the spray nozzle with the dirt, then retreats a second distance to the dirty area. This cleverly solves the limitation of the rear spray nozzle moving in the opposite direction to the forward direction. The combined action of "turning and orienting + retreating and positioning" not only avoids the problem of the rear spray nozzle not being able to directly target the dirt in front, but also ensures the dirt is in the optimal spray area through precise control of the second distance. This significantly improves the cleaning accuracy and scene adaptability of the cleaning robot under different hardware configurations, providing a crucial guarantee for subsequent efficient decontamination.

[0144] In one exemplary embodiment, such as Figure 6 As shown, the image acquisition unit on the cleaning robot can typically be located at any position on the front, rear, or side of the robot. The cleaning robot's dirt detection and cleaning route planning will differ depending on the location of the image acquisition unit. This embodiment will illustrate dirt detection using an example where the image acquisition unit is located at the rear of the robot. The specific processing steps in step 302 include:

[0145] Step 601: Based on the image acquisition unit set at the back end, acquire image data of the area to be cleaned located on the backward path of the cleaning robot.

[0146] During implementation, when the cleaning robot enters backward cleaning mode or needs to detect dirt in the rear area, its pre-set image acquisition unit at the rear is activated simultaneously. The image acquisition unit's field of view is calibrated to always focus on the area directly behind and extending to both sides of the cleaning robot's backward path, ensuring complete capture of the area the robot is about to reach and preventing the omission of hidden dirt along the backward path due to field of view shift. During the acquisition process, the image acquisition unit dynamically adjusts its operating parameters according to the characteristics of the rear environment. For example, for dimly lit rear corners, it automatically activates the supplementary lighting module to prevent image blurring due to insufficient light. Simultaneously, it continuously acquires images at a frequency of 1.5-2.5 frames per second, forming a dynamic image stream of the backward path, which is transmitted in real-time to the cleaning robot's image processing module via a high-speed data channel. This ensures the timeliness and integrity of image data transmission, providing reliable visual data support for subsequent accurate identification of dirt along the backward path.

[0147] Step 602: Based on the image data, determine the location and degree of dirt on the backward path.

[0148] In practice, after receiving the dynamic image stream transmitted by the backend image acquisition unit, the cleaning robot's image processing module first performs targeted image preprocessing operations. For example, it uses edge enhancement algorithms to highlight the contour differences between the ground and dirt, avoiding interference from shadows in the backend area that might interfere with dirt recognition. Then, it uses color correction technology to unify the image color benchmark under different lighting conditions, ensuring that the color features of the dirty area are stable and distinguishable. Subsequently, the cleaning robot calls the dirt recognition model. On the one hand, through coordinate mapping analysis, combined with the cleaning robot's pre-installed navigation system, it converts the pixel coordinates of the dirty area in the image into actual spatial coordinates, accurately marking the specific location of the dirt on the retreat path. On the other hand, it judges the degree of dirt through multi-dimensional features: if the color depth value of the dirty area is lower than the preset threshold for clean ground (indicating that the stain is deep), the area exceeds 3cm², and the texture is irregular blocky, it is judged as heavily dirty; if the dirty area is light in color, small in area, and has a uniform texture, it is judged as lightly dirty. Ultimately, the cleaning robot integrates the location coordinates of each dirt item along its backward path with the classification results of dirt levels into structured data, which is then transmitted to the control module in real time. This provides a precise basis for subsequent adjustments to the backward speed, control of the cleaning fluid spray volume, and working mode of the cleaning components, ensuring that the robot can also handle dirt in a targeted manner during the backward movement.

[0149] In this embodiment, the image acquisition unit at the back end collects image data along the retreat path, enabling real-time capture of the ground conditions in the direction the cleaning robot is retreating. This reduces blind spots and ensures comprehensive coverage of the area to be cleaned, preventing incomplete cleaning due to missed dirt at the rear. Furthermore, the collected image data accurately determines the location and extent of dirt along the retreat path, allowing the cleaning robot to anticipate the distribution of contamination at the rear during retreat. This eliminates the need for blindly retreating and probing, allowing the robot to adjust its retreat speed based on identified dirt locations and adapt cleaning strategies in advance according to the degree of dirt. This effectively reduces ineffective retreat and resource waste, improving cleaning efficiency and accuracy during the retreat phase.

[0150] In one exemplary embodiment, such as Figure 7 As shown, a spray nozzle is provided on the body of the cleaning robot. This nozzle can be located at any position on the front, rear, or bottom of the body; this embodiment does not limit this. Depending on the location of the spray nozzle, and in conjunction with image acquisition units at different positions, the cleaning robot will execute different cleaning routes when initiating a cleaning task. The following embodiment uses the rear image acquisition unit to detect dirt, determine the degree and location of dirt, and provides examples of controlling the spraying of cleaning fluid according to the different locations of the spray nozzles. The specific processing steps of step 202 include:

[0151] Step 701: When the first spray nozzle is set at the front end of the cleaning robot, the cleaning robot is controlled to turn around in response to the detected dirt position so that the first spray nozzle is aligned with the direction of the dirt and moves forward a third distance to the dirt position.

[0152] In implementation, when the first spray nozzle of the cleaning robot is positioned at the front, if the location of the dirt detected by the rear image acquisition unit is not in the current direction of travel (e.g., to the side or rear of the robot), the control module first calculates the required turning angle based on the relative angle between the dirt location and the robot's current orientation. Then, it instructs the left and right drive wheels of the walking system to rotate at a differential speed to complete a precise turn, ensuring that the central axis of the first spray nozzle is accurately aligned with the direction of the dirt location. After the turn, the control module, combining the effective spray range of the first spray nozzle and the straight-line distance between the dirt location and the robot body, determines a third distance and controls the robot to move forward in a low-speed, stable mode. Simultaneously, a preset navigation system calibrates the position deviation in real time to avoid trajectory deviation caused by uneven ground. When the travel distance reaches the third distance, the cleaning robot stops moving. At this point, the dirt location is precisely within the optimal spray area of ​​the first spray nozzle, providing positional assurance for efficient subsequent spraying of cleaning fluid. The third distance is typically 0-0.35 meters, dynamically adjusted according to the size of the dirt area; larger areas require slightly shorter distances to enhance spray coverage.

[0153] Step 702: When the first spray nozzle is located at the rear end of the cleaning robot, the cleaning robot is controlled to retreat a fourth distance to the detected dirty location.

[0154] In practice, when the first spray hole is located at the rear end of the cleaning robot, the image acquisition unit at the rear end detects the location of the dirt, that is, the location of the dirt in the area behind or to the side of the robot. The control module first calculates the straight-line distance between the location of the dirt and the first spray hole at the rear end of the cleaning robot through the collaboration of the image acquisition unit at the rear end and the positioning system. Then, it determines the fourth distance by combining the spray angle range of the first spray hole at the rear end. The first spray nozzle typically has a spray angle range of 60°-90° backward in a fan-shaped area, and the determined fourth distance is typically 0-0.4 meters to ensure that the dirt is within the optimal balance range between spray pressure and coverage. Subsequently, the control module instructs the walking system to move backward smoothly at a low speed, while simultaneously activating obstacle avoidance sensors to monitor the backward path and prevent collisions with obstacles behind. During the backward movement, the distance traveled is recorded in real time by the drive wheel encoder. When the preset fourth distance is reached, a stop command is immediately triggered, causing the cleaning robot to precisely stop at the preset spray point behind the dirt location. At this point, the distance and angle between the rear first spray nozzle and the dirt location are both in an ideal state, ensuring that the cleaning fluid can act on the dirty area with optimal pressure and coverage, thus improving the cleaning effect.

[0155] In this embodiment, when the first spray nozzle is located at the front of the cleaning robot and the image acquisition unit is located at the rear, the cleaning robot is first controlled to turn so that the spray nozzle is aligned with the direction of the dirt, and then moves forward a third distance to the location of the dirt. This precise turning ensures that the spray direction is consistent with the location of the dirt. Combined with the setting of the third distance, the cleaning fluid can act vertically and concentratedly on the dirty area, avoiding spray dispersion caused by angle deviation. When the first spray nozzle is located at the rear, the cleaning robot is controlled to move directly a fourth distance to the location of the dirt. This fully utilizes the natural alignment advantage between the rear first spray nozzle and the rear area, allowing the dirt to fall into the spray coverage area without additional turning, thus improving the stability of rear cleaning. Overall, this process achieves full coverage of dirt from multiple directions by the first spray nozzles located in different positions. Whether the dirt is in front, to the side, or behind the cleaning robot, targeted movement control ensures that the cleaning fluid accurately acts on the target, significantly reducing cleaning blind spots and avoiding ineffective movement and resource waste, further improving the cleaning robot's scene adaptability and cleaning efficiency.

[0156] In one exemplary embodiment, such as Figure 8 As shown, spray holes are provided on the body of the cleaning robot. In this embodiment, the first spray hole located at the bottom of the body is used to control the spraying of cleaning fluid. The specific processing procedure of step 202 includes:

[0157] Step 801: When the first spray nozzle is set at the bottom of the cleaning robot body, for the detected dirt position, control the cleaning robot body chassis to move closer to the dirt position, and control the first spray nozzle to align with the dirt position.

[0158] In practice, when the first spray nozzle is located on the bottom of the cleaning robot, after the robot detects the location of the dirt in the area to be cleaned through the image acquisition unit and obtains its precise spatial coordinates, the control module first calls the preset navigation system and chassis height sensor to comprehensively judge the current distance between the chassis and the ground and the flatness of the dirt location, ensuring that the chassis will not scrape during approach. Subsequently, the control module sends precise movement commands to the walking system, driving the cleaning robot to move at a low speed along the planned path towards the dirt location. At the same time, the bottom encoder calibrates the trajectory in real time to avoid positional deviation caused by uneven ground friction. When the cleaning robot moves directly above or to the side of the dirt location, the control module further fine-tunes the robot's position based on the pre-stored bottom spray nozzle position parameters. If the first spray nozzle is located at the center of the chassis, the cleaning robot is controlled to stop precisely above the dirty area; if the first spray nozzle is located at the edge of the chassis, the robot body is controlled to move to the side until the first spray nozzle is perpendicular to the dirty area, ensuring that the central axis of the first spray nozzle is aligned with the center point of the dirty area, so as to accurately spray the cleaning liquid.

[0159] In an optional embodiment, if the chassis of the cleaning robot has an adjustable height function, the control module will also fine-tune the distance between the chassis and the ground according to the thickness of the dirt, so that the vertical distance between the first spray hole and the dirt position is in the optimal spray range, for example, usually 2-5cm, to ensure that the cleaning liquid can evenly cover the dirt without splashing after spraying. Ultimately, the dual goals of the chassis being close to the dirt position and the first spray hole being precisely aligned are achieved, laying the foundation for efficient spraying of the cleaning liquid in the future.

[0160] In this embodiment, regarding the hardware configuration where the first spray nozzle is located at the bottom of the unit, through the coordinated operation of "controlling the chassis to approach + precisely aligning the spray nozzle," the chassis is controlled to actively approach the dirty area, significantly shortening the vertical distance between the bottom spray nozzle and the dirt. This avoids the problem of uneven spraying and coverage of cleaning fluid due to excessive distance. Simultaneously, precisely controlling the first spray nozzle to align with the dirty area ensures that the cleaning fluid directly acts on the core area of ​​the stain, reducing ineffective spraying onto surrounding clean surfaces and significantly improving cleaning fluid utilization and targeted cleaning. This ensures the stability of the cleaning effect while reducing the secondary environmental impact of cleaning fluid splashing, providing users with a more efficient and cleaner cleaning experience.

[0161] In an optional embodiment, the first, second, third, and fourth distances of the cleaning robot's forward and backward movements mentioned in the above embodiments are determined based on one or more of the cleaning robot's body length, travel speed, travel time, and estimated spray position.

[0162] Specifically, in the actual operation of the cleaning robot, to ensure that the first spray nozzle accurately targets the dirty area, the first, second, third, and fourth distances of the cleaning robot's forward and backward movements are determined by considering one or more of the robot's body length, travel speed, travel time, and estimated spray position. For example, when the first spray nozzle is located at the front, the first distance needs to take into account the actual distance from the front of the robot body to the first spray nozzle, to avoid the robot being too long and stopping outside the dirty area. At the same time, the movement accuracy is calibrated by combining the travel speed and travel time using the formula "distance = speed × time" to prevent positional deviations caused by excessively fast or slow speeds. More importantly, the cleaning robot will make final adjustments based on the estimated spray position. For example, for larger areas of dirt, the distance will be appropriately shortened to expand the spray coverage area, while for stubborn stains, the distance will be controlled within the range of strongest spray pressure. This multi-dimensional parameter integration allows each distance value to be adapted to the hardware characteristics of the cleaning robot and to match the cleaning needs of different types of dirt, ultimately achieving a seamless connection between "movement-stopping-spraying" and ensuring the accuracy and efficiency of the cleaning action.

[0163] In an exemplary embodiment, the dirt recognition and cleaning strategy system in the cleaning robot predefines the degree of dirt. For example, the degree of dirt is divided into a first degree of dirt, a second degree of dirt, and a third degree of dirt, from low to high. The first degree of dirt is the lowest level of dirt, which usually refers to stains on the ground with low adhesion, small area, and low visual contrast. Specific characteristics include: visually, the stain color is not much different from the clean ground, the texture is uniform, and there are no obvious bumps or lumps; in terms of area, the area of ​​a single stain is less than 2 cm², or the coverage area of ​​scattered stains is less than 10 cm². The second level of dirtiness is medium-level dirtiness, referring to stains with moderate adhesion, moderate area, and significant visual contrast on the floor. Specific characteristics include: visually, the stain color differs significantly from the clean floor, and the texture exhibits some irregularity, but without obvious hard clumps; in terms of area, a single stain typically ranges from 2-10 cm², or a cluster of stains covers an area of ​​10-30 cm²; physically, the stain has a certain degree of adhesion and is difficult to remove completely by dry wiping with cleaning tools alone. It requires a small amount of cleaning solution to soften it before it can be removed by regular rubbing with cleaning tools. Common scenarios include: recently spilled rice porridge, soy sauce, or other soup residue; light cooking oil residue on the kitchen floor; and large areas of dust accumulation in the living room. The third level of dirtiness is the highest level, referring to stubborn stains on the ground with high adhesion, large area, and strong visual contrast. Specific characteristics include: visually, the stains are dark and thick, with rough texture and obvious protrusions or clumps; some stains may be embedded in floor crevices. In terms of area, a single stain is larger than 10cm², or a continuous area of ​​stubborn stains covers more than 30cm². Physically, the stains have extremely strong adhesion, are often long-dried, or contain grease or adhesive components, and cannot be completely removed by simply soaking in cleaning fluid; sufficient cleaning fluid combined with high-intensity friction from cleaning devices is required for removal, and care must be taken to prevent the stains from spreading. Common scenarios include: dried grease under kitchen stoves that haven't been cleaned for a long time, solidified chocolate sauce or jam after being spilled on the floor, and a mixture of dried soap scum and limescale on bathroom floors. Therefore, when the cleaning robot performs a cleaning task, it dynamically adjusts the supply of cleaning fluid in the storage space and the spray target of the first spray nozzle according to the level of dirtiness of the area to be cleaned, achieving precise matching of cleaning resources through a preset spraying method, such as... Figure 9 As shown, the specific process of controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the dirty areas of the cleaning parts and / or the areas to be cleaned in step 202 includes the following methods:

[0164] Step 901: When the area to be cleaned is at the first level of dirtiness, control the cleaning fluid storage space to output cleaning fluid at the first supply volume, and control the first spray nozzle to spray cleaning fluid at the dirty position of the area to be cleaned.

[0165] In implementation, the cleaning robot includes a cleaning fluid storage space, which is located in the center of the robot's chassis. This cleaning fluid storage space is connected to a first spray nozzle via a connecting pipe. Figure 10 As shown, the cleaning fluid storage space has components 1001 on both sides for easy installation and fixation, allowing it to be stably mounted on the cleaning robot chassis. Connecting pipes 1002 extend from both ends, one of which connects to a first spray hole, enabling the transfer of cleaning fluid. This provides a storage and delivery basis for the cleaning fluid supply to the cleaning robot, ensuring smooth output of cleaning fluid during the cleaning process and helping the robot complete cleaning tasks with varying degrees of dirt. Thus, when the cleaning robot determines that the area to be cleaned has the first degree of dirt through image recognition and dirt analysis modules, the control module first retrieves preset light dirt cleaning parameters: on one hand, the control module controls the micro-pump in the cleaning fluid storage space to output cleaning fluid at a first supply volume. This first supply volume has been optimized through multiple scenario tests, meeting the dissolution needs of light stains while avoiding excessive cleaning fluid leading to a wet, residue-free, or slippery surface; on the other hand, combined with the precise dirt coordinates located by the preset navigation system, the angle adjustment component of the first spray hole is controlled to precisely align the first spray nozzle with the dirt position in the area to be cleaned. If the dirt is scattered dot-like stains, the first spray nozzle will spray precisely point by point according to the stain distribution trajectory; if it is a small area of ​​patchy stains, it will cover the entire dirty area in a fan-shaped spray pattern, ensuring that the cleaning liquid acts directly on the core of the stain, reducing the ineffective consumption of the surrounding clean floor, and can quickly complete the stain removal with the light friction of the subsequent cleaning parts, taking into account both cleaning efficiency and resource economy.

[0166] Step 902: When the area to be cleaned is at the second level of dirtiness, control the cleaning fluid storage space to output cleaning fluid at the second supply volume, and control the first spray nozzle to spray cleaning fluid onto the cleaning part.

[0167] During implementation, when the area to be cleaned is detected to be at the second level of dirtiness, the control module switches to the medium dirt cleaning mode. Regarding liquid supply control, the cleaning robot controls the cleaning liquid storage space to output cleaning liquid at a second supply volume. This second supply volume is higher than the first, ensuring that the cleaning liquid fully soaks the stains while preventing liquid from flowing and spreading due to excessive supply. Simultaneously, regarding spray control, the cleaning robot controls the angle adjustment of the first spray nozzle, switching from "aiming at the dirty location" to "aiming at the cleaning component," such as the disc-shaped cloth or roller cloth at the bottom of the cleaning robot. In this way, by evenly spraying the cleaning liquid onto the surface of the cleaning component, the cleaning liquid is first absorbed by the component, and then comes into contact with the stains on the ground as the component rotates or moves. Through the synergistic effect of "cleaning liquid wetting + physical friction," the stains are gradually broken down. This method avoids the splashing problem that may occur when the cleaning liquid is sprayed directly onto the ground, and allows the cleaning liquid to evenly cover the stained area as the cleaning device moves. It is especially suitable for treating large areas of moderate dirt, ensuring that the floor dries faster and leaves no obvious water stains after cleaning.

[0168] Step 903: When the area to be cleaned is at the third level of dirtiness, control the cleaning fluid storage space to output cleaning fluid at the third supply volume, and control the first spray nozzle to spray cleaning fluid onto the dirty position and cleaning parts of the area to be cleaned.

[0169] During implementation, when the area to be cleaned is determined to be at the third level of dirtiness, the control module will activate the heavy dirt intensive cleaning mode: First, the cleaning robot controls the cleaning fluid storage space to output cleaning fluid at the third supply volume, which can be the highest of the three, to quickly provide sufficient cleaning fluid to soften stubborn stains, while ensuring that the cleaning fluid does not run out prematurely during the cleaning process; Second, in terms of spray control, the cleaning robot controls the first spray nozzle to enter the "dual-target spray" state. Through the angle adjustment component, the first spray nozzle is directly aimed at the dirty position of the area to be cleaned, and the cleaning fluid is accurately sprayed onto the stain surface in a direct spray mode. The liquid impact force is used to initially loosen the hard stains, and the surfactants in the cleaning fluid quickly penetrate into the contact gap between the stain and the ground, destroying the stain's adhesion; Then, the first spray nozzle is controlled to be aimed at the cleaning object, and the cleaning fluid is evenly sprayed onto the cleaning object, keeping the cleaning object in a moist state. When it comes into contact with the ground later, it can further break up the loosened stains through friction, and the chemical action of the cleaning fluid can completely decompose the residual oil stains. This dual-jet method of "directly impacting stains + immersing cleaning components," combined with high liquid supply, effectively solves the problem of heavy dirt and ensures that the floor is restored to a clean state after cleaning.

[0170] In this embodiment, the liquid supply is tiered and adjusted according to the degree of soiling. The first liquid supply is a small amount to meet the needs of light soiling, avoiding waste and residue on the floor. The second liquid supply meets the wetting needs of moderate soiling, ensuring cleaning effect without excessive consumption. The third liquid supply provides sufficient support for heavy soiling, ensuring that stubborn stains can be effectively softened and removed. Simultaneously, the spray target can be flexibly switched according to the degree of soiling. For light soiling, the spray is directly aimed at the soiled area for precise application, reducing the impact on clean areas. For moderate soiling, the spray is directed towards the cleaning components, using friction to evenly apply the stains and avoid splashing. For heavy soiling, a dual-target spray is used, both directly impacting and loosening the stains, and using the friction of the cleaning components with the liquid to enhance cleaning. This process improves the cleaning efficiency and effect of different levels of soiling, optimizes cleaning liquid consumption, avoids resource waste and secondary pollution, and allows the cleaning robot to achieve efficient and clean cleaning goals in various pollution scenarios.

[0171] In one exemplary embodiment, such as Figure 11 As shown, the cleaning robot chassis also includes a clean water storage space and a second spray hole connected to the clean water storage space. The method further includes:

[0172] Step 1101: Control the clean water storage space and the second spray hole to spray clean water onto the dirty parts and / or the area to be cleaned in a preset spray mode.

[0173] In implementation, the cleaning robot has both a cleaning fluid storage space and a separate clean water storage space. This clean water storage space is a separate unit from the cleaning fluid storage space, and it also has components on both sides for easy installation and fixation, allowing it to be stably mounted on the cleaning robot's chassis. Connecting pipes extend from both ends, one of which connects to a second spray nozzle, enabling the transfer of cleaning fluid and providing a foundation for clean water supply, ensuring smooth water output during cleaning. Thus, when the cleaning robot finishes spraying cleaning fluid and needs subsequent rinsing or auxiliary cleaning, the control module activates the clean water storage space and the second spray nozzle, selecting a preset spraying method based on the current cleaning scenario: for areas with significant cleaning fluid residue, such as after cleaning heavily soiled areas, the second spray nozzle is controlled to primarily target the soiled areas, outputting clean water in a pulse spray mode. The water flow's impact force dilutes the residual cleaning fluid, preventing chemical residue from leaving marks on the ground. This pulse spray mode can, but is not limited to, spraying once every 2 seconds, with each spray lasting 0.5 seconds. Optionally, a dual-target spraying mode of "cleaning item + dirty location" can be adopted. If the cleaning item has absorbed stains or has residual cleaning solution, the cleaning robot controls the second spray nozzle to direct it towards the cleaning item, spraying clean water onto its surface in a continuous low-pressure spray mode to wet and rinse away the stains, restoring its cleaning ability. For moderately dirty areas, the second spray nozzle can be used to spray only clean water directly onto the stains to enhance the dissolving effect, or the second spray nozzle can be used to spray only clean water onto the cleaning item to improve cleaning efficiency. Throughout the process, the amount of clean water sprayed is dynamically adjusted according to the area being cleaned and the degree of stain residue, ensuring effective rinsing while avoiding excessive water that could cause the floor to remain damp for an extended period.

[0174] Step 1102: Control the cleaning component to clean the area to be cleaned.

[0175] During implementation, after the water spray is complete, the cleaning robot's control module activates the cleaning component drive system, controlling the cleaning component to perform targeted cleaning operations on the area to be cleaned. Specifically: if the cleaning component is a roller or disc mop, the control module controls the drive motor to rotate the mop at a preset speed. For example, a low-speed mode is used for lightly soiled areas to reduce energy consumption, while a high-speed mode is switched for heavily soiled areas to enhance friction and thoroughly remove the surface that has already been initially cleaned by the cleaning solution. If the cleaning component is a tracked mop, it is controlled to rotate at high frequency, vibrating and removing residual dirt from tile grout lines and wall corners. During the cleaning process, the control module also integrates with a pre-set navigation system to control the cleaning robot's circular and reciprocating movement, and to ensure the cleaning component covers the entire area to be cleaned according to a preset trajectory, ensuring no blind spots. Simultaneously, the pressure between the cleaning component and the ground is automatically adjusted based on the ground material, ensuring cleaning effectiveness while protecting the ground from damage.

[0176] In this embodiment, clean water is sprayed onto the cleaning components and / or dirty areas using a preset spray pattern through the clean water storage space and the second spray hole. This allows for secondary wetting and dissolution of dirt that has already been pre-cleaned by the cleaning liquid, and also cleans the cleaning components, maintaining their good cleaning ability. Then, the cleaning components are controlled to clean the area to be cleaned. Through the physical friction of the cleaning components, the stains pre-treated with clean water are thoroughly removed, greatly improving the thoroughness of the cleaning. The preset spray pattern allows for precise control of the amount of clean water used, avoiding water waste. At the same time, the appropriate amount of clean water can also prevent the ground from being damaged by excessive water accumulation, ensuring that the ground is dry and clean after cleaning.

[0177] In one exemplary embodiment, the cleaning component of the cleaning robot can be a disc-shaped cloth. Two disc-shaped cloths can be arranged on the left and right sides, specifically a first disc cloth and a second disc cloth. These are core cleaning execution components adapted to the chassis structure design. They are symmetrically arranged on both sides of the bottom of the robot body, forming a dual-disc collaborative cleaning system. Structurally, the two disc cloths have the same basic shape, both using a circular sheet design with a diameter of 15-20cm. The outer layer is wrapped with a high-density microfiber cloth, and the inner layer is fixed to a circular base made of hard plastic or silicone. The center of the base has a buckle structure adapted to the drive shaft of the cleaning robot, allowing for quick disassembly and replacement. In terms of working principle, both the first and second disc cloths are driven to rotate by an independent drive motor built into the cleaning robot chassis. The centrifugal force generated by the rotation and the friction of the fibers remove dirt from the ground. Figure 12 As shown, controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the cleaning component in a preset spray pattern, and controlling the clean water storage space and the second spray hole to spray clean water onto the cleaning component in a preset spray pattern, includes:

[0178] Step 1201: Control the cleaning fluid storage space to output cleaning fluid at a preset supply volume, control the clean water storage space to output clean water at a preset supply volume, and simultaneously control the first spray hole and the second spray hole to spray liquid, so that the first spray hole is aimed at the first disc cloth to spray cleaning fluid, and the second spray hole is aimed at the second disc cloth to spray clean water.

[0179] In practice, a certain model of cleaning robot has a first disc mop and a second disc mop. During the cleaning process, the robot's control module can manage these two disc mops separately. The first disc mop typically corresponds to the cleaning fluid spray function, better absorbing the cleaning fluid and releasing it evenly during rotation, using a combination of "chemical dissolution + physical friction" to clean oil stains and stubborn dirt. The second disc mop, on the other hand, is mostly for the water spray function, with stronger water absorption. It absorbs wastewater during cleaning, reducing water residue on the floor, and can also perform a "second wipe" after cleaning to remove any remaining cleaning fluid from the first disc mop, achieving a continuous "stain removal + drying" effect. Furthermore, the symmetrical dual-disc design allows the cleaning robot to maintain balance during movement, preventing path deviation caused by uneven cleaning pressure on one side, while also expanding the coverage area of ​​a single cleaning cycle and improving overall cleaning efficiency, making it particularly suitable for the daily cleaning needs of large, flat surfaces. The specific processing procedure is as follows: The control module of the cleaning robot precisely manages the cleaning fluid storage space and the clean water storage space. First, according to the preset program, the cleaning fluid storage space stably outputs cleaning fluid at a pre-set supply rate, while the clean water storage space continuously outputs clean water at a corresponding preset supply rate. Next, the first and second spray nozzles are simultaneously controlled to begin spraying. The first spray nozzle is controlled to accurately aim at the first disc-shaped cloth, evenly spraying the cleaning fluid onto it, ensuring full adhesion and providing strong support for subsequent cleaning using the first disc-shaped cloth. Meanwhile, the second spray nozzle is controlled to spray clean water onto the second disc-shaped cloth, wetting it for subsequent cleaning. This operation method allows the cleaning fluid and clean water to act on different disc-shaped cloths, preparing for subsequent cleaning operations targeting different cleaning needs or areas.

[0180] In this embodiment, the output of cleaning liquid and clean water is controlled according to preset liquid and water supply volumes, respectively. This allows for precise matching of resource usage based on cleaning needs, achieving efficient utilization of cleaning consumables. Simultaneously, the first and second spray nozzles are precisely controlled to spray the first and second disc mops, respectively, allowing the cleaning liquid and clean water to adhere to their respective mops. This enables the first disc mop to enhance its cleaning ability with the help of the cleaning liquid, while the second disc mop remains moist with the clean water. This not only assists in cleaning but also absorbs wastewater and removes cleaning liquid residue. This not only improves the collaborative cleaning efficiency of the two disc mops but also reduces the waste from mixing cleaning liquid and clean water, ensuring the floor is dry and clean after cleaning. It also reduces the risk of secondary pollution during the robot cleaning process, providing users with a more efficient and cleaner cleaning experience.

[0181] In one exemplary embodiment, such as Figure 13 As shown, the specific processing steps of step 204 include:

[0182] Step 1301: Control the first disc cloth sprayed with cleaning liquid to descend to a preset height to the surface of the area to be cleaned, and clean the area to be cleaned by the first disc cloth. After the cleaning is completed, control the first disc cloth to rise to a preset height.

[0183] During implementation, when the cleaning robot enters the first stage of cleaning, the control module first activates the lifting drive mechanism of the first disc mop, lowering the pre-sprayed cleaning fluid onto the first disc mop from its initial standby position to a preset height until the mop surface gently adheres to the surface of the area to be cleaned. For example, the first disc mop typically lowers by 3-5 cm, dynamically adjusting according to the flatness of the ground. Subsequently, the control module activates the drive motor of the first disc mop, causing it to rotate at a speed appropriate to the degree of dirt. The cleaning fluid impregnated in the mop fibers, combined with friction against the ground, dissolves and removes the stains. During the cleaning process, the cleaning robot's pre-set navigation system provides real-time positioning, ensuring the first disc mop covers the entire area to be cleaned along a preset trajectory. For stubborn stains, the cleaning time is automatically extended. Once cleaning is complete, the control module activates the lifting drive mechanism of the cleaning component, raising the first disc mop back to its initial height to prevent secondary contamination during its movement to the next area, while also making room for the second disc mop.

[0184] Step 1302: Control the second disc cloth sprayed with clean water to descend to a preset height to the surface of the area to be cleaned, so as to perform a secondary cleaning treatment on the area to be cleaned by the second disc cloth. After the cleaning treatment is completed, control the second disc cloth to rise to a preset height.

[0185] During implementation, after the first disc-shaped cleaning cloth completes its initial cleaning and is raised, the control module immediately initiates the second-stage cleaning process: it instructs the lifting drive mechanism of the second disc-shaped cleaning cloth to operate, lowering the pre-sprayed second disc-shaped cleaning cloth from its standby position to a preset height. This preset height is consistent with the descent height of the first disc-shaped cleaning cloth, ensuring a close fit so that the moistened surface of the second disc-shaped cleaning cloth is in close contact with the surface of the area to be cleaned after being cleaned by the first disc-shaped cleaning cloth. At this time, the second disc-shaped cleaning cloth rotates at a slightly lower speed. Through the adsorption effect of its dense fibers, it removes residual cleaning liquid and dirt debris from the first stage of cleaning, while simultaneously using the rinsing effect of the clean water to dilute any possible cleaning traces, achieving the dual function of "secondary cleaning + drying." For areas prone to water accumulation, such as floor crevices and corners, the second disc-shaped cleaning cloth uses micro-vibrations to enhance its fit, ensuring thorough absorption of residual moisture. Once the secondary cleaning is complete, the control module controls the lifting drive mechanism to raise the second disc-shaped cloth back to its initial height. This prevents it from contacting the ground when not in use, which could lead to moisture evaporation and the formation of new stains. Simultaneously, it prepares the cleaning robot for movement or entry into the next cleaning area. This step-by-step lifting operation, prioritizing cleaning before cleaning, ensures targeted effectiveness at each stage of cleaning while physically isolating the cleaning solution from the water, significantly improving overall cleaning quality.

[0186] In one optional embodiment, during the cleaning process, the rotation speed of the first disc mop is lower than that of the second disc mop. The specific process includes: the first disc mop, sprayed with cleaning fluid, begins to rotate at a lower speed. Through slow and thorough wiping, the cleaning fluid has sufficient time to penetrate and dissolve oil, stubborn stains, and other contaminants in the area to be cleaned. Simultaneously, the low-speed rotation prevents the spread of stains due to excessive friction, ensuring that the cleaning fluid reacts fully with the stains and is effectively absorbed by the mop, achieving a deep initial cleaning effect. After the initial cleaning is completed, the control module of the cleaning robot controls the first disc mop to rise back to a preset height, preventing the mop, which has already absorbed stains, from causing secondary contamination of the cleaned surface during movement. Next, the second disc cloth is used for secondary cleaning: first, water is sprayed onto the second disc cloth to ensure its surface is wet, and then it is lowered to the surface of the area to be cleaned at the same preset height. At this time, the second disc cloth rotates rapidly at a higher speed than the first disc cloth. The high-speed wiping action can quickly wash away the cleaning liquid residue and small stains left after the first cleaning. On the other hand, the centrifugal force generated by the high-speed rotation can help drain excess water from the surface of the cloth, reducing water residue in the area to be cleaned. At the same time, the rapid wiping can improve cleaning efficiency and shorten the overall cleaning time. After the secondary cleaning is completed, the second disc cloth is raised to the preset height to complete the entire cleaning cycle.

[0187] In this embodiment, the cleaning robot first lowers a first disc-shaped cloth sprayed with cleaning fluid to the ground. The chemical dissolving power of the cleaning fluid and the physical friction of the cloth effectively remove stubborn stains. After cleaning, the first disc-shaped cloth is promptly raised to prevent it from carrying away dirt and contaminating the cleaned area, and to make room for a second disc-shaped cloth to perform a secondary cleaning. Subsequently, a second disc-shaped cloth sprayed with clean water descends to effectively remove any remaining cleaning fluid and small dirt debris from the first stage, achieving a continuous cleaning and drying effect and preventing the accumulation of chemicals or water stains on the ground. Similarly, the second disc-shaped cloth is raised after cleaning to prevent the damp cloth from prolonged contact with the ground, which could breed bacteria or cause secondary contamination during movement.

[0188] In one exemplary embodiment, such as Figure 14 As shown, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. Besides spraying cleaning liquid onto the first disc-shaped cleaning cloth and spraying water onto the second disc-shaped cleaning cloth as described in the above embodiments, the cleaning liquid and water can also be mixed based on the degree of dirtiness of the area to be cleaned. The mixed solution is then sprayed onto the cleaning device or the floor of the area to be cleaned to enhance the cleaning effect. This mixed solution can be obtained by mixing cleaning liquid and water before spraying, or it can be obtained by mixing cleaning liquid and water during the spraying process. The following embodiment describes two different scenarios for the mixed solution. Method one, the specific processing procedure of step 1201 includes:

[0189] Step 1401: Control the cleaning fluid storage space to output cleaning fluid at a preset supply volume, control the clean water storage space to output clean water at a preset supply volume, and mix the cleaning fluid and clean water through the intermediate connecting pipe to obtain a mixed solution.

[0190] During implementation, when the cleaning robot detects moderately complex stains in the area to be cleaned, such as a mixture of oil and dust, the control module activates a mixed cleaning mode. First, the control module controls the cleaning fluid storage space to output cleaning fluid at a preset supply volume, while simultaneously controlling the clean water storage space to output clean water at a matching preset supply volume. The two liquids enter the intermediate connecting pipe through independent delivery pipes. This intermediate connecting pipe can have a built-in spiral mixing structure. As the liquid flows through, the spiral guides the flow, generating turbulence and ensuring thorough mixing of the cleaning fluid and clean water, forming a uniformly concentrated mixture. This avoids damage to the floor caused by uneven mixing during direct spraying. Ultimately, this produces a mixture that effectively dissolves stains without damaging the floor, providing a suitable liquid medium for subsequent cleaning.

[0191] Step 1402: Control the first spray nozzle to spray the mixture onto the first disc cloth, and simultaneously control the second spray nozzle to spray clean water onto the second disc cloth.

[0192] During implementation, after the mixture is prepared, the control module simultaneously activates the dual-spray system: on one hand, it controls the angle adjustment component of the first spray nozzle to precisely align the first spray nozzle with the center friction area of ​​the first disc cloth, spraying the mixture evenly onto the surface of the first disc cloth in a pulse spray mode, allowing the mixture to fully penetrate into the cloth fibers. For the edge area of ​​the first disc cloth, the spray frequency is slightly higher to ensure that the edge fibers remain sufficiently moist; on the other hand, the control module of the cleaning robot controls the second spray nozzle to maintain a constant angle aligned with the second disc cloth, spraying clean water in a continuous low-pressure mode, keeping the second disc cloth moist but not dripping. The water volume setting ensures that it can absorb the wastewater residue after the first stage of cleaning, while avoiding excessive moisture that would cause the floor to become damp. Throughout the spraying process, the actions of the two spray nozzles are strictly synchronized, ensuring that while the first disc cloth is absorbing the mixture and preparing to remove dirt, the second disc cloth is already soaked in clean water and ready to go, laying the foundation for a continuous cleaning process of "mixed liquid cleaning + clean water cleaning," which is especially suitable for handling moderately complex stains that require both dissolving power and cleanliness.

[0193] In this embodiment, the cleaning solution and water are thoroughly mixed through a central connecting pipe according to a preset ratio. This ensures that the mixture has an appropriate detergency concentration and that the liquid composition remains stable through uniform mixing, guaranteeing consistent cleaning results. The central connecting pipe design provides ample space for the two liquids to blend, preventing uneven mixing from causing localized differences in cleaning ability. The mixed solution and water are simultaneously sprayed onto the dual-disc mop pads. The first disc mop pad efficiently removes moderate stains using the chemical detergency and physical friction of the mixed solution, while the second disc mop pad absorbs residual mixed solution and stain debris using water. This avoids the limitations of single-liquid cleaning and improves overall cleaning efficiency through division of labor. Furthermore, this mode can flexibly adapt to the cleaning needs of complex stains, reducing unnecessary consumption of cleaning solution and water, balancing cleaning effectiveness and resource economy. The cleaned floor is free of stubborn stains, chemicals, or excessive moisture, significantly improving the cleaning robot's adaptability and user experience.

[0194] In one exemplary embodiment, such as Figure 15 As shown, when the cleaning component is a roller wiper or a conveyor belt wiper, the roller wiper or conveyor belt wiper is provided with cleaning squeegees, and the method further includes:

[0195] Step 1501: Spray clean water onto the roller cloth or the conveyor belt cloth, and simultaneously scrape and clean the roller cloth or the conveyor belt cloth with a cleaning squeegee while the roller cloth or the conveyor belt cloth is rotating.

[0196] In practice, when the cleaning robot uses a roller mop or a tracked mop, these mops continuously contact the ground and absorb a large amount of dirt during the cleaning process. If not cleaned in time, this can lead to dirt accumulation and reduced cleaning ability. Therefore, the control module initiates a simultaneous "jet cleaning + scraper self-cleaning" process: First, the control module controls the miniature water pump in the clean water storage space to output clean water at a preset flow rate, while simultaneously adjusting the second spray nozzle to an angle suitable for the roller mop / tracked mop. Thus, for the roller mop / tracked mop, the second spray nozzle is aimed at the rotational tangent of its top or side, ensuring that clean water is evenly sprayed onto the mop surface along the roller's rotation direction, guaranteeing that the water flow fully wets the mop fibers. For the tracked mop, the second spray nozzle corresponds to the upper surface of the tracked mop, covering the width of the track in a strip spray pattern, preventing clean water from dripping directly onto the cleaned ground. While spraying clean water, the control module drives the roller cloth to rotate at a preset speed and the conveyor cloth to circulate at a constant speed, ensuring that areas with stains on the cloth surface continuously enter the cleaning squeegee's effective range. The cleaning squeegee is made of elastic and wear-resistant material, such as silicone or rubber, and its edges maintain a preset pressure on the cloth surface. A wastewater collection tank is located below the squeegee. Thus, when the stained portion of the roller / conveyor cloth rotates and contacts the squeegee, the squeegee uses physical scraping force to remove solid stains (such as food residue) attached to the cloth fibers, and guides the wastewater mixed with stains to the collection tank below, achieving "real-time scraping and immediate recycling." Throughout the process, the continuous water moisture softens stubborn stains, reduces scraping resistance, and washes away small stains remaining on the cloth surface, allowing the cloth to quickly regain its cleaning ability after self-cleaning and preventing the problem of the cloth becoming dirtier with each wipe. In addition, the control module will monitor the cleanliness of the cloth in real time through a stain sensor. If stains are detected after wiping, it will automatically increase the amount of water sprayed or adjust the pressure of the squeegee to ensure self-cleaning effect and provide continuous and efficient cloth support for subsequent floor cleaning.

[0197] In this embodiment, spraying clean water onto the roller cloth / track cloth can promptly moisten and soften the attached stains, reducing their adhesion. At the same time, the roller cloth / track cloth continuously passes over the stained area via the cleaning squeegee, which uses physical force to thoroughly scrape solid stains and sewage from the cloth fibers, preventing stains from accumulating and hardening on the cloth surface. This maintains the cleaning ability of the cloth, prevents secondary contamination of the cleaned area, and significantly improves cleaning efficiency.

[0198] In one exemplary embodiment, such as Figure 16 As shown, for cleaning robots with tracked wipers and roller wipers, the cleaning blades include a raised state and a lowered state; the method also includes:

[0199] Step 1601: When the roller cloth or conveyor cloth is cleaning the area to be cleaned, control the cleaning squeegee to be in an elevated state.

[0200] In practice, when the cleaning robot enters the floor cleaning stage of the area to be cleaned—that is, when the roller or conveyor cloth is in contact with the ground and is removing dirt through rotation or cyclical movement—the control module prioritizes switching the cleaning squeegee to a raised state. Specifically, the control module sends a raising signal to the squeegee's lifting drive assembly, driving the squeegee to rotate upwards or rise vertically around a fixed axis until the squeegee's scraping edge forms a preset distance (usually 3-5mm) with the surface of the roller / conveyor cloth, completely disengaging from contact. This state setting aims to prevent the squeegee from interfering with the cloth during cleaning. On one hand, the roller / conveyor cloth needs to maintain a stable rotation / movement rhythm when rubbing the floor to remove dirt; the raised squeegee does not generate additional resistance, ensuring the cloth can operate efficiently at a preset speed, avoiding increased motor load or cleaning trajectory deviation due to excessive resistance. On the other hand, it prevents the squeegee from scraping away cleaning liquid or wet stains on the cloth surface that have not yet been fully applied to the floor during the non-self-cleaning stage, ensuring the cloth can continuously transfer and remove stains through fiber adsorption and friction, guaranteeing effective floor cleaning. At the same time, the raised squeegee can also avoid collision with the ground or raised stains carried by the rag, reducing the wear of the squeegee itself and extending its service life.

[0201] Step 1602: When self-cleaning by spraying the roller cloth or the conveyor belt cloth, control the cleaning squeegee to be in a descending state.

[0202] During implementation, when the cleaning robot detects that the amount of dirt adhering to the surface of the roller cloth or conveyor cloth has reached a preset threshold and the self-cleaning process needs to be initiated, the control module immediately controls the cleaning squeegee to switch from the raised state to the lowered state, and the cleaning component stops cleaning. At this time, the lifting drive component of the squeegee receives a descent signal and drives the squeegee to rotate downwards or descend vertically until the elastic scraping edge of the squeegee is in close contact with the surface of the roller cloth / conveyor cloth, maintaining a preset pressure. In this way, the lowered squeegee can work in conjunction with the synchronously sprayed clean water. The clean water continuously wets the cloth surface, softening the adhering dirt, while the roller cloth / conveyor cloth maintains a low-speed rotation during the self-cleaning phase, ensuring that every dirty area on the cloth surface comes into contact with the squeegee. The squeegee scrapes off solid residue through physical scraping force and guides the mixed wastewater to the wastewater recycling tank below, preventing dirt residue. Meanwhile, the tightly fitting scraper blades adapt to the curved surface of the rollers or the cyclical movement of the tracks, ensuring no blind spots in cleaning. Especially for areas prone to dirt accumulation, such as the edges and seams of the cloth, continuous scraping achieves thorough cleaning, allowing the cloth to quickly regain its adsorption and cleaning capabilities after self-cleaning, preparing it for the next round of floor cleaning. Furthermore, the lowered scraper blades also act as a "seal," preventing wastewater from splashing into the robot's interior or the already cleaned floor during self-cleaning, reducing the risk of secondary contamination.

[0203] In this embodiment, by controlling the cleaning squeegee to be in an elevated state when cleaning the area to be cleaned with a roller mop or conveyor belt mop, direct contact between the cleaning squeegee and the surface to be cleaned or interference with the cleaning action of the mop can be effectively avoided. This prevents the squeegee from scratching the surface of the area to be cleaned, and allows the mop to fully adhere to the cleaning surface and achieve unobstructed rolling / conveyor wiping, ensuring complete coverage of the cleaning path and improving the stain removal effect. When spraying self-cleaning solution onto the roller mop or conveyor belt mop, switching the cleaning squeegee to a lowered state allows the squeegee to closely adhere to the surface of the mop. While spraying cleaning solution to rinse the mop, the physical scraping action of the squeegee efficiently removes stubborn stains, hair, debris, and other impurities attached to the mop, avoiding secondary contamination of the mop due to stain residue, and significantly improving the thoroughness and efficiency of the mop self-cleaning.

[0204] In one exemplary embodiment, such as Figure 17 As shown, the specific processing steps of step 202 include:

[0205] Step 1701: Control the cleaning fluid storage space to output cleaning fluid at a preset supply volume, and control the first spray hole to spray cleaning fluid onto the roller cloth or conveyor cloth.

[0206] In practice, when the cleaning robot determines that there are moderate to severe stubborn stains in the area to be cleaned through image recognition and stain sensors, the control module will first start the initial cleaning process: First, the control module calls the preset parameter library according to the type of stain: If it is an oily stain, the micro metering pump in the cleaning liquid storage space is controlled to output cleaning liquid at a preset supply volume of 12-15ml / min; if it is a dried solid residue stain, the supply volume is adjusted to 8-10ml / min. Meanwhile, the angle adjustment component for the first spray nozzle is precisely positioned: for cylindrical roller mops, the first spray nozzle is adjusted to the top area at a 30° angle to the roller axis, and the spray direction is consistent with the roller's rotation direction, so that the cleaning liquid is sprayed along the tangential direction of the roller surface, evenly covering the entire surface of the mop as the roller rotates, preventing liquid from accumulating in local areas and forming droplets; for annular track mops, the first spray nozzle is fixedly aligned with the upper surface of the track's transmission section, using a fan-shaped atomization spray mode, allowing the cleaning liquid to adhere to the track fibers in a fine mist, ensuring both wetting effect and preventing liquid dripping and contamination of the cleaned ground. During the spraying process, the flow sensor on the cleaning liquid pipeline monitors the output flow in real time, and dynamic calibration is performed by adjusting the speed of the supply pump to ensure a stable supply of cleaning liquid, laying the foundation for subsequent decontamination.

[0207] Step 1702: After the roller or tracked cleaning cloth spraying the cleaning solution completes the initial cleaning of the area to be cleaned, control the water storage space to output clean water at a preset water supply, and control the second spray nozzle to spray clean water onto the roller or tracked cleaning cloth so that the roller or tracked cleaning cloth spraying clean water performs a secondary cleaning of the area to be cleaned.

[0208] During implementation, after the initial cleaning is completed by the roller / track cleaning cloth spraying the cleaning solution, the control module seamlessly switches to the secondary cleaning process. First, the control module sends a signal to shut off the cleaning solution supply pump, and at the same time starts the metered water supply pump in the clean water storage space. The preset water supply is output according to the condition of the ground after the initial cleaning: if there are obvious traces of cleaning solution residue on the ground, the water supply can be set to 18-22 ml / min to enhance the rinsing effect; if the ground is relatively clean, the water supply is reduced to 12-15 ml / min to avoid excessive water causing the ground to become damp. Next, adjust the second spray nozzle to a spray position suitable for the rag: For roller rags, the second spray nozzle is located on the side below the roller near the wastewater recovery tank, with the spray direction angled towards the roller surface. After the water is sprayed, it can directly rinse the residual cleaning liquid and dirt debris on the roller surface, and also use the reverse impact force to guide the wastewater to the recovery tank below, reducing the wastewater backflow to the ground; For track rags, the second spray nozzle is aimed at the lower surface turning section of the track, using a direct spray mode to accurately spray water on the contact edge between the track and the ground, so that the track is kept wet at the moment of contact with the ground, which can remove residual cleaning liquid through friction and also absorb fine dust particles on the ground. Simultaneously, the control module adjusts the operating parameters of the roller / tracked mop, increasing the number of rotations of the roller mop and the speed of the track: the roller speed increases from 25-35 rpm during the initial cleaning to 35-45 rpm, and the track speed increases from 0.15-0.2 m / s to 0.2-0.3 m / s. By increasing the operating speed, the friction frequency between the mop and the ground is enhanced, improving the efficiency of secondary cleaning. Throughout the process, a ground humidity sensor monitors the moisture content of the cleaning area in real time. When the detected moisture content is below 15%, the water supply is automatically reduced to 8-10 ml / min until the secondary cleaning is completed, ultimately achieving a thorough cleaning effect with no residue and rapid drying.

[0209] In this embodiment, after the initial cleaning is completed, the clean water storage space is controlled to output clean water according to the preset water supply volume. The water is then sprayed onto the rag through the second spray nozzle for secondary cleaning. The clean water can be used to rinse away any residual cleaning liquid and stains on the rag, allowing the rag to wipe the area to be cleaned a second time in a clean state. This not only thoroughly removes any cleaning liquid traces and small stains that may remain after the initial cleaning, preventing damage to the clean surface from cleaning liquid residue, but also reduces waste of cleaning liquid and clean water by precisely controlling the preset liquid and water supply volumes, thereby lowering cleaning costs and meeting the high-efficiency and environmentally friendly operation requirements of automated cleaning equipment.

[0210] In an optional embodiment, a cleaning fluid pipeline is connected between the cleaning fluid storage space and the first spray hole, and a clean water pipeline is connected between the clean water storage space and the second spray hole; the spray volume of the first spray hole and the second spray hole is set to a first preset ratio, and the diameter ratio of the cleaning fluid pipeline to the clean water pipeline is a second preset ratio.

[0211] In implementation, the liquid supply and spraying system design of the cleaning robot employs a precisely matched pipeline configuration and spray volume control logic for the transmission and transmission paths of cleaning fluid and clean water: the cleaning fluid storage space is connected to the first spray hole via an independent cleaning fluid pipeline, while the clean water storage space is connected to the second spray hole via a dedicated clean water pipeline. This dual-pipeline separation design prevents the cleaning fluid and clean water from mixing prematurely during transmission, ensuring the stability of their respective components. To adapt to the liquid usage requirements of different cleaning scenarios, the spray volume of the first and second spray holes is preset to a first preset ratio. This ratio is precisely controlled by the opening of a micro-flow valve in the pipeline, ensuring both the effective cleaning concentration of the cleaning fluid and the appropriate amount of clean water to assist in cleaning and rinsing. Meanwhile, the diameter ratio of the cleaning fluid pipeline to the clean water pipeline is set to a second preset ratio. In this way, under the same pump pressure, the larger diameter clean water pipeline can deliver more liquid, while the smaller diameter cleaning fluid pipeline can precisely control the output of a small amount of cleaning fluid. Through the dual cooperation of the pipeline physical structure and the electronically controlled injection volume, the efficiency and accuracy of liquid supply are achieved, avoiding flow fluctuations or energy waste caused by pipeline mismatch, and providing stable liquid support for cleaning needs with different levels of dirt.

[0212] In one exemplary embodiment, such as Figure 18 As shown, based on the foregoing embodiments, the cleaning strategy system of the cleaning robot predefines the degree of dirt. It executes matching cleaning strategies for different degrees of dirt. Simultaneously, it prioritizes planning cleaning routes through heavily soiled areas to prevent lightly soiled areas from expanding the stain area of ​​heavily soiled areas and reducing secondary pollution. Therefore, the following embodiments specifically describe the process of zoned cleaning for different levels of dirt. Step 202, which involves planning the cleaning route based on the degree and location of dirt in the area to be cleaned, includes:

[0213] Step 1801: Based on the degree of dirt and location of dirt in the area to be cleaned, divide the area to be cleaned into zones and determine the dirt level of each zone.

[0214] In implementation, after the cleaning robot constructs an environmental map of the area to be cleaned using its pre-installed navigation system, it initiates a zone division and dirt level determination process. Specifically, the cleaning robot combines image data acquired by the image acquisition unit with the detection results from the dirt sensor to divide the area to be cleaned into zones, for example, using a grid. The overall area is divided into several standard 10cm × 10cm grids, each serving as an independent basic analysis unit. Subsequently, the cleaning robot extracts the dirt features within each grid using image recognition technology, and assigns an initial dirt level to each grid based on a pre-defined dirt level definition. Next, the control module performs a correlation analysis on the dirt levels of adjacent grids. If three or more consecutive grids belong to the same dirt level and are physically adjacent, they are merged into a single cleaning zone to avoid reduced cleaning efficiency due to over-segmentation. For isolated high-level dirty grids, such as single-point heavy stains, they are assigned to surrounding low-level zones as key cleaning sub-areas within those zones. The final zone map marks the boundaries, average dirt level, and key stain locations of each zone, providing accurate regional information for subsequent route planning.

[0215] Optionally, when dividing the area to be cleaned into grids, the grid size can be dynamically adjusted according to the size of the space. For example, an open area can use a 20cm×20cm grid, while a narrow area can be reduced to 5cm×5cm. This embodiment is only an example of grid division and is not intended to limit the specific grid size.

[0216] Step 1802: Based on the order of dirt level from low to high, plan the priority cleaning route for each zone and clean each zone.

[0217] In implementation, after completing the area division and dirt level determination, the cleaning robot enters the route planning and execution phase. First, the cleaning robot prioritizes all zones according to their dirt level from highest to lowest: the first dirt level zone (heavily dirty) is set as the highest priority, followed by the second dirt level zone (moderately dirty), and finally the third dirt level zone (lightly dirty). The core purpose of this prioritization logic is to avoid cross-contamination during the cleaning process. Thus, in specific route planning, the control module generates continuous cleaning routes based on the spatial distribution of the zones using a shortest path algorithm: starting from the starting position, it prioritizes the nearest first-level zone, completes the cleaning of that zone according to the preset cleaning trajectory, and automatically plans the optimal path to the next first-level zone (avoiding already cleaned areas); after all first-level zones are cleaned, it proceeds to the second and third-level zones in sequence, and the cleaning route within each zone is locally optimized for key stain locations. In addition, the cleaning robot's control module will monitor the cleaning progress in real time. If it detects that the dirt level of adjacent zones has changed due to external factors, such as pet stains, while cleaning a certain zone, it will dynamically adjust the priority of subsequent zones to ensure that cleaning resources are always invested in the areas that need them most, thus achieving a balance between overall cleaning efficiency and effectiveness.

[0218] In this embodiment, routes are planned from high to low dirt levels, which reduces cross-contamination at its source and ensures that each zone remains clean after cleaning. Simultaneously, this orderly planning optimizes the cleaning path, reduces ineffective robot movement between different zones, and improves overall cleaning efficiency. Furthermore, matching corresponding cleaning intensities to different dirt levels ensures thorough cleaning of heavily soiled areas while avoiding resource consumption and floor damage caused by over-cleaning in lightly soiled areas, thus balancing cleaning effectiveness, efficiency, and floor protection.

[0219] In one exemplary embodiment, such as Figure 19 As shown, the method also includes:

[0220] Step 1901: During the process of cleaning the area to be cleaned in sections, the degree of dirt on the cleaning components is detected in real time.

[0221] During implementation, as the cleaning robot performs its cleaning tasks according to the planned priority routes for each zone, its control module also activates a real-time dirt monitoring mechanism for the cleaning components. Specifically, optical sensors mounted on top of the components continuously collect images or reflected light signals from their surfaces: for light-colored cloths, the sensors analyze the color depth and coverage area of ​​surface stains; for dark-colored cloths, the degree of dirtiness is determined by changes in reflectivity caused by stains. Simultaneously, indirect monitoring is achieved using weight sensors: as the cleaning component absorbs wastewater and stains, its weight increases, and the weight sensor converts this weight change data into a dirt index. This real-time data is then transmitted to the control module, compared with preset dirt level standards, and generates a dynamic dirt status report for the cleaning components, thus enabling monitoring of their dirt levels.

[0222] Step 1902: If the degree of dirtiness of the cleaning component reaches the preset dirtiness threshold, control the cleaning robot to return to the base station so that the base station can clean the cleaning component.

[0223] During implementation, when the level of dirt on the cleaning component detected in real time reaches a preset dirt threshold, the control module can trigger a return-to-base station cleaning process. Specifically, the control module records the current zone location and the completed cleaning progress, and saves the route planning data for the uncleaned zones. Subsequently, the autonomous return procedure is initiated: by comparing the current location with the base station coordinates through the preset navigation control module, the shortest return path is planned, and the drive wheels are controlled to move towards the base station at a speed slightly higher than that during cleaning (e.g., 0.5 m / s). Upon arrival at the base station, the cleaning robot precisely docks with the cleaning station of the base station through infrared positioning or a mechanical alignment structure. The base station then initiates the cleaning component processing procedure: for cleaning components such as cloths, the base station will first use a rotating brush to initially remove solid stains from the surface, then spray clean water and use a scraper for deep cleaning, and finally start hot air drying; if the cleaning component has a wastewater tank, the base station will also simultaneously empty the wastewater and replenish the clean water, realizing automated maintenance of the cleaning component and ensuring that it is restored to a clean state that can be used again.

[0224] Step 1903: Based on the cleaned parts, continue cleaning the uncleaned areas of the area to be cleaned.

[0225] In practice, once the base station completes cleaning of the cleaning components and detects that the cleanliness level meets the standards, the cleaning robot immediately initiates a follow-up process. The control module retrieves the cleaning progress data saved by the cleaning robot to generate the optimal return path from the base station to the last interrupted location. Upon reaching the interrupted location, the cleaning robot first uses visual sensors to confirm the boundaries of the current zone and the uncleaned areas, then continues working according to the originally planned cleaning trajectory, ensuring a seamless connection between the cleaning path and the area before the interruption, avoiding any blind spots. For the boundary area between cleaned and uncleaned sections, an overlapping cleaning is automatically performed to prevent stains from remaining at the boundary line due to the interruption. In subsequent cleaning of uncleaned zones, the control module maintains the original priority order until all zones are cleaned.

[0226] In this embodiment, the level of dirt on the cleaning components is detected in real time, and the components automatically return to the base station for cleaning when the dirt level reaches a certain threshold. Utilizing the base station's professional cleaning mechanism, stubborn stains and bacteria on the cleaning components can be quickly removed, preventing incomplete cleaning or secondary contamination of uncleaned areas due to reduced cleaning ability caused by excessive dirt buildup. Furthermore, the system continues cleaning based on the cleaned components, ensuring that subsequent uncleaned areas are always cleaned with high-efficiency cleaning components. Simultaneously, recording the cleaning progress ensures seamless continuity, preventing missed or repeated cleaning due to interruptions and guaranteeing the overall cleaning process's consistency. This approach maintains stable cleaning quality while also balancing automation and convenience, improving the overall cleaning effect.

[0227] In one exemplary embodiment, such as Figure 20 As shown, the method also includes:

[0228] Step 2001: Detect cleaning solution residue in the area to be cleaned.

[0229] In practice, after the cleaning robot completes the initial cleaning of the area to be cleaned, the control module automatically triggers the cleaning fluid residue detection process, achieving accurate identification through multi-sensor collaborative detection. Specifically, the multispectral detection sensor on the bottom of the cleaning robot emits a composite spectrum including ultraviolet and visible light. Components in the cleaning fluid, such as surfactants and fluorescent agents, will exhibit characteristic absorption or reflection of light at specific wavelengths. For example, anionic surfactants will show an absorption peak at a wavelength of 220nm. The sensor calculates the residual concentration of the cleaning fluid by capturing the intensity of this absorption signal. Simultaneously, the accompanying humidity sensor collects data on the moisture content of the ground. Because the liquid in the residual cleaning fluid area has not completely evaporated, the moisture content is usually 12%-18% higher than that of the ground after normal cleaning. For example, the normal moisture content of wooden floors is 8%-12%, while the residual area can reach 20%-25%. In this way, cross-validation of the two sets of data can eliminate the interference of simple water stains on the detection results. Optionally, the cleaning robot will also incorporate image recognition technology, using a camera to capture reflective textures on the ground. Cleaning fluid residue will form irregular reflective spots, and the control module will further pinpoint the boundaries of the residue area by comparing the area and grayscale value of these spots. During the detection process, the data is updated every 0.3 seconds, ultimately generating a residue distribution map containing information on "residual concentration, coverage area, and specific location," providing a precise basis for subsequent cleaning with the cleaning fluid.

[0230] Step 2002: If the cleaning fluid residue exceeds the preset cleaning fluid residue threshold, control the water storage space and the second spray hole to spray water onto the cleaning part and / or the area to be cleaned in a preset spraying mode.

[0231] During implementation, if the detected cleaning fluid residue exceeds the preset threshold, the control module initiates a targeted clean water spraying process, adhering to the principle of "spraying on demand and avoiding waste." First, the spraying strategy is determined based on the residue distribution map. For example, if the residue is "sporadic" (such as multiple small areas with a diameter <10cm), the second spray nozzle is switched to a pulse-type precision spraying mode. The spray angle is adjusted by a micro stepper motor to aim the nozzle at each residue point, spraying clean water at a frequency of 0.2 seconds / time and a flow rate of 1-1.5ml / time, ensuring that the clean water only acts on the residue area and avoids contaminating the already cleaned floor. If the residue is "continuous in patches" (such as the residue area in a certain zone >10%), the mode is switched to a fan-shaped atomization spraying mode. The spray nozzle angle is adjusted to cover the entire residue area, and the atomized particle diameter is controlled at 40-60μm. At the same time, the metered water supply pump in the clean water storage space stabilizes the water supply at 8-10ml / min, ensuring that the clean water can fully dilute the cleaning fluid. In addition, for models equipped with dual cleaning components, water will be sprayed simultaneously onto the corresponding cleaning component (e.g., the second disc mop) to pre-soak the cleaning component, enhancing its ability to adsorb residues and creating a dual treatment effect of "floor dilution + cleaning component adsorption".

[0232] Step 2003: Control the cleaning component to perform secondary cleaning on the area to be cleaned.

[0233] In this embodiment, after the water spray is completed, the control module seamlessly connects to the secondary cleaning process to thoroughly remove the diluted cleaning solution residue and trace stains. The specific process includes: First, the control module adjusts the operating parameters according to the type of cleaning component: If it is a disc-shaped mop, the drive motor speed is reduced from 80-100 rpm during the initial cleaning to 50-60 rpm. Reducing the speed avoids splashing of the diluted cleaning solution due to centrifugal force, while also extending the contact time between the mop and the ground, enhancing the fiber adsorption effect. If it is a roller mop / tracked mop, the moving speed is maintained at 0.2 m / s, but the pressure adjustment component increases the contact pressure between the mop and the ground by 15%-20%, using greater friction to remove residue from the ground. Second, optionally, in the cleaning path planning, a "core area surround + edge overlap" strategy is adopted: first, the area with the highest residue concentration is used as the center, and 3-5 spiral cleaning cycles are performed to ensure deep cleaning; then, the cleaning extends 8-10 cm outwards, forming an overlapping cleaning zone with the already cleaned area to prevent residue diffusion. During the cleaning process, the humidity sensor continuously monitors the ground moisture content. When the moisture content of the residual area drops to the same level as the normal area (error ≤3%) and the multispectral sensor does not capture the characteristic signal of the cleaning liquid, the secondary cleaning is determined to be completed. The cleaning components are then raised and reset to completely eliminate the risk of slippery floors, odors, or potential irritation to children and pets caused by cleaning liquid residue.

[0234] In one exemplary embodiment, such as Figure 21 As shown, the cleaning robot first uses cleaning fluid to clean the area to be cleaned, especially heavily soiled areas, which are then soaked in the cleaning fluid for stain removal. After the cleaning fluid treatment, the cleaning robot can further remove cleaning fluid residue and dirt by spraying clean water. Before spraying clean water, i.e., before step 2002, the method also includes:

[0235] Step 2101: Blow air into the residual cleaning liquid in the area to be cleaned through a preset air outlet, and / or extend the interval between secondary cleaning operations.

[0236] During implementation, if a large area of ​​cleaning fluid remains in the area to be cleaned, the cleaning robot's control module will activate the preset air vents on the bottom or side of the robot. These vents contain built-in miniature silent fans that output directional airflow. During the airflow process, the robot's pre-set navigation system guides it to slowly move from the edge of the remaining area towards the center, ensuring that the airflow evenly covers every area. Simultaneously, a temperature sensor monitors the ambient temperature in real time. If the ambient temperature is below 15°C, the fan speed will automatically increase to 3500 rpm, and the airflow duration will be extended to accelerate the evaporation of the cleaning fluid by increasing airflow disturbance. This method reduces the water content of the residual cleaning fluid by 30%-40%, reducing the amount of water needed for subsequent cleaning and preventing the cleaning fluid from mixing with subsequent sprayed liquids to form difficult-to-treat wastewater.

[0237] Alternatively, regarding cleaning fluid residue, if a small area of ​​cleaning fluid remains in the area to be cleaned, or if there are moisture-sensitive materials in the area, such as solid wood carpets or rugs, the cleaning robot's control module will extend the interval between secondary cleaning cycles. Specifically, the interval is set according to the residue concentration: 5-8 minutes for light residue and 10-15 minutes for heavy residue. During the interval, the cleaning robot will move to a dry area outside the area to be cleaned to standby or continue cleaning other areas, while continuously monitoring the moisture content of the residual area via remote sensors. When the moisture content is detected to drop below 10%, the subsequent secondary cleaning process will be initiated. This method reduces the total amount of cleaning fluid through natural evaporation, avoiding liquid seepage into floor crevices due to forced cleaning, and is especially suitable for moisture-sensitive floor materials, balancing pre-treatment effectiveness and floor protection.

[0238] In this embodiment, the directional airflow output from the preset air outlet accelerates the evaporation of residual cleaning fluid, especially for large-area, thin-layer residues. This quickly reduces the moisture content of the ground. Alternatively, extending the interval between secondary cleaning sessions allows for further reduction of residual cleaning fluid through natural evaporation, ensuring that subsequent secondary cleaning only needs to address trace amounts of residue. This significantly reduces water consumption and wear and tear on cleaning components. It enhances the flexibility and adaptability of residual cleaning fluid handling, lays a clean and safe foundation for subsequent cleaning processes, and significantly improves the safety and efficiency of the cleaning experience.

[0239] It is worth noting that the various specific parameter values ​​given in the embodiments of this application are only for illustrating the scheme and are not intended to limit the scheme. The specific parameter values ​​given in each embodiment are examples and can be determined and adjusted based on the actual cleaning scenario and cleaning needs.

[0240] 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.

[0241] Based on the same inventive concept, this application also provides a cleaning apparatus for implementing the cleaning method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, specific limitations in one or more cleaning apparatus embodiments provided below can be found in the limitations of the cleaning method described above, and will not be repeated here.

[0242] In one exemplary embodiment, such as Figure 22 As shown, a cleaning device 2200 is provided, including: a first spraying module 2201 and a cleaning module 2202, wherein:

[0243] The first spray module 2201 is used to plan a cleaning route and control the cleaning liquid storage space and the first spray hole to spray cleaning liquid onto the cleaning parts and / or the dirty locations of the area to be cleaned in a preset spraying mode, based on the degree of dirt and the location of the dirt in the area to be cleaned.

[0244] The cleaning module 2202 is used to control the cleaning components to clean the area to be cleaned.

[0245] In one embodiment, the cleaning robot further includes at least one image acquisition unit, and a first spraying module 2201, specifically used to acquire image data of the area to be cleaned through the image acquisition unit, and detect the degree of dirt and the location of dirt in the area to be cleaned based on the image data;

[0246] The cleaning route of the cleaning robot is planned based on the degree of dirt and the location of the dirt.

[0247] In one embodiment, the first injection module 2201 is specifically used for:

[0248] Based on the image acquisition unit set at the front end, image data of the area to be cleaned along the forward path of the cleaning robot is acquired;

[0249] Based on image data, the location and degree of dirt along the path of travel are determined.

[0250] In one embodiment, the first spray module 2201 is specifically configured to: when the first spray nozzle is positioned at the front end of the cleaning robot, control the cleaning robot to move forward a first distance to the detected dirt location; and / or,

[0251] When the first spray nozzle is positioned at the rear of the cleaning robot, the robot is controlled to turn around to align the first spray nozzle with the direction of the dirt, and then retreat a second distance to the location of the dirt.

[0252] In one embodiment, the first injection module 2201 is specifically used for:

[0253] Based on the image acquisition unit set at the back end, image data of the area to be cleaned is acquired along the backward path of the cleaning robot.

[0254] Based on image data, the location and degree of dirt on the backward path are determined.

[0255] In one embodiment, the first spray module 2201 is specifically configured to: when the first spray nozzle is positioned at the front end of the cleaning robot, control the cleaning robot to turn around in response to a detected dirt location, so that the first spray nozzle is aligned with the direction of the dirt, and move forward a third distance to the dirt location, and / or,

[0256] When the first spray nozzle is located at the rear end of the cleaning robot, the cleaning robot is controlled to retreat a fourth distance to the detected dirty location.

[0257] In one embodiment, the first spray module 2201 is specifically used to: when the first spray hole is set at the bottom of the cleaning robot body, control the cleaning robot chassis to move closer to the dirty position and control the first spray hole to align with the dirty position for the detected dirty position.

[0258] In one embodiment, the first distance, the second distance, the third distance, and the fourth distance are determined based on one or more of the cleaning robot's body length, travel speed, travel time, and estimated spray location.

[0259] In one embodiment, the first injection module 2201 is specifically used for:

[0260] When the area to be cleaned is at the first level of dirtiness, the cleaning fluid storage space is controlled to output cleaning fluid at the first supply volume, and the first spray nozzle is controlled to spray cleaning fluid at the dirty position of the area to be cleaned.

[0261] When the area to be cleaned is at the second level of dirtiness, the cleaning fluid storage space is controlled to output cleaning fluid at the second supply volume, and the first spray nozzle is controlled to spray cleaning fluid onto the cleaning part.

[0262] When the area to be cleaned is at the third level of dirtiness, the cleaning fluid storage space is controlled to output cleaning fluid at the third supply volume, and the first spray nozzle is controlled to spray cleaning fluid onto the dirty location and cleaning parts of the area to be cleaned.

[0263] In one embodiment, the cleaning robot further includes a clean water storage space and a second spray port communicating with the clean water storage space, and the device 2200 also includes:

[0264] The second spray module is used to control the clean water storage space and the second spray hole to spray clean water onto the dirty parts and / or the area to be cleaned in a preset spray mode.

[0265] The cleaning module is used to control the cleaning components to clean the area to be cleaned.

[0266] In one embodiment, the cleaning component includes any of the following:

[0267] Disc rags, roller rags, and conveyor belt rags.

[0268] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth. The first spray module 2201 is used to control the cleaning liquid storage space to output cleaning liquid at a preset supply volume, control the clean water storage space to output clean water at a preset supply volume, and simultaneously control the first spray hole and the second spray hole to spray liquid, so that the first spray hole is aligned with the first disc-shaped cleaning cloth to spray cleaning liquid, and the second spray hole is aligned with the second disc-shaped cleaning cloth to spray clean water.

[0269] In one embodiment, the cleaning module 2202 is specifically used for:

[0270] The first disc cloth sprayed with cleaning liquid is controlled to descend to a preset height to the surface of the area to be cleaned, and the area to be cleaned is cleaned by the first disc cloth. After the cleaning is completed, the first disc cloth is controlled to rise to a preset height.

[0271] The second disc cloth sprayed with clean water is controlled to descend to a preset height to the surface of the area to be cleaned, so as to perform a secondary cleaning treatment on the area to be cleaned by the second disc cloth. After the cleaning treatment is completed, the second disc cloth is controlled to rise to a preset height.

[0272] In one embodiment, the rotational speed of the first disc wipe is less than that of the second disc wipe.

[0273] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth, and the first spraying module 2201 is specifically used for:

[0274] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the clean water storage space is controlled to output clean water at a preset supply volume. The cleaning fluid and clean water are mixed through an intermediate connecting pipe to obtain a mixed solution.

[0275] Control the first spray nozzle to spray the mixture onto the first disc cloth, and simultaneously control the second spray nozzle to spray clean water onto the second disc cloth.

[0276] In one embodiment, the disc-shaped cleaning cloth includes a first disc-shaped cleaning cloth and a second disc-shaped cleaning cloth, and the first spraying module 2201 is specifically used for:

[0277] The cleaning fluid storage space is controlled to output cleaning fluid at a preset supply volume, and the clean water storage space is controlled to output clean water at a preset supply volume.

[0278] The system synchronously controls the first and second spray nozzles to spray cleaning liquid and water onto the first disc cloth in sequence, and controls the second spray nozzle to spray water onto the second disc cloth.

[0279] In one embodiment, when the cleaning component is a roller wipe or a conveyor belt wipe, the roller wipe or conveyor belt wipe is provided with cleaning squeegees, and the device 2200 further includes:

[0280] The scraping module is used to spray clean water onto the roller cloth or the track cloth, and at the same time, the cleaning scraper cleans the roller cloth or the track cloth by scraping it as the roller cloth or the track cloth rotates.

[0281] In one embodiment, the cleaning blade includes a raised state and a lowered state; the device 2200 also includes:

[0282] The first control module is used to control the cleaning squeegee to be raised when the roller squeegee or the conveyor belt squeegee is cleaning the area to be cleaned.

[0283] The second control module is used to control the cleaning squeegee to descend when spraying the roller squeegee or the conveyor belt squeegee for self-cleaning.

[0284] In one embodiment, the first injection module 2201 is specifically used for:

[0285] Control the cleaning fluid storage space to output cleaning fluid at a preset supply volume, and control the first spray nozzle to spray cleaning fluid onto the roller cloth or conveyor cloth.

[0286] After the roller or tracked cleaning cloth spraying the cleaning solution completes the initial cleaning of the area to be cleaned, the clean water storage space is controlled to output clean water at a preset water supply, and the second spray nozzle is controlled to spray clean water onto the roller or tracked cleaning cloth so that the roller or tracked cleaning cloth spraying clean water can perform a second cleaning of the area to be cleaned.

[0287] In one embodiment, a cleaning fluid storage space is connected to a cleaning fluid pipeline between the cleaning fluid storage space and the first spray hole, and a clean water storage space is connected to a clean water pipeline between the clean water storage space and the second spray hole.

[0288] The spray volume of the first spray hole and the second spray hole are set to a first preset ratio, and the diameter ratio of the cleaning liquid pipeline to the clean water pipeline is a second preset ratio.

[0289] In one embodiment, the first spraying module 2201 is specifically used to divide the area to be cleaned into zones based on the degree of dirt and the location of dirt in the area to be cleaned, and to determine the dirt level of each zone.

[0290] Based on the order of dirt level from low to high, a priority cleaning route is planned for each zone, and each zone is cleaned.

[0291] In one embodiment, the device 2200 further includes:

[0292] The first detection module is used to detect the degree of dirt on the cleaning components in real time during the process of cleaning the area to be cleaned in sections.

[0293] The third control module is used to control the cleaning robot to return to the base station if the degree of dirtiness of the cleaning part reaches the preset dirtiness threshold, so that the base station can clean the cleaning part.

[0294] The cleaning module is used to continue cleaning the uncleaned areas of the area to be cleaned based on the cleaned cleaning components.

[0295] In one embodiment, the device 2200 further includes:

[0296] The second detection module is used to detect cleaning fluid residue in the area to be cleaned.

[0297] The fourth control module is used to control the water storage space and the second spray hole to spray water onto the cleaning parts and / or the area to be cleaned in a preset spraying mode if the cleaning fluid residue exceeds the preset cleaning fluid residue threshold.

[0298] The fifth control module is used to control the cleaning components to perform secondary cleaning on the area to be cleaned.

[0299] In one embodiment, the device 2200 further includes:

[0300] The air blowing control module is used to blow air onto the residual cleaning liquid in the area to be cleaned through a preset air blowing port, and / or to extend the interval between secondary cleaning operations.

[0301] Each module in the aforementioned 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 invoke and execute the operations corresponding to each module.

[0302] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0303] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0304] Those skilled in the art will understand that all or part of the processes in the methods of 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, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory 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, artificial intelligence (AI) processors, etc., and are not limited to these.

[0305] 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 application.

[0306] 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 cleaning method, characterized in that, The method is applied to a cleaning robot, the cleaning robot including a cleaning component, a cleaning fluid storage space, and a first spray hole communicating with the cleaning fluid storage space, the method comprising: Based on the degree and location of dirt in the area to be cleaned, the area is divided into grids. The stain features in each grid are extracted using image recognition technology. Combined with a preset definition of dirt level, the initial dirt level of each grid is determined. The correlation analysis of the dirt levels of adjacent grids is performed. If three or more consecutive grids belong to the same initial dirt level and are physically adjacent, they are merged into one cleaning zone. Based on the order of dirt levels from low to high, a priority cleaning route is planned for each zone. Each cleaning zone is cleaned and the cleaning fluid storage space and the first spray hole are controlled to spray cleaning fluid onto the cleaning parts and / or the dirty locations of the area to be cleaned in a preset spraying mode. The cleaning component is controlled to clean the area to be cleaned.

2. The method according to claim 1, characterized in that, The cleaning robot also includes a clean water storage space and a second spray hole connected to the clean water storage space, and the method further includes: The cleaning fluid residue in the area to be cleaned is detected by multiple sensors working together. If the residual cleaning fluid exceeds a preset cleaning fluid residue threshold, the water storage space and the second spray hole are controlled to spray water onto the cleaning component and / or the area to be cleaned in a preset spraying mode. The cleaning component is controlled to perform a secondary cleaning of the area to be cleaned.

3. The method according to claim 1, characterized in that, The method of controlling the cleaning fluid storage space and the first spray hole to spray cleaning fluid onto the dirty areas of the cleaning component and / or the area to be cleaned in a preset spray pattern includes: When the area to be cleaned is at the first level of dirtiness, the cleaning liquid storage space is controlled to output cleaning liquid at the first liquid supply volume, and the first spray nozzle is controlled to spray the cleaning liquid at the dirty position of the area to be cleaned. When the area to be cleaned reaches the second level of dirtiness, the cleaning fluid storage space is controlled to output the cleaning fluid at a second supply volume, and the first spray nozzle is controlled to spray the cleaning fluid onto the cleaning component. When the area to be cleaned reaches the third level of dirtiness, the cleaning fluid storage space is controlled to output cleaning fluid at the third supply volume, and the first spray nozzle is controlled to spray the cleaning fluid onto the dirty position of the area to be cleaned and the cleaning component.

4. The method according to claim 1, characterized in that, The cleaning robot also includes a clean water storage space and a second spray hole connected to the clean water storage space, and the method further includes: Control the clean water storage space and the second spray hole to spray clean water onto the cleaning component and / or the dirty area of ​​the area to be cleaned in a preset spray mode; The cleaning component is controlled to clean the area to be cleaned.

5. The method according to claim 3, characterized in that, The cleaning component includes any of the following: Disc rags, roller rags, and conveyor belt rags.

6. The method according to claim 1, characterized in that, The method further includes: During the process of cleaning the area to be cleaned in sections, the degree of dirt on the cleaning components is detected in real time. If the degree of dirtiness of the cleaning component reaches a preset dirtiness threshold, the cleaning robot is controlled to return to the base station so that the base station can clean the cleaning component. Based on the cleaned cleaning components, the uncleaned sections of the area to be cleaned are then cleaned.

7. The method according to claim 2, characterized in that, Before controlling the water storage space and the second spray hole to spray water onto the cleaning component and / or the area to be cleaned in a preset spray pattern, the method further includes: The cleaning solution remaining in the area to be cleaned is blown out through a preset air outlet, and / or the interval between the second cleaning is extended.

8. A cleaning robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images