Cleaning robot control method, cleaning robot and cleaning system

Abstract

The invention provides a cleaning robot control method, a cleaning robot and a cleaning system, and relates to the field of equipment control. The cleaning modes of the cleaning robot comprise a brushing mode, a mopping mode and a sweeping and mopping mode, the brushing mode comprises that the cleaning robot uses a brushing part for cleaning, the mopping mode comprises that the cleaning robot uses a mopping part for cleaning, and the sweeping and mopping mode comprises that the cleaning robot performs the brushing mode and the mopping mode at the same time; the method comprises the steps that in response to a received cleaning instruction sent by a user, an instruction cleaning area and an instruction cleaning mode are determined according to the cleaning instruction; determining a target cleaning area and a target cleaning mode according to the cleaning instruction and a historical cleaning record in a preset time period, wherein the historical cleaning record comprises a historical cleaning area and a historical cleaning mode; and controlling the cleaning robot to clean the target cleaning area according to the target cleaning mode. Through the cleaning robot control method, the cleaning efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a cleaning robot control method, a cleaning robot, and a cleaning system. Background Technology

[0002] With the development of smart homes, various intelligent cleaning devices have been widely used in households, becoming helpful assistants for home cleaning. Among them, robotic vacuum cleaners and robotic mops are the most commonly used. However, when cleaning robots respond to user commands to clean an area, they are prone to repeated cleaning, which affects their cleaning efficiency. Summary of the Invention

[0003] In view of the above, it is necessary to provide a cleaning robot control method, a cleaning robot, and a cleaning system, which can improve the cleaning efficiency of the cleaning robot.

[0004] In a first aspect, embodiments of this application provide a cleaning robot control method applied to a cleaning robot. The cleaning robot includes drive wheels, a brush / sweeping component, and a mopping component. The drive wheels include drive wheels located on both sides of the cleaning robot for driving the cleaning robot to move. The brush / sweeping component is located on the underside of the cleaning robot for brushing the surface to be cleaned. The mopping component is located on the underside of the cleaning robot for mopping the surface to be cleaned. The cleaning modes of the cleaning robot include a brush / sweeping mode, a mopping mode, and a sweeping / mopping mode. The brush / sweeping mode includes the cleaning robot using the brush / sweeping component for cleaning. The mopping mode includes the cleaning robot using the mopping component for cleaning. The sweeping / mopping mode includes the cleaning robot simultaneously performing both the brush / sweeping mode and the mopping mode. The method includes: responding to receiving a cleaning instruction from a user; determining an instruction cleaning area and an instruction cleaning mode based on the cleaning instruction; determining a target cleaning area and a target cleaning mode based on the cleaning instruction and historical cleaning records within a preset time period, wherein the historical cleaning records include historical cleaning areas and historical cleaning modes; and controlling the cleaning robot to clean the target cleaning area according to the target cleaning mode.

[0005] In some embodiments of this application, the target cleaning area includes a first target cleaning area and a second target cleaning area. The first target cleaning area is the overlapping area of ​​the instruction cleaning area and the historical cleaning area, and the second target cleaning area is the area in the target cleaning area excluding the overlapping area. The target cleaning mode includes a first target cleaning mode and a second target cleaning mode. The cleaning robot is controlled to clean the first target cleaning area according to the first target cleaning mode, and the cleaning robot is controlled to clean the second target cleaning area according to the second target cleaning mode.

[0006] In some embodiments of this application, the cleaning mode further includes a no-cleaning mode; when the commanded cleaning mode is the same as the historical cleaning mode or the historical cleaning mode is the sweeping and mopping mode, the first target cleaning mode is the no-cleaning mode, and the second target cleaning mode is the commanded cleaning mode.

[0007] In some embodiments of this application, when the instruction cleaning mode is different from the historical cleaning mode, and the instruction cleaning mode is the sweeping and mopping mode while the historical cleaning mode is not the sweeping and mopping mode, the first target cleaning mode is a mode different from the historical cleaning mode, and the second target cleaning mode is the sweeping and mopping mode.

[0008] In some embodiments of this application, when the instruction cleaning mode is different from the historical cleaning mode, and neither of them is the sweeping and mopping mode, the target cleaning area is the instruction cleaning area, and the target cleaning mode is the instruction cleaning mode.

[0009] In some embodiments of this application, the method of determining the instruction cleaning area and instruction cleaning mode according to the cleaning instruction further includes: obtaining the current environmental information of the cleaning robot; and / or obtaining the historical cleaning records of the cleaning robot; and / or obtaining the user settings of the cleaning robot; and determining the instruction cleaning area and the instruction cleaning mode according to at least one of the environmental information, the historical cleaning records and the user settings and the cleaning instruction.

[0010] In some embodiments of this application, before determining the instruction cleaning area and instruction cleaning mode according to the cleaning instruction, the cleaning robot first determines whether the large model is available; if the large model is available, the robot uses the large model to determine the instruction cleaning area and the instruction cleaning mode based on at least one of the environmental information, the historical cleaning records, and the user settings, as well as the cleaning instruction; if the large model is unavailable, the robot uses a preset program to determine the instruction cleaning area and the instruction cleaning mode based on at least one of the environmental information, the historical cleaning records, and the user settings, as well as the cleaning instruction.

[0011] In some embodiments of this application, the environmental information includes at least one of region, temperature, and air humidity; and / or, the user settings include at least one of whether there are pets, whether to enable silent mode, and whether to enable high-altitude mode; and / or, the cleaning robot further includes a suction component, which includes a fan; the command cleaning mode further includes controlling the humidity of the mopping component during use and / or controlling the fan speed of the suction component during use; determining the command cleaning area and the command cleaning mode based on at least one of the environmental information, the historical cleaning records, and the user settings, as well as the cleaning command, includes: controlling to reduce the humidity of the mopping component during use when the air humidity of the command cleaning area is greater than or equal to a preset humidity and / or the temperature of the command cleaning area is less than or equal to a preset temperature; and / or controlling to increase the humidity of the mopping component during use when the air humidity of the command cleaning area is low and / or the temperature of the command cleaning area is high; and / or controlling to decrease the fan speed when the silent mode is enabled by the user settings; and / or controlling to increase the fan speed when the silent mode is disabled by the user settings.

[0012] In some embodiments of this application, the cleaning robot further includes a liquid outlet, and controlling the humidity of the mopping component during use includes controlling the liquid discharge rate from the liquid outlet.

[0013] Secondly, embodiments of this application provide a cleaning robot for implementing the cleaning robot control method described above.

[0014] Thirdly, embodiments of this application provide a cleaning system, which includes a base station and a cleaning robot, wherein the cleaning robot is used to implement the cleaning robot control method described above.

[0015] In summary, the cleaning robot control method, cleaning robot, and cleaning system described in this application involve the following steps: The method responds to a cleaning instruction issued by a user, determines the instruction cleaning area and instruction cleaning mode based on the instruction; determines the target cleaning area and target cleaning mode based on the cleaning instruction and historical cleaning records within a preset time period, wherein the historical cleaning records include historical cleaning areas and historical cleaning modes; and controls the cleaning robot to clean the target cleaning area according to the target cleaning mode, avoiding repeated cleaning and improving the cleaning efficiency of the cleaning robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a cleaning robot provided in an embodiment of this application.

[0017] Figure 2This is a structural schematic diagram of a cleaning robot provided in an embodiment of this application from another perspective.

[0018] Figure 3 This is a schematic diagram of the structure of a cleaning robot's mopping cover, provided in an embodiment of this application.

[0019] Figure 4 This is a schematic block diagram of a cleaning robot in some embodiments of this application.

[0020] Figure 5 A flowchart illustrating a cleaning robot control method provided in an embodiment of this application.

[0021] Figure 6 This is a schematic diagram of a cleaning system provided in an embodiment of this application.

[0022] Explanation of main component symbols Cleaning Robot 100 Body 10 Roller Brush 101 Casing 102 Drive wheel 103 104 edge brush Dust collection component 105 Mop Part 106 Caster assembly 107 108 mop cover Scan Item 109 Fan 110 Sensing System 111 Control device 112 Memory 113 Liquid outlet 114 Liquid storage component 30 Cleaning System 200 Base station 300 Steps 201-203 The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0023] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, " / " in this application means "or". For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. "At least one" means one or more. "More than one" means two or more. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, and a, b, and c. It should be understood that the order of steps shown in the flowcharts herein can be changed, and some can be omitted.

[0025] Figure 1 This is a schematic diagram of the bottom structure of a cleaning robot provided in an embodiment of this application. Figure 2 This is a structural schematic diagram of a cleaning robot provided in an embodiment of this application, from another perspective. The cleaning robot 100 is used to clean the surface to be cleaned.

[0026] like Figure 1 As shown, in some embodiments, the cleaning robot 100 may include a body 10, which may include a housing 102, and a roller brush 101, a drive wheel 103, a side brush 104, and a dust collection assembly 105 (e.g., ...) disposed on the housing 102. Figure 1As shown in the dashed box, the components include: a mopping component 106, a caster assembly 107, a mopping component cover 108, and a liquid storage assembly 30. A roller brush 101 is mounted on the body 10 and located on the side of the body 10 facing the surface to be cleaned. The roller brush 101 is used to clean the surface. The roller brush 101 and the side brush 104 together constitute the brushing component 109. During the operation of the cleaning robot 100, the side brush 104 rotates to sweep debris into the central suction area of ​​the cleaning robot 100. The roller brush 101 includes a suction channel with a fan 110. The brushing task is completed through the cooperation of the side brush 104 and the roller brush 101. A drive wheel 103 is mounted on the machine body 10 and can be supported by the machine body 10. The drive wheel 103 is used to drive the movement of the cleaning robot 100. The side brush 104 is mounted on the body 10 and located on the side of the body 10 facing the surface to be cleaned. A dust collection assembly 105 is mounted on the machine body 10 and is used to contain dust collected by the cleaning robot 100 from the surface to be cleaned. A caster assembly 107 is mounted on the side of the machine body 10 facing the surface to be cleaned and is used to balance and guide the cleaning robot 100 on the surface. A mopping component 106 is located inside a mopping component cover 108, which is equipped with a liquid outlet 114. The humidity of the mopping component 106 during use can be controlled by controlling the liquid discharge rate from the liquid outlet 114. A liquid storage assembly 30 is detachably mounted on the side of the machine body 10 facing the surface to be cleaned and is used to contain cleaning liquid. The mopping component 106 is located on the side of the liquid storage assembly 30 facing the surface to be cleaned and is used to further mop and clean the surface.

[0027] The fuselage 10 can be a rigid or semi-rigid structure made of one or more materials such as metal, plastic, foam, elastomer, ceramic, composite material, or combinations thereof.

[0028] In some embodiments, the housing 10 may be equipped with a sensing system 111, a control device 112, and a memory 113, etc. Figure 4 As shown, this enables the cleaning robot 100 to achieve intelligence.

[0029] The sensing system 111 is used to sense relevant signals and physical quantities to determine the position and motion status information of the cleaning robot 100. The sensing system 111 may include a camera device, a laser direct structuring (LDS) device, a line laser module, an infrared sensor, an ultrasonic sensor, a position sensor, and various other sensing devices. These sensing devices can be combined in different ways depending on product requirements, such as: a combination of a line laser module, a camera device, and various sensing devices; a combination of a laser direct structuring (LDS) device and various sensing devices; or a combination of a camera device, a laser direct structuring (LDS), and various sensing devices. In these implementations, the number of camera devices includes, but is not limited to, one, two, or three.

[0030] The control device 112 can be connected to a drive assembly (not shown) to control the state of the wiping member 106 relative to the body 10. The control device 112 can also control the brushing member 109 via the drive assembly. The control device 112 can be a programmable controller, or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Examples include single-board or multi-board computers, direct digital controllers (DDCs), programmable logic controllers (PLCs), etc. Understandably, in other examples, the controller can be any computing device, such as a handheld computer, smartphone, tablet, laptop, desktop computer, or other computing device.

[0031] The memory 113 is used to store instructions and data. The data includes, but is not limited to: map data, temporary data generated during the operation of the cleaning robot 100, and control programs used to control the cleaning robot 100. Examples include the cleaning robot 100's position data and speed data. The control device 112 can read the instructions stored in the memory 113 to execute corresponding functions. The memory 113 may include random access memory (RAM) and non-volatile memory (NVM). Non-volatile memory may include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROMs), compact disc read-only memory (CD-ROMs), magnetic tape, floppy disks, optical data storage devices, etc.

[0032] In some embodiments, the roller brush 101 includes one or more cleaning brushes rotatable relative to the machine body 10 to collect dust and debris from the surface to be cleaned. The roller brush 101 may be driven by one or more motors communicating with the control device 112.

[0033] In some embodiments, the housing 102 may be a rigid or semi-rigid component. The housing 102 may include a detachably connected top plate, side plates, and buffer members. The top plate covers the side of the machine body 10 away from the surface to be cleaned, and the side plates are located around the periphery of the machine body 10. The top plate may be fixed to the side plates and / or the machine body 10 to protect the components inside the cleaning robot 100 as a whole. The buffer members are located on the side plates away from the machine body 10 and provide cushioning and protection for the machine body 10. The top plate, side plates, and buffer members may be made of one or more materials such as metal, plastic, foam, elastomer, ceramic, composite materials, and combinations thereof. The top plate and side plates may be integrally formed.

[0034] In some embodiments, the drive wheels 103 are used to drive the cleaning robot 100 to perform movements such as forward movement, backward movement, and rotation along the surface to be cleaned (working surface). The drive wheels 103 include drive wheels 103 disposed on both sides of the cleaning robot 100, namely a left wheel and a right wheel. The drive wheels 103 can be configured to be driven by a motor to push the cleaning robot 100 along the surface to be cleaned. The motor communicates with a controller to control the movement of the cleaning robot 100 in the environment, such as forward movement and backward movement.

[0035] In some embodiments, the side brush 104 can rotate relative to the machine body 10, and the side brush 104 rotates to sweep away debris so that the debris moves toward the roller brush 101.

[0036] In some embodiments, the dust collection assembly 105 may include a dust collection box and an integrated device combining the dust collection box and the liquid storage assembly 30; or, the dust collection assembly 105 may also include a dust collection bag, a box body combining the dust collection box and the dust collection bag, etc.

[0037] In some embodiments, the caster assembly 107 may be a swivel wheel or a support wheel.

[0038] In some embodiments, the "cleaning fluid" contained in the reservoir 30 includes, but is not limited to, water, detergent, or a combination of water and detergent. Figure 2 As shown, the liquid storage assembly 30 is detachably connected to the machine body 10 so that the liquid storage assembly 30 can be removed when changing the cleaning fluid.

[0039] It is understood that the cleaning robot 100 may also include other units or components, or may include only some of the aforementioned units or components, or may lack some of the aforementioned units or components. This embodiment does not limit this, and only uses the cleaning robot 100 described above as an example for illustration.

[0040] When a cleaning robot responds to user commands to clean an area, it is prone to repeated cleaning, which affects the cleaning efficiency of the robot. To solve the above problem, this application provides a cleaning robot control method, which can improve the cleaning efficiency of the cleaning robot 100.

[0041] The cleaning robot control method provided in this application embodiment can be applied to a cleaning robot 100. For example, the cleaning robot 100 in this application embodiment can be an automatic cleaning robot such as a sweeping and mopping robot or a floor-mopping robot. The implementation methods of this application embodiment will be described in detail below with reference to the accompanying drawings.

[0042] Figure 5 This is a flowchart of a cleaning robot control method provided in an embodiment of this application. Figure 5 As shown, the cleaning robot control method specifically includes steps 201-203. Depending on different needs, the order of the steps in this flowchart can be changed, and some can be omitted. For example... Figure 5 As shown, the method includes: Step 201: In response to receiving a cleaning instruction from the user, determine the cleaning area and cleaning mode according to the cleaning instruction.

[0043] In this embodiment, when a user needs to use the cleaning robot, they can directly issue a cleaning command to the robot. The cleaning command may include a cleaning area and / or a cleaning mode. The cleaning robot's cleaning modes include a brushing mode, a mopping mode, and a sweeping-mopping mode. The brushing mode involves the cleaning robot using its brush components to clean; the mopping mode involves the cleaning robot using its mopping components to clean; and the sweeping-mopping mode involves the cleaning robot simultaneously performing both brushing and mopping modes.

[0044] In some embodiments, the cleaning command can be a voice command, which the cleaning robot can receive and analyze to determine the true intent behind. For example, if the user issues a cleaning command such as "use the brush sweeping mode to clean the living room," then the cleaning command includes the cleaning area and the cleaning mode. The cleaning area is the "living room," and the cleaning mode is the "brush sweeping mode." It is understood that the cleaning robot may include a sound acquisition device electrically connected to a control device. This sound acquisition device can receive and send voice commands to the control device, which then parses the voice command.

[0045] In some embodiments, the cleaning instruction can be an instruction sent by an electronic device that is communicatively connected to the cleaning robot. For example, the electronic device may have an application installed to control the cleaning robot, through which the user can select the cleaning area and / or cleaning mode, and then send the cleaning instruction to the cleaning robot via the electronic device.

[0046] In some embodiments, the cleaning instruction can be an instruction sent by an electronic device that is communicatively connected to the cleaning robot. For example, the electronic device may have an application installed to control the cleaning robot, through which the user can select the cleaning area and / or cleaning mode, and then send the cleaning instruction to the cleaning robot via the electronic device.

[0047] In some embodiments, the cleaning robot may also include a control panel, which includes a cleaning area selection button and a cleaning mode selection button, through which a user can select a cleaning area and / or a cleaning mode to generate cleaning instructions.

[0048] Step 202: Determine the target cleaning area and target cleaning mode based on the cleaning instructions and historical cleaning records within a preset time period. The historical cleaning records include historical cleaning areas and historical cleaning modes.

[0049] In this embodiment, after receiving a cleaning instruction from the user, the cleaning robot can begin cleaning according to the instruction. However, since the user is unaware of which areas have already been cleaned before issuing the instruction, if the cleaning robot directly starts cleaning based on the instruction, some areas may be cleaned repeatedly, resulting in low cleaning efficiency and wasted resources. To avoid this, the cleaning robot can determine the target cleaning area and target cleaning mode based on the cleaning instruction and historical cleaning records within a preset time period. The historical cleaning records include historical cleaning areas and historical cleaning modes.

[0050] In this embodiment, the cleaning robot can determine the target cleaning area based on cleaning instructions and historical cleaning areas, or it can determine the target cleaning mode based on cleaning instructions and historical cleaning patterns. In some embodiments, the preset time period can be 24 hours, or it can be a time period set by other users; this application does not limit this.

[0051] Step 203: Control the cleaning robot to clean the target cleaning area according to the target cleaning mode.

[0052] In this embodiment, after the cleaning robot determines the target cleaning area and the target cleaning mode, it can be controlled to clean the target cleaning area according to the target cleaning mode. The target cleaning area includes a first target cleaning area and a second target cleaning area. The first target cleaning area is the overlapping area of ​​the instructed cleaning area and the historical cleaning area, and the second target cleaning area is the area within the target cleaning area excluding the overlapping area. The target cleaning mode includes a first target cleaning mode and a second target cleaning mode. The cleaning robot is controlled to clean the first target cleaning area according to the first target cleaning mode, and the cleaning robot is controlled to clean the second target cleaning area according to the second target cleaning mode. The cleaning mode also includes a no-cleaning mode.

[0053] For example, a user issues a cleaning command before leaving home in the morning: "Use the brush sweep mode to clean the living room." However, upon returning home in the evening and finding the bedroom not clean enough, the user issues a cleaning command: "Use the brush sweep mode to clean the whole house." Since the living room was already cleaned in the morning, requiring it to be cleaned again in the evening's command wastes resources and reduces cleaning efficiency. To solve this problem, the cleaning command and historical cleaning records within a preset time period can be used to determine whether the living room needs to be cleaned again. The first target cleaning area is the "living room," and the second target cleaning area is "other areas besides the living room," such as the bedroom and balcony. Since the first target cleaning area was already cleaned in the morning using the brush sweep mode, the cleaning robot can be controlled to clean it using the first target cleaning mode. The second target cleaning area, which requires more thorough cleaning in this current command, can be cleaned using the second target cleaning mode.

[0054] In this embodiment, the cleaning mode to be used to clean the target area can be determined based on whether the cleaning mode corresponding to the cleaning instruction is the same as the historical cleaning mode. For example, when the cleaning mode is the same as the historical cleaning mode or the historical cleaning mode is the sweeping and mopping mode, there is no need to clean the first target area again, and the first target cleaning mode is determined to be the no-cleaning mode; the second target cleaning mode is determined to be the cleaning mode.

[0055] For example, a user issues a cleaning command before leaving home in the morning: "Use the sweeping and mopping mode to clean the living room." However, upon returning home in the evening and finding the bedroom unclean, the user issues a cleaning command: "Use the sweeping and mopping mode to clean the whole house." Since the living room was already cleaned in the morning using the sweeping and mopping mode, requiring it to be cleaned again in the evening is wasteful and inefficient. To solve this problem, the cleaning robot can determine whether to re-clean the living room based on the cleaning command and historical cleaning records within a preset time period. The first target cleaning area is the "living room," and the second target cleaning area is "other areas besides the living room," such as the bedroom and balcony. Since the first target cleaning area has already been cleaned in the morning using the sweeping and mopping mode, there's no need to clean the living room. Therefore, the cleaning robot can be controlled to use the determined first target cleaning mode (no need to clean the first target cleaning area) and the second target cleaning area mode (mopping and sweeping mode for the current cleaning). For areas in the cleaning command that require the robot to focus on using the mopping mode, the cleaning robot can be controlled to clean the entire house according to the second target cleaning mode.

[0056] When the instructed cleaning mode differs from the historical cleaning mode, and the instructed cleaning mode is sweeping and mopping, additional cleaning is needed for the first target cleaning area. The cleaning robot determines the first target cleaning mode to be different from the historical cleaning mode, and the second target cleaning mode to be sweeping and mopping. For example, when the historical cleaning mode is sweeping, the cleaning robot determines the first target cleaning mode to be mopping; when the historical cleaning mode is mopping, the cleaning robot determines the first target cleaning mode to be sweeping, thus supplementing the cleaning of areas that have already been cleaned.

[0057] When the instructed cleaning mode differs from the historical cleaning mode, and neither is a sweeping or mopping mode, the corresponding cleaning area can be cleaned according to the specified cleaning mode. Specifically, the cleaning robot determines the target cleaning area as the instructed cleaning area, and the cleaning mode is the instructed cleaning mode. For example, the instructed cleaning mode is a sweeping mode, and the historical cleaning mode is a mopping mode; the instructed cleaning mode differs from the historical cleaning mode, and neither is a sweeping or mopping mode. The cleaning robot determines the target cleaning area as the instructed cleaning area, and the cleaning mode is a sweeping mode.

[0058] For example, a user issues a cleaning command before leaving home in the morning: "Use sweeping and mopping mode to clean the living room." However, upon returning home in the evening and finding the bedroom not very clean, the user issues a cleaning command: "Use sweeping mode to clean the whole house." Since the living room was already cleaned once in the morning using mopping mode, requiring it to be cleaned again in the evening's command wastes resources and reduces cleaning efficiency. To solve this problem, the need to clean the living room again can be determined based on the cleaning command and historical cleaning records within a preset time period. The first target cleaning area is the "living room," and the second target cleaning area is "other areas besides the living room," such as the bedroom and balcony. Because the area in the first target command was already cleaned in the morning using a different mode (e.g., sweeping mode) than the historical cleaning mode (mopping mode), and neither of these modes is sweeping and mopping. Therefore, the target cleaning area can be determined as "the whole house", and the target cleaning mode is "brush and sweep mode". The cleaning robot is controlled to clean the first target cleaning area according to the first target cleaning mode and the "brush and sweep mode" cleaning area. The second target cleaning area is the area that needs to be cleaned in this cleaning instruction. The cleaning robot can be controlled to clean the second target cleaning area "the whole house" according to the second target cleaning mode.

[0059] In some embodiments of this application, the cleaning robot uses a single cleaning mode during the cleaning process, lacks intelligence, and cannot make intelligent decisions based on environmental information. To address this issue, after the cleaning robot determines the instructed cleaning area and instructed cleaning mode according to the cleaning instructions, the method further includes: obtaining the current environmental information of the cleaning robot; and / or, obtaining the historical cleaning records of the cleaning robot; and / or, obtaining the user settings of the cleaning robot; and determining the instructed cleaning area and instructed cleaning mode based on at least one of the environmental information, historical cleaning records, and user settings, as well as the cleaning instructions.

[0060] In this embodiment, environmental information includes at least one of region, temperature, and humidity. For example, the latitude and longitude of the cleaning robot's current location, as well as the temperature and humidity of that region. For instance, if the user's current location is city A, the cleaning robot can obtain the latitude and longitude, temperature, and humidity of city A from the server.

[0061] In this embodiment of the application, user settings include at least one of having a pet, enabling silent mode, and enabling high-altitude mode. For example, users can select whether to have a pet, enable silent mode, and enable high-altitude mode through the control panel.

[0062] In some embodiments, when a user has pets at home, pets can easily shed hair or soil the area to be cleaned. The user can select a corresponding cleaning mode based on whether a pet is present. In some embodiments, the user can also select a pet-free mode, in which the cleaning robot can reduce the fan speed while working.

[0063] In some embodiments, the cleaning robot further includes a suction assembly, which includes a fan. The commanded cleaning mode also includes controlling the humidity of the mopping element during use and / or controlling the rotational speed of the fan in the suction assembly during use.

[0064] In some embodiments, since the cleaning robot produces some noise during the cleaning process, the speed of the fan in the suction component of the cleaning robot can be controlled according to whether the silent mode is activated. For example, when the silent mode is activated by the user, the fan speed can be reduced; when the silent mode is deactivated by the user, the fan speed can be increased.

[0065] In some embodiments, to enable the cleaning robot to adapt to high-altitude environments with low air pressure and low oxygen density, control can be achieved by activating a high-altitude mode. Activating the high-altitude mode prevents the cleaning robot from shutting down abnormally, ceasing operation, or issuing false alarms due to changes in air pressure in high-altitude areas. For example, after obtaining the latitude and longitude of City A from the sensing system, it can determine whether the current location is a high-altitude area. If it is determined to be a high-altitude area, the cleaning robot is controlled to activate the high-altitude mode; if it is not determined to be a high-altitude area, the high-altitude mode is controlled to deactivate.

[0066] In plains areas, the air density is high and the air pressure is normal. The cleaning robot's fan can easily draw in enough air at its rated power to create stable suction for normal cleaning. However, in high-altitude areas, the air is thin and the air pressure is low. Even at the same fan speed, although the volume of air drawn in is the same, the air is lighter, causing the suction power to decrease. To compensate for this decrease in suction, the cleaning robot can increase the fan speed when the high-altitude mode is activated.

[0067] In this embodiment of the application, the cleaning robot also includes a liquid outlet (such as...) Figure 3 As shown in the figure, controlling the humidity of the mopping component during use includes controlling the liquid discharge rate at the outlet. For example, if it is necessary to increase the humidity of the cleaning robot during operation, the liquid discharge rate at the outlet can be increased; if it is necessary to decrease the humidity of the cleaning robot during operation, the liquid discharge rate at the outlet can be decreased. In this embodiment, the liquid discharge rate at the outlet can be controlled by controlling the motor speed of the peristaltic pump (not shown in the figure) through a control device. A faster motor rotation results in a higher liquid discharge rate, and a slower motor rotation results in a lower liquid discharge rate. The peristaltic pump is a positive displacement pump, including a pump head, rollers, and a hose. Inside the pump head is a rotor, the rollers are mounted on the rotor, and the hose is fixed within the pump head, pressed tightly between the rollers and the pump housing. When the motor drives the rotor to rotate, the rollers roll over the hose sequentially. Where the rollers roll, they completely flatten the hose, forming a temporary, completely sealed "liquid sac segment." The water in this liquid sac segment is propelled forward. As the rollers continue forward, the flattened hose at the back springs back to its original shape due to its elasticity, creating negative pressure (vacuum effect) that draws water from the clear water tank at the back into the hose. The next roller then squeezes the hose, continuing to push the water forward and drawing water in from the back again.

[0068] In this embodiment, a large model is pre-deployed within the control device of the cleaning robot. This large model is used to set the current cleaning mode of the cleaning robot based on the user's previous usage history and the current environmental information. The large model may include a multimodal model and a visual language model. In some embodiments, the cleaning robot may fail to accurately identify the target cleaning mode and target cleaning area after receiving a cleaning command from the user, causing the robot to malfunction. In this case, the large model can be used to determine the user's true intention and obtain the target cleaning mode and target cleaning area.

[0069] In this embodiment, before determining the instruction cleaning area and instruction cleaning mode according to the cleaning instruction, the cleaning robot needs to first determine whether the large model is available because the server may be busy or down, making the large model unavailable. If the large model is available, the robot uses the large model and at least one of the environmental information, the historical cleaning records, and the user settings, along with the cleaning instruction, to determine the instruction cleaning area and the instruction cleaning mode. If the large model is unavailable, a preset program is used to determine the instruction cleaning area and the instruction cleaning mode based on at least one of the environmental information, the historical cleaning records, and the user settings, along with the cleaning instruction.

[0070] For example, if the user issues a cleaning instruction like "Clean up the area where the baby was," the cleaning robot uses its sensing system to determine that there are cookie crumbs on the living room carpet and a puddle of water on the dining room floor. Historical cleaning records show that the dining area frequently requires deep mopping after meals. When the large-scale model is functioning normally, the cleaning robot deeply integrates and reasons with the cleaning instruction, environmental information, historical records, and user settings to make highly intelligent decisions. The large-scale model analysis identifies "cookie crumbs" as typical traces of children's activity, while the "water puddle" could be caused by the baby spilling water. The large-scale model can accurately locate the cleaning areas for the instruction, including the living room carpet with cookie crumbs and the dining room floor with water. For the living room carpet, combined with environmental information including cookie crumbs, the cleaning mode is determined to be a sweeping mode. For the dining room water puddle, combined with historical information indicating "deep mopping after meals," the cleaning mode is determined to be a mopping mode. However, if the large-scale model is unavailable, a preset program is used to determine the cleaning area and cleaning mode based on at least one of the environmental information, historical cleaning records, and user settings, as well as the cleaning instruction. For example, if the preset program is "whole house cleaning", then the area to be requested is the whole house, and the cleaning mode can be brush cleaning mode, mopping mode, or sweeping and mopping mode.

[0071] In this embodiment of the application, determining the instruction cleaning area and instruction cleaning mode based on at least one of environmental information, historical cleaning records, and user settings, as well as the cleaning instruction, includes: when the air humidity in the instruction cleaning area is high and / or the temperature in the instruction cleaning area is low, controlling the reduction of the humidity of the mop during use; and / or, when the air humidity in the instruction cleaning area is low and / or the temperature in the instruction cleaning area is high, controlling the increase of the humidity of the mop during use; and / or, when the silent mode is enabled in the user settings, controlling the reduction of the fan speed; and / or, when the silent mode is not enabled in the user settings, controlling the increase of the fan speed.

[0072] In some embodiments, when the air humidity in the designated cleaning area is greater than or equal to a preset air humidity, the air humidity in the designated cleaning area is determined to be high, and the humidity of the mop is reduced during use; when the air humidity in the designated cleaning area is less than the preset air humidity, the air humidity in the designated cleaning area is determined to be low, and the humidity of the mop is increased during use. When the temperature in the designated cleaning area is less than or equal to a preset temperature, the temperature in the designated cleaning area is determined to be low, and the humidity of the mop is reduced during use; when the temperature in the designated cleaning area is greater than the preset temperature, the temperature in the designated cleaning area is determined to be high, and the humidity of the mop is increased during use.

[0073] like Figure 6 As shown, this embodiment also provides a cleaning system 200, which includes a cleaning robot 100 and a base station 300. The base station 300 can provide services such as charging, mop cleaning, and dust collection for the cleaning robot 100. Specifically, when the cleaning robot 100 reaches a predetermined position on the base station 300, the bottom of the base station 300 is attached to the cleaning robot 100, so that the electrical components (not shown in the figure) in the base station 300 are aligned with the electrical units (not shown in the figure) of the cleaning robot 100, and the cleaning robot 100 can be charged after the base station 300 is powered on. The base station 300 is a device for the cleaning robot 100 to dock, and after the cleaning robot 100 is docked, it can perform cleaning (e.g., cleaning the mop of the cleaning robot 100), charging, or other control operations on the cleaning robot 100.

[0074] This embodiment also provides a computer storage medium storing computer instructions. When the computer instructions are run on the cleaning robot 100, the cleaning robot 100 executes the aforementioned related method steps to implement the cleaning robot control method in the above embodiment.

[0075] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the cleaning robot control method in the above embodiment.

[0076] In addition, embodiments of this application also provide an apparatus, which may specifically be a chip, component or module. The apparatus may include a connected processor and a memory; wherein the memory is used to store computer execution instructions, and when the apparatus is running, the processor may execute the computer execution instructions stored in the memory to cause the chip to execute the cleaning robot control method in the above method embodiments.

[0077] In this embodiment, the cleaning robot, computer storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0080] The unit described as a separate component may or may not be physically separate. The component shown as a unit can be one physical unit or multiple physical units, that is, it can be located in one place or distributed in multiple different places. Some or all of the units can be selected to achieve the purpose of the solution in this embodiment according to actual needs.

[0081] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0082] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A cleaning robot control method applied to a cleaning robot, the cleaning robot comprising driving wheels, a sweeping member and a mopping member, the driving wheels comprising driving wheels arranged on both sides of the cleaning robot for driving the cleaning robot to move, the sweeping member arranged on the lower side of the cleaning robot for sweeping a surface to be cleaned, and the mopping member arranged on the lower side of the cleaning robot for mopping the surface to be cleaned, the cleaning mode of the cleaning robot comprising a sweeping mode, a mopping mode and a sweeping-mopping mode, the sweeping mode comprising the cleaning robot cleaning by using the sweeping member, the mopping mode comprising the cleaning robot cleaning by using the mopping member, and the sweeping-mopping mode comprising the cleaning robot simultaneously performing the sweeping mode and the mopping mode, characterized in that, The method comprises: in response to receiving a cleaning instruction issued by a user, determining an instruction cleaning area and an instruction cleaning mode according to the cleaning instruction; determining a target cleaning area and a target cleaning mode according to the cleaning instruction and historical cleaning records in a preset time period, the historical cleaning records comprising historical cleaning areas and historical cleaning modes; controlling the cleaning robot to clean the target cleaning area in the target cleaning mode.

2. The cleaning robot control method according to claim 1, wherein: the target cleaning area comprises a first target cleaning area and a second target cleaning area, the first target cleaning area being an overlapping area of the instruction cleaning area and the historical cleaning area, and the second target cleaning area being an area of the target cleaning area other than the overlapping area; the target cleaning mode comprises a first target cleaning mode and a second target cleaning mode; the cleaning robot is controlled to clean the first target cleaning area in the first target cleaning mode, and the cleaning robot is controlled to clean the second target cleaning area in the second target cleaning mode.

3. The cleaning robot control method according to claim 2, wherein: the cleaning mode further comprises a no cleaning mode; when the instruction cleaning mode is the same as the historical cleaning mode or the historical cleaning mode is the sweeping and mopping mode, the first target cleaning mode is the no cleaning mode, and the second target cleaning mode is the instruction cleaning mode.

4. The cleaning robot control method according to claim 2, wherein: when the instruction cleaning mode is different from the historical cleaning mode, and the instruction cleaning mode is the sweeping and mopping mode and the historical cleaning mode is not the sweeping and mopping mode, the first target cleaning mode is a cleaning mode different from the historical cleaning mode, and the second target cleaning mode is the sweeping and mopping mode.

5. The cleaning robot control method according to claim 1, wherein: when the instruction cleaning mode is different from the historical cleaning mode, and neither of them is the sweeping and mopping mode, the target cleaning area is the instruction cleaning area, and the target cleaning mode is the instruction cleaning mode.

6. The cleaning robot control method according to claim 1, wherein: the determining of the instruction cleaning area and the instruction cleaning mode according to the cleaning instruction further comprises: obtaining environment information of the cleaning robot currently located in; and / or, obtaining historical cleaning records of the cleaning robot; and / or, obtaining user settings of the cleaning robot; determining the instruction cleaning area and the instruction cleaning mode according to at least one of the environment information, the historical cleaning records and the user settings and the cleaning instruction.

7. The cleaning robot control method according to claim 6, wherein: before the determining of the instruction cleaning area and the instruction cleaning mode according to the cleaning instruction, the cleaning robot first determines whether a large model is available. If the large model is available, the large model is used to determine the instructed cleaning area and the instructed cleaning mode according to at least one of the environment information, the historical cleaning record and the user setting and the cleaning instruction. If the large model is not available, a preset program is used to determine the instructed cleaning area and the instructed cleaning mode according to at least one of the environment information, the historical cleaning record and the user setting and the cleaning instruction.

8. The cleaning robot control method of claim 6, wherein: the environment information comprises at least one of a region, an air temperature, and an air humidity; and / or the user setting comprises at least one of whether there is a pet, whether a mute mode is turned on, and whether a highland mode is turned on; and / or the cleaning robot further comprises a suction assembly, the suction assembly comprising a fan; the instructed cleaning mode further comprises controlling a humidity of the mop when in use and / or controlling a rotating speed of the fan of the suction assembly when in use; determining the instructed cleaning area and the instructed cleaning mode according to at least one of the environment information, the historical cleaning record and the user setting and the cleaning instruction comprises: when an air humidity of the instructed cleaning area is greater than or equal to a preset humidity and / or an air temperature of the instructed cleaning area is less than or equal to a preset temperature, controlling to decrease the humidity of the mop when in use; and / or, when the air humidity of the instructed cleaning area is low and / or the air temperature of the instructed cleaning area is high, controlling to increase the humidity of the mop when in use; and / or, when the mute mode is turned on by the user setting, controlling to decrease the rotating speed of the fan; and / or, when the mute mode is turned off by the user setting, controlling to increase the rotating speed of the fan.

9. The cleaning robot control method of claim 8, wherein: the cleaning robot further comprises a liquid outlet, and the controlling the humidity of the mop when in use comprises controlling a liquid outlet speed of the liquid outlet.

10. A cleaning robot, characterized in that, A computer program product for implementing the cleaning robot control method of any one of claims 1 to 9.

11. A cleaning system comprising a base station and a cleaning robot, wherein: the cleaning robot is configured to implement the cleaning robot control method of any one of claims 1 to 9.

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