Cleaning robot, control method thereof, cleaning system and storage medium

Abstract

The invention provides a cleaning robot and a control method thereof, a cleaning system and a storage medium, and belongs to the technical field of smart home. The method comprises the steps that in the process that the cleaning cloth disc cleans the ground, a liquid supplementing mechanism is controlled to supplement liquid to the cleaning cloth disc according to a first liquid supplementing amount; and when the image information indicates that the type of the currently cleaned floor is changed, a liquid supplementing mechanism is controlled to supplement liquid to the cleaning cloth disc with the liquid supplementing amount different from the first liquid supplementing amount based on the changed type of the floor. In the cleaning process, the ground is monitored in real time through the sensor, when it is recognized that the type of the currently cleaned ground is changed, the amount of liquid supplemented to the cleaning part by the liquid supplementing mechanism is adjusted according to the changed ground condition, the ground cleaning effect is improved, and the cleaning robot is more intelligent and humanized.

Description

[0001] This application is a divisional application of the invention patent with application number 202410806874.X, application date June 21, 2024, and invention title "Cleaning Robot and Control Method Thereof, Cleaning System and Storage Medium Thereof". Technical Field

[0002] This invention relates to the field of smart home technology, specifically to a cleaning robot and its control method, cleaning system, and storage medium. Background Technology

[0003] A cleaning robot is a device that can be controlled to move automatically and clean the floor. In order to achieve better cleaning results, in addition to cleaning components such as side brushes for dry cleaning, cleaning robots are also equipped with cleaning components such as a mop tray for wet cleaning.

[0004] Existing cleaning robots typically incorporate a liquid replenishment mechanism to deliver liquid to the cleaning components during wet cleaning, enabling continuous wet cleaning. However, these robots often encounter various floor materials in home environments, such as ceramic tiles, hardwood floors, matte tiles, glossy tiles, rough floors, and smooth floors. These materials possess different physical properties, particularly significant differences in water absorption: for example, ceramic tiles have a dense surface and poor water absorption, easily leaving water stains after cleaning; while hardwood floors have some water absorption, requiring more cleaning liquid to achieve the desired wet cleaning effect. Existing cleaning robots usually employ a uniform liquid replenishment amount and cleaning mode, failing to recognize variations in floor material.

[0005] Due to a lack of material adaptability, existing cleaning robots cannot recognize the differences in water absorption of different floor materials, resulting in water stains remaining on poorly absorbent floors (such as tiles) or insufficient cleaning power on well-absorbent floors (such as flooring), affecting cleaning effect and user experience, and lacking intelligence. Summary of the Invention

[0006] The purpose of this invention is to provide a cleaning robot and its control method, cleaning system and storage medium, so as to at least solve the above-mentioned problems that existing cleaning robots cannot identify the differences in water absorption of different ground materials due to the lack of material adaptation ability, resulting in water stains remaining on poorly absorbent ground (such as tiles), or insufficient cleaning power on well-absorbent ground (such as flooring), affecting the cleaning effect and user experience.

[0007] To achieve the above objectives, a first aspect of the present invention provides a control method for a cleaning robot, the cleaning robot comprising a cleaning component and a sensor for acquiring ground image information, the cleaning component comprising a mop tray and a replenishment mechanism for replenishing cleaning fluid to the mop tray; the method comprising: During the process of the mop tray cleaning the floor, the liquid replenishment mechanism is controlled to replenish the mop tray with a first liquid replenishment amount; When the image information indicates a change in the type of floor being cleaned, the liquid replenishment mechanism is controlled to replenish the mop tray with a different amount of liquid than the first amount of liquid replenishment, based on the changed floor type.

[0008] Optionally, controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount based on the changed ground type includes: When the image information indicates that the ground type has changed from floor to tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount.

[0009] Optionally, controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount based on the changed ground type includes: When the image information indicates that the ground type has changed from tile to flooring, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

[0010] Optionally, controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount based on the changed ground type includes: When the image information indicates that the floor type changes from matte tile to glossy tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount.

[0011] Optionally, controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount based on the changed ground type includes: When the image information indicates that the floor type has changed from glossy tile to matte tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

[0012] Optionally, controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount based on the changed ground type includes: When the image information indicates a change in floor type from rough to smooth, the liquid replenishment mechanism is controlled to replenish the mop tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount; or... When the image information indicates that the floor type changes from smooth floor to rough floor, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

[0013] Optionally, the cleaning assembly also includes a side brush and a roller brush.

[0014] A second aspect of the present invention provides a cleaning robot, including a cleaning component, a control device, and a sensor for acquiring ground image information. The cleaning component includes a roller brush, a side brush, a mop tray, and a liquid replenishment mechanism for replenishing liquid to the mop tray. The control device is used to perform the above-described method.

[0015] A third aspect of the present invention provides a cleaning system, including a cleaning robot.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method.

[0017] The above technical solution provides a cleaning robot and its control method, cleaning system, and storage medium. During the cleaning process, the liquid replenishment mechanism replenishes the cleaning tray with a first amount of liquid. When image information indicates a change in the type of floor being cleaned, the liquid replenishment mechanism replenishes the cleaning tray with a different amount of liquid than the first amount, based on the changed floor type. During the cleaning process, sensors monitor the floor in real time. When a change in the type of floor being cleaned is detected, the liquid replenishment amount of the liquid replenishment mechanism is dynamically adjusted based on the changed floor type, and the cleaning tray is simultaneously controlled to rotate at a specific low speed. By adjusting the amount of liquid replenished to the cleaning components according to the changed floor conditions when the floor changes, the cleaning effect is improved, making the cleaning robot more intelligent and user-friendly.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a bottom view of the cleaning robot provided in an embodiment of this application; Figure 2 This is a schematic diagram of the exploded structure of the optical flow sensor provided in the embodiments of this application; Figure 3 This is a schematic diagram of the control method for a cleaning robot provided in an embodiment of this application; Figure 4 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 1 ; Figure 5 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 2 ; Figure 6 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 3 ; Figure 7 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 4 ; Figure 8 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 5 ; Figure 9 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 6 ; Figure 10 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 7 ; Figure 11 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 8 ; Figure 12 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 9 ; Figure 13 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 ; Figure 14 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 one; Figure 15 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 two; Figure 16 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 three; Figure 17 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 Four; Figure 18 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 five; Figure 19 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 six; Figure 20 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 seven. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0022] Existing cleaning robots typically have a liquid replenishment mechanism to deliver liquid to the cleaning surface during wet cleaning, enabling continuous wet cleaning. However, existing cleaning robots can only control whether to deliver liquid to the cleaning surface or not; they cannot adjust according to the actual ground conditions, and are therefore not intelligent enough.

[0023] Based on the above-mentioned technical problems, the inventive concept of this application is to use sensors to monitor changes in the ground, and when the changes in the ground exceed a certain level, adjust the water supply of the liquid replenishment mechanism to the cleaning component, thereby improving the cleaning effect of the ground, and aiming to solve the above-mentioned technical problems of the prior art.

[0024] Figure 1 This is a bottom view of the cleaning robot provided in an embodiment of this application. Figure 1 As shown, the cleaning robot 100 includes a body 101, a cleaning component, a control device, and a storage component. The cleaning component includes a side brush, a roller brush, and a mop tray.

[0025] The fuselage can be circular, square, or other shapes, such as an irregular shape formed by combining parts of a circle and parts of a square.

[0026] In some embodiments, a detection hole 103 is provided at the bottom of the fuselage 101, and a sensor for collecting ground image information is installed in the detection hole 103.

[0027] For example, the sensor may primarily include an optical flow sensor, or a combination of an ultrasonic sensor and an optical flow sensor, or a combination of an infrared sensor and an optical flow sensor.

[0028] Figure 2 This is a schematic diagram of the exploded structure of an optical flow sensor provided in an embodiment of this application. Figure 2As shown, the optical flow sensor includes an image sensor 201, a light source 202, and a circuit board 203. Both the image sensor 201 and the light source 202 are mounted on the circuit board 203. The image sensor 201 acquires images of the clean surface and transmits these images to the circuit board 203. The circuit board 203 is electrically connected to a control device and converts the images acquired by the image sensor 201 into image information, which is then transmitted to the control device. The optical flow sensor may also include a protective cover 204. After being connected to the circuit board 203, the protective cover 204 encloses the image sensor 201 and the light source 202, thereby reducing interference from splashed liquids and debris on the normal operation of the image sensor 201 and the light source 202. It also protects the image sensor 201, the light source 202, and the circuit board 203, reducing the possibility of damage during collisions.

[0029] During operation, the image sensor captures two images consecutively within a certain time interval. The circuit board analyzes and processes these two images to determine the cleaning robot's direction and speed of movement over that time period. Furthermore, by analyzing image features such as color, texture, and brightness, the circuit board obtains the identification value of the working area and then matches the corresponding ground conditions based on this identification value.

[0030] Optionally, the light source can be a laser light source or an LED light source. The light-emitting side of the light source faces the working area, and the light source is used to emit light of a preset wavelength to illuminate the ground, so that the image sensor can capture images of the illuminated ground under specific lighting conditions.

[0031] The image sensor can be a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0032] Image information may include brightness information, or image quality information, or both brightness and image quality information.

[0033] The cleaning assembly includes a side brush and a roller brush for performing dry cleaning, a cleaning element 102 for performing wet cleaning, and a liquid replenishment mechanism for replenishing liquid to the cleaning element, the output end of the liquid replenishment mechanism facing the cleaning element so that the liquid flowing out of the liquid replenishment mechanism wets the cleaning element.

[0034] The cleaning component 102 can be fixedly installed at the bottom of the machine body 101, or can be rotatably installed at the bottom of the machine body 101, so as to realize the wet cleaning function of the ground below the machine body.

[0035] The cleaning component can be circular, square, or other shapes, such as an irregular shape formed by combining parts of circles and squares. It can be set according to the shape of the machine body and the arrangement of the components at the bottom of the machine body.

[0036] For example, the liquid replenishment mechanism includes a water tank for storing liquid, a pipeline for leading the liquid out of the water tank, and a valve for controlling the degree of closure of the pipeline. By controlling the degree of closure of the valve, the amount of liquid flowing out of the pipeline can be controlled, thereby controlling the amount of liquid in the cleaning component at the output end of the liquid replenishment mechanism, so that cleaning components with different humidity levels can perform adaptive cleaning for different ground conditions, thereby improving the cleaning effect of the ground.

[0037] It should be understood that cleaning robots can clean using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping to occur simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness. The accompanying drawings of this application use a sweeping robot with a fixed mop tray as an example to illustrate its functions and effects. Figure 1 The present invention only provides some of the components related to the present application solution as examples. It does not limit whether the cleaning robot includes other components or parts, which can be added according to the functions that the cleaning robot can provide.

[0038] Both the control unit and the storage component are located inside the cleaning robot. Optionally, the storage component can be integrated with the control unit, or they can be two separate components.

[0039] Storage components are used to store data; for example, various software control programs, patterns and / or parameters of cleaning robots, etc. Specifically, programs may include program code, which includes computer operation instructions.

[0040] The control device may include, for example, one or more circuits or chips with control functions.

[0041] The control unit is used to control the operation of the cleaning robot and respond to user operations through various software control programs stored in the memory.

[0042] The execution entity in this application embodiment can be a control device in a cleaning robot, or a server corresponding to the cleaning robot. This server is located in the cloud, connects to the cleaning robot via a network, and issues control commands to the cleaning robot, or forwards control commands sent by the user through a terminal device to the cleaning robot, etc.

[0043] The following uses the control device in a cleaning robot as an example to illustrate the technical solution of this application and how it solves the aforementioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0044] Figure 3 This is a schematic flowchart illustrating the control method for a cleaning robot provided in an embodiment of this application. Figure 3 As shown, the method includes: S301. When the cleaning robot performs the cleaning task, it acquires image information of the area to be cleaned by the sensor.

[0045] For example, when a cleaning robot performs a self-service mobile cleaning task in an area to be cleaned, it uses sensors mounted on its body to detect the condition of the ground in that area.

[0046] The sensor can be set at the bottom, side, or top of the cleaning equipment body. The sensor can be positioned at the front, rear, or middle of the body in the direction of travel of the machine.

[0047] For example, the sensor is set at the bottom of the cleaning equipment body, at the front end in the direction of travel, while the cleaning component is set at the rear end relative to the direction of travel. This allows the cleaning robot to first collect image information through the front-end sensor when performing a cleaning task, and then determine the ground condition based on the image information, so as to determine whether to adjust the cleaning component at the rear end based on the ground condition.

[0048] S302. When the image information of the area to be cleaned collected by the sensor indicates that the ground condition of the area to be cleaned has changed, the liquid output of the liquid replenishment mechanism is controlled to clean the ground of the area to be cleaned.

[0049] For example, since the collected image information is continuously updated as the cleaning robot moves, the collected image information can be processed in the following ways: Method 1: Perform image data analysis on each acquired image to determine the ground conditions.

[0050] This method can improve the accuracy of ground condition determination, while taking into account changes in ground material and condition, for example: One possible method for determining ground conditions based on image information is to collect image information by pre-setting ground conditions of different materials and states, then manually label the collected image information and store the labeled image information in a storage device to form a database of different ground conditions. In order to match the collected image information with the image information in the database based on similarity, the result with the higher similarity is taken as the current ground condition.

[0051] Another possible method for determining ground conditions based on imagery is to collect images of ground with different materials and conditions, and then train a classification model using the collected images. In practice, newly collected images are directly input into the trained classification model to obtain the classification result and probability value for each result. The classification result with the highest probability value is output as the current ground condition. Alternatively, newly collected images can be further input into the classification model for training to improve the accuracy of the model's output.

[0052] While the above methods can output results relatively accurately for different ground conditions, comparing and processing each piece of image data will consume a lot of computing resources, which is not conducive to improving data processing efficiency. It may also affect the normal operation of the cleaning robot due to the large amount of processing resources.

[0053] Method 2: Preprocess and compare the newly acquired image information with the previously acquired image information. If the discrepancy is large after comparison, perform image data analysis on the newly acquired image information to determine the ground conditions.

[0054] As the cleaning robot moves continuously, the collected information about the ground conditions is mostly consistent when cleaning the same area. For example, if the ground is either a floor or tile, or if the ground is clean or has normal dust, the previous and next images will have almost no difference in features. This reduces the difficulty of comparison and processing, allowing the robot to quickly identify changing images when the ground conditions change. After processing these images, the frequency of image data analysis can be reduced, thereby reducing the consumption of computing resources and improving the overall information processing efficiency of the cleaning robot.

[0055] In some embodiments, after determining the ground conditions based on the changed image information, it is also necessary to determine the cleaning method based on the ground conditions.

[0056] For example, when the ground is heavily soiled, a slightly wetter cleaning device is needed to improve its cleaning ability. However, if the ground is not very dirty, there is no need to increase the humidity of the cleaning device; the liquid can be retained until it encounters dirt, thus reducing the frequency of liquid replenishment for the cleaning robot.

[0057] For example, when the floor is tiled, the material properties of the tile cause significant water residue to remain after wet cleaning, resulting in poor cleaning effectiveness. A second cleaning process with a cleaning robot is usually required to eliminate the water residue. However, when cleaning wooden floors with the same level of moisture, less water residue remains.

[0058] Therefore, different replenishment amounts of the cleaning components can be preset according to different ground conditions. After analyzing the determined ground conditions in the above steps, the replenishment amount of the cleaning components by the replenishment mechanism can be adjusted to adapt to the liquid demand of the current ground conditions. Moreover, when the image information indicates that the ground conditions of the area to be cleaned have not changed, the image analysis and processing calculation can be not started, and the liquid output of the current replenishment mechanism can continue to be maintained without additional control operations, simplifying the control logic.

[0059] The method provided in this embodiment monitors changes in the ground using sensors and adjusts the amount of liquid replenished to the cleaning component based on the changed ground conditions, thereby improving the cleaning effect. At the same time, it reduces the complexity of the control logic and the computational load of image analysis and processing, improving the performance of the cleaning robot. It can also rationally allocate the liquid carried inside the cleaning robot, improving the utilization rate of the cleaning liquid and reducing the frequency of liquid replenishment for the cleaning robot.

[0060] Meanwhile, when the cleaning robot is working in its preset cleaning mode, it adjusts its cleaning method based on the type and specific circumstances of sudden stains, especially water stains, soy sauce, vinegar, beverages, milk, oil stains, excrement, and vomit. The robot adjusts the amount of liquid replenished to the mop tray according to the type and specific situation of the stain. It also rotates the mop tray at a first speed (≥0.500 rpm), the side brush at a second speed (≥0.500 rpm), and the roller brush at a third speed (≥0.2000 rpm). During operation, the mop tray, side brush, and roller brush are generally rotating. However, when encountering sudden stains, especially water stains, water-based liquids, oil stains, excrement, and vomit, these components scatter the dirt and debris throughout the room, causing serious contamination of the cleaned floor. For example, if there are pets at home and the pets urinate on the floor, the cleaning robot's side brushes, mop tray, and roller brush will sweep and drag the urine all over the area, creating a very poor user experience.

[0061] For sudden stains, especially water stains, soy sauce, vinegar, beverages, milk, and other water-based liquids, as well as oil stains, excrement, and vomit, the system uses an optical flow sensor to monitor changes in the ground's condition in real time. Upon detecting a sudden stain, the system adjusts the water supply to the mop tray via a water replenishment mechanism, enabling targeted cleaning of the stain. Furthermore, the system adjusts the rotation speed of the mop tray, side brushes, and roller brush to prevent the water and other stains from being scattered and thrown out. Specifically, the mop tray rotates at a first speed (greater than or equal to 0 and less than 500 rpm), the side brushes rotate at a second speed (greater than or equal to 0 and less than 500 rpm), and the roller brush rotates at a third speed (greater than or equal to 0 and less than 2000 rpm), preventing the mop tray, side brushes, and roller brush from scattering and throwing away water stains. If the rotation speed of the cleaning robot's mop tray, side brushes, and roller brushes falls within the corresponding first, second, and third speed ranges, the rotation speed of the mop tray, side brushes, and roller brushes remains unchanged. Of course, if the rotation speed of the cleaning robot's mop tray, side brush, and roller brush is not within the corresponding first, second, and third rotation speeds, then the rotation speeds of the mop tray, side brush, and roller brush will be adjusted to within the corresponding first, second, and third rotation speeds. By adjusting the water replenishment volume and rotation speed, the cleaning robot can perform targeted cleaning of water stains, preventing the water stains from spreading. This enables the cleaning robot to intelligently target specific stains for specific areas, making the cleaning robot more intelligent and user-friendly, thereby improving the floor cleaning effect, reducing the number of re-cleaning cycles, and thus increasing cleaning efficiency. This method can also rationally distribute the liquid carried inside the cleaning robot, improving the utilization rate of cleaning liquid and reducing the frequency of liquid replenishment.

[0062] The control method of the cleaning robot of this application will be described in detail below with reference to several specific implementation scenarios.

[0063] Scenario 1: There are water stains on the ground.

[0064] Figure 4 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 1 The cleaning robot includes cleaning components and an optical flow sensor for acquiring ground image information. The cleaning components include a roller brush, side brushes, a mop tray, and a replenishment mechanism for adding cleaning fluid to the mop tray. (See reference...) Figure 4 As shown, the control method for the cleaning robot includes: S401. During the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0065] S402. When the image information acquired by the optical flow sensor indicates that there are water stains on the ground, the liquid replenishment mechanism is controlled to replenish the wiping disc with a second liquid replenishment amount. The wiping disc rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0066] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism, thereby reducing the humidity of the mop tray and reducing or even eliminating water stains on the mop tray after cleaning the floor.

[0067] Since the image information indicates the presence of water stains on the ground, it means that the humidity of the mop tray exceeds the cleaning requirements of the area. The humidity of the mop tray needs to be reduced, primarily by decreasing the amount of liquid replenished to the mop tray by the replenishment mechanism. This reduces water residue on the ground, thereby improving cleaning effectiveness and reducing the number of repeated cleaning cycles. Simultaneously, the mop tray rotates at a first speed (greater than or equal to 0 and less than 500 rpm), the side brush rotates at a second speed (greater than or equal to 0 and less than 500 rpm), and the roller brush rotates at a third speed (greater than or equal to 0 and less than 2000 rpm). This prevents the mop tray, side brush, and roller brush from scattering and splashing water stains, allowing the cleaning robot to perform targeted cleaning of specific water stains, preventing their spread. This intelligent, area-specific cleaning of specific stains makes the cleaning robot more intelligent and user-friendly, thereby improving cleaning efficiency.

[0068] In some embodiments of the control method for a cleaning robot, the cleaning robot includes a cleaning component and an optical flow sensor for acquiring ground image information. The cleaning component includes a mop tray and a replenishment mechanism for replenishing cleaning fluid to the mop tray. The method includes: During the cleaning process of the mop tray, the cleaning robot's liquid replenishment mechanism replenishes the mop tray with a first liquid replenishment amount. When the image information indicates that there are water stains on the floor, the liquid replenishment mechanism is controlled to replenish the mop tray with a second liquid replenishment amount. The mop tray rotates at a first rotation speed, the side brush rotates at a second rotation speed, and the roller brush rotates at a third rotation speed. The first rotation speed is greater than or equal to 0 and less than 500 rpm, the second rotation speed is greater than or equal to 0 and less than 500 rpm, and the third rotation speed is greater than or equal to 0 and less than 2000 rpm. The second liquid replenishment amount is less than the first liquid replenishment amount. After the cleaning robot completes cleaning the water stains on the ground, if the image information indicates that there are still water stains on the ground, the robot stops replenishing the cleaning cloth tray and controls the cleaning robot to return to the base station to clean the cleaning cloth tray. After the cleaning cloth tray is cleaned, the robot returns to the ground where the image information indicates that there are still water stains on the ground and controls the replenishment mechanism to replenish the cleaning cloth tray with a second replenishment amount.

[0069] Scene 2: Changes in ground dirt and grime.

[0070] Figure 5 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 2 . Reference Figure 5 As shown, the control method for the cleaning robot includes: S501. During the cleaning process of the mop tray, the cleaning robot's replenishment mechanism replenishes the mop tray with a first replenishment amount.

[0071] S502. When the image information obtained by the optical flow sensor indicates that there is a water-based liquid on the ground, and the area of ​​the water-based liquid is less than or equal to the preset absorption area of ​​the wiping pad, the liquid replenishment mechanism is controlled to replenish the wiping pad with a second liquid replenishment amount. The wiping pad rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0072] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0073] Since the liquid replenished by the liquid replenishment mechanism is mainly water, if the cleaning parts are damp, their absorbency will be affected when encountering water-based liquids. This reduces the cleaning robot's effectiveness in cleaning water-based liquids. Therefore, it is necessary to reduce the liquid output of the liquid replenishment mechanism, or even adjust it to zero, so that the mop tray can absorb water-based liquids while cleaning the floor, thus improving the cleaning effect. Simultaneously, the mop tray rotates at a first rotational speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotational speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotational speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering and splashing water-based liquids such as soy sauce, vinegar, beverages, and milk. This allows the cleaning robot to perform targeted cleaning of water-based liquids, preventing the spread of water-based liquids. It enables the cleaning robot to intelligently and specifically clean specific stains in designated areas, making the cleaning robot more intelligent and user-friendly.

[0074] Figure 6 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 3 . Reference Figure 6 As shown, the control method for the cleaning robot includes: S601. During the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0075] S602. When the image information obtained by the optical flow sensor indicates that there is a water-based liquid on the ground and the area of ​​the water-based liquid is greater than the preset absorption area of ​​the wiping tray, stop replenishing the wiping tray with liquid and control the suction mechanism to suck up the water-based liquid.

[0076] S603. Control the liquid replenishment mechanism to replenish the cloth tray with a second liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0077] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0078] In some embodiments, a suction mechanism can be used to remove heavy oil and dirt first, thereby reducing the degree of dirt on the floor, reducing the difficulty of cleaning with a rag, and improving the floor cleaning efficiency.

[0079] Optionally, since the rag may become saturated with water during the cleaning process, after the cleaning robot completes one cleaning of the water-based liquid on the floor, if the image information indicates that there is still water-based liquid on the floor, it is necessary to stop replenishing the rag tray and control the cleaning robot to return to the base station to clean the rag tray. After the rag tray is cleaned, the robot returns to the floor where the image information indicates that there is residual water-based liquid, and controls the replenishment mechanism to replenish the rag tray with a second amount of liquid, so that the clean rag can continue to absorb and clean the water-based liquid, reducing the waste of cleaning resources due to the rag becoming saturated with water.

[0080] Water-based liquids such as soy sauce, vinegar, beverages, and milk may contain color. Therefore, after the cleaning robot completes a cleaning of the floor with these liquids, the colored liquid will cause the image information to indicate color residue on the floor. At this point, the cleaning cloth will also be covered in the liquid's color, preventing further cleaning. Therefore, it's necessary to stop replenishing the cleaning cloth tray to prevent further waste of cleaning fluid during non-cleaning processes, and control the cleaning robot to return to the base station to clean the cleaning cloth tray. After the cleaning cloth tray is cleaned, the robot returns to the floor indicated by the image information and controls the replenishment mechanism to replenish the cleaning cloth tray with a first amount of liquid to clean the floor. This allows the clean cloth to remove the remaining color from the floor, improving the cleaning effect. Simultaneously, the mop tray rotates at a first rotational speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotational speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotational speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering and splashing water-based liquids such as soy sauce, vinegar, beverages, and milk. This allows the cleaning robot to perform targeted cleaning of water-based liquids, preventing the spread of water-based liquids. It enables the cleaning robot to intelligently and specifically clean specific stains in designated areas, making the cleaning robot more intelligent and user-friendly.

[0081] Figure 7 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 4 . Reference Figure 7 As shown, the control method for the cleaning robot includes: S701. During the cleaning process of the mop tray, the cleaning robot's liquid replenishment mechanism replenishes the mop tray with a first liquid replenishment amount.

[0082] S702. When the image information obtained by the optical flow sensor indicates that there are solid particles on the ground, stop replenishing the liquid to the wiping tray and control the suction mechanism to suck up the solid particles.

[0083] S703. Control the liquid replenishment mechanism to replenish the cloth tray with a third liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0084] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0085] A suction mechanism has been added to the cleaning robot. When solid particles or other dirt are detected on the ground using image information obtained by the optical flow sensor, the liquid supply needs to be stopped first. The suction mechanism is used to remove the solids before wet cleaning is performed. This avoids wetting the solid dirt, which would increase the difficulty of cleaning. Then the amount of liquid replenished in the mop tray is increased to enhance the cleaning power. By using the method of suction first and then wet cleaning, the cleaning efficiency and cleaning effect can be effectively improved.

[0086] Figure 8 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 5 . Reference Figure 8 As shown, the control method for the cleaning robot includes: S801. During the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0087] S802. When the image information obtained by the optical flow sensor indicates that there is oily liquid on the ground, stop replenishing the liquid to the wiping tray and control the suction mechanism to suck up the oily liquid.

[0088] S803. Control the liquid replenishment mechanism to replenish the cloth tray with a third liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0089] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0090] Since oily liquids and dirt require the assistance of cleaning agents contained in the liquid, and these cleaning agents are evenly dispersed within the liquid, increasing the amount of cleaning agent needed for oily liquids or dirt can be achieved simply by increasing the liquid output, thus achieving a better cleaning effect on the floor. Simultaneously, the mop disc rotates at a first speed (greater than or equal to 0 and less than 500 rpm), the side brush rotates at a second speed (greater than or equal to 0 and less than 500 rpm), and the roller brush rotates at a third speed (greater than or equal to 0 and less than 2000 rpm). This prevents the mop disc, side brush, and roller brush from scattering and flying the oil-water mixture, allowing the cleaning robot to perform targeted cleaning of the oil-water mixture, preventing its spread. This intelligent, area-specific cleaning of specific stains makes the cleaning robot more intelligent and user-friendly, thereby improving the floor cleaning effect.

[0091] It should be noted that increasing the liquid output will lead to an increase in water residue on the ground. However, for heavily soiled or heavily contaminated environments, the primary task of the cleaning robot is to remove dirt and grime, and it usually also needs to perform a second cleaning. Therefore, the liquid output of the replenishment mechanism can be increased when heavy oil or contamination is present, and decreased depending on the ground's moisture level when such conditions are absent. This ensures that the amount of water residue left on the ground after cleaning is sufficient to achieve the desired cleaning effect.

[0092] Figure 9 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 6 . Reference Figure 9 As shown, the control method for the cleaning robot includes: S901. During the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0093] S902. When the image information indicates that there is vomit or excrement on the ground, stop replenishing the liquid to the rag tray and control the suction mechanism to suction the vomit or excrement.

[0094] S903. After suction is completed, the liquid replenishment mechanism is controlled to replenish the cloth tray with a third liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0095] S904. After cleaning the floor where there is vomit or excrement, stop replenishing the cleaning fluid to the mop tray and control the cleaning robot to return to the base station to clean the suction mechanism and wash the mop tray.

[0096] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0097] When dealing with special types of waste such as vomit or excrement, to remove them as quickly as possible, the regular cleaning task must be stopped first. Then, the waste is quickly removed using suction, followed by a powerful cleaning with a cloth containing a large amount of liquid to improve cleaning efficiency. After cleaning, the robot needs to clean its own body as soon as possible. Therefore, after only suctioning and cleaning the area containing vomit or excrement, the robot must immediately return to perform body cleaning, without cleaning other areas, to prevent odors from escaping from the robot or causing secondary pollution to the ground. Simultaneously, the cloth tray rotates at a first speed (greater than or equal to 0 and less than 500 rpm), the side brush rotates at a second speed (greater than or equal to 0 and less than 500 rpm), and the roller brush rotates at a third speed (greater than or equal to 0 and less than 2000 rpm). This prevents the cloth tray, side brush, and roller brush from scattering or throwing the vomit or excrement, thus avoiding secondary pollution to the ground and making the cleaning robot more intelligent and user-friendly.

[0098] Figure 10 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 7 . Reference Figure 10 As shown, the control method for the cleaning robot includes: S1001. During the cleaning process of the mop tray, the cleaning robot's liquid replenishment mechanism replenishes the mop tray with a first liquid replenishment amount.

[0099] S1002. When the image information acquired by the optical flow sensor indicates that there is a paste-like substance on the ground, the liquid replenishment mechanism is controlled to replenish the wiping disc with a third liquid replenishment amount. The wiping disc rotates at a first rotation speed, which is greater than or equal to 0 and less than 500 rpm. The side brush rotates at a second rotation speed, which is greater than or equal to 0 and less than 500 rpm. The roller brush rotates at a third rotation speed, which is greater than or equal to 0 and less than 2000 rpm.

[0100] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0101] Because pastes are more difficult to clean than ordinary solids and liquids, it is necessary to increase the humidity of the mop tray to enhance the cleaning power of the floor and achieve better cleaning results.

[0102] By adjusting the above methods, the liquid replenishment mechanism can adjust the liquid output according to different levels of dirt, thereby effectively removing dirt from the ground, improving the cleaning effect of the ground, and increasing the utilization rate of the carried liquid. After the dirt is removed, the liquid replenishment volume can be adjusted according to the ground type, realizing the control logic of prioritizing the removal of dirt and then considering water stains after the dirt is removed, making the control process more reasonable.

[0103] Scene 3: Change in ground material.

[0104] Figure 11 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 8 . Reference Figure 11 As shown, the control method for the cleaning robot includes: S1101. During the process of the mop tray cleaning the floor, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0105] S1102. When the image information indicates that the floor has changed to tiles, the liquid replenishment mechanism is controlled to replenish the cloth tray with a second liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0106] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0107] Figure 12 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 9 . Reference Figure 12 As shown, the control method for the cleaning robot includes: S1201, The liquid replenishment mechanism of the cleaning robot replenishes the cloth tray with a first liquid replenishment amount, and the cloth tray cleans the tiles.

[0108] S1202. When the image information acquired by the optical flow sensor indicates that the tile has changed to a floor, the liquid replenishment mechanism is controlled to replenish the cloth tray with a third liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0109] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0110] Due to its material properties, flooring has a certain ability to absorb liquid. When a cleaning robot maintains a certain liquid output to clean a floor, and the water residue on the floor after cleaning is sufficient for the desired cleaning effect, the floor will be different. If the floor is changed to tile, due to the tile's low absorbency, maintaining the same liquid output will result in a large amount of water residue remaining on the tile after cleaning, affecting the cleaning effect. This necessitates a second cleaning cycle to eliminate the water residue's impact on the cleaning result. Therefore, when cleaning tiles, the liquid output can be adjusted to a second output level, which is less than the first output level, but still sufficient to ensure adequate water residue on the floor after cleaning. Simultaneously, the mop tray rotates at a first rotational speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotational speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotational speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering and splashing water stains, allowing the cleaning robot to perform targeted cleaning of water stains, preventing the water stains from spreading. This enables the cleaning robot to intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and user-friendly.

[0111] As described above, by utilizing the different liquid absorption capacities of different materials and pre-setting corresponding liquid output capacities, when a change in the ground condition is detected as a change in the ground material, the liquid output capacities corresponding to that material are directly called up. Then, the current liquid output capacities are adjusted according to the corresponding liquid output capacities, thereby making more reasonable use of the liquid stored in the machine, improving the cleaning effect, reducing the frequency of liquid replenishment and the number of times the cleaning robot cleans the ground, and improving cleaning efficiency.

[0112] Figure 13 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 . Reference Figure 13 As shown, the control method for the cleaning robot includes: S1301, the liquid replenishment mechanism of the cleaning robot replenishes the cloth tray with a first liquid replenishment amount, and the cloth tray cleans matte tiles.

[0113] S1302. When the image information acquired by the optical flow sensor indicates that the matte tile has changed to a glossy tile, the liquid replenishment mechanism is controlled to replenish the cloth tray with a second liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0114] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0115] Figure 14 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 I. Reference Figure 14 As shown, the control method for the cleaning robot includes: S1401, The liquid replenishment mechanism of the cleaning robot replenishes the cloth tray with a first liquid replenishment amount, and the cloth tray cleans the glossy tiles.

[0116] S1402. When the image information acquired by the optical flow sensor indicates that the glossy tile has changed to a matte tile, the liquid replenishment mechanism is controlled to replenish the cloth tray with a third liquid replenishment amount. The cloth tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0117] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0118] Figure 15 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 II. Reference Figure 15 As shown, the control method for the cleaning robot includes: S1501, The liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the rough floor.

[0119] S1502. When the image information acquired by the optical flow sensor indicates that the rough floor has changed to a smooth floor, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount. The wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0120] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0121] Figure 16 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 III. Reference Figure 16 As shown, the control method for the cleaning robot includes: S1601, The liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the smooth floor.

[0122] S1602. When the image information acquired by the optical flow sensor indicates that the smooth floor has changed to a rough floor, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount. The wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0123] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0124] In the above embodiments, matte tiles, glossy tiles, rough floors, and smooth floors are different types of flooring. Flooring type is a further subdivision of flooring material. When the flooring material is the same, different processing methods and effect requirements can make the same type of flooring processed into different types, which in turn requires further subdivision of the corresponding liquid requirements for different types.

[0125] The brightness of ground reflection, such as the FA value, can be obtained from the image information. Different brightness conditions correspond to different ground types. Generally speaking, matte ground reflects light less, and water stains are not easily observed. Therefore, the liquid requirement for glossy ground is less than that for matte ground. That is, when the cleaning robot is cleaning a matte ground with the third liquid output, if the ground type is detected to change to glossy ground, the liquid output needs to be reduced so that the water stains on the ground after cleaning meet the cleaning effect requirements.

[0126] The image information can be used to obtain the image quality of the ground, such as the IQ value. Different image quality conditions can correspond to different ground types. Generally speaking, water stains are not easy to observe on rough ground. Therefore, the liquid requirement for smooth ground is less than that for rough ground. That is, when the cleaning robot is cleaning a rough ground, if it detects that the ground type has changed to a smooth ground, it needs to reduce the liquid output to ensure that the water stains on the ground after cleaning meet the cleaning effect requirements.

[0127] By using the methods described above, the humidity of the mop tray can be precisely controlled for further refined classification of floor materials, thereby improving the cleaning effect, reducing the number of re-cleaning cycles, and thus improving cleaning efficiency.

[0128] Scenario 4: Changes in ground obstacles.

[0129] Figure 17 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 IV. Reference Figure 17 As shown, the control method for the cleaning robot includes: S1701, The liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the floor.

[0130] S1702. When the image information acquired by the optical flow sensor indicates that the ground changes to the edge of at least one of the following: track, strip, step, and mat, the liquid replenishment mechanism is controlled to replenish the wiping disc with a second liquid replenishment amount. The wiping disc rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0131] The second replenishment volume is less than the first replenishment volume, which reduces the replenishment volume of the replenishment mechanism and thus reduces the humidity of the cloth tray.

[0132] Figure 18Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 V. Reference Figure 18 As shown, the control method for the cleaning robot includes: S1801, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the edge of at least one of the track, pressure strip, step, and floor mat.

[0133] S1802. When the image information acquired by the optical flow sensor indicates that the edge of at least one of the track, pressure strip, step, and floor mat changes to the ground, the liquid replenishment mechanism is controlled to replenish the wiping disc with a third liquid replenishment amount. The wiping disc rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0134] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor.

[0135] For example, when a cleaning robot moves over tracks, railings, or steps to clean, the height difference can cause some pressure on the cleaning components. If the components contain a large amount of liquid, the liquid may be squeezed out and enter the gaps in the tracks, railings, or steps. Prolonged exposure to this damp environment can breed bacteria, causing secondary contamination of these areas. Therefore, when cleaning these areas, it is necessary to reduce the liquid output of the replenishment mechanism.

[0136] For example, when a cleaning robot approaches the edge of a covering, such as a floor mat or carpet, the covering usually does not require wet cleaning, but the covering itself is prone to absorbing water and becoming contaminated. Therefore, it is necessary to reduce the liquid content of the cleaning components to prevent the liquid on the cleaning components from being absorbed by the covering when it comes into contact with it during the cleaning process, or from the liquid squeezed out by the covering when the cleaning components clean the edge and entering the area under the covering through the gap between the covering and the ground. This would cause the area under the covering to remain in a humid environment for a long time, resulting in the growth of bacteria and causing secondary contamination of the covering and the ground below it.

[0137] By adjusting the liquid output as described above, the liquid output in obstacle scenarios can be reasonably adjusted, reducing the adverse effects of wet cleaning on obstacles and cleaning effectiveness.

[0138] Figure 19 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 VI. Reference Figure 19As shown, the control method for the cleaning robot includes: S1901, The liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the floor.

[0139] S1902. When the image information acquired by the optical flow sensor indicates that the ground meets the preset gap ground condition, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount. The wiping tray cleans the ground. The wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0140] Wherein, the second replenishment volume is less than the first replenishment volume; the preset gap floor includes a floor with a gap width and / or length greater than the preset width and / or length.

[0141] Figure 20 Schematic diagram of the specific control method for the cleaning robot provided in this application Figure 10 VII. Reference Figure 20 As shown, the control method for the cleaning robot includes: S2001, The liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the preset gaps in the ground.

[0142] S2002. When the image information indicates that the preset gap floor does not exist, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount. The wiping tray cleans the floor. The wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0143] The third replenishment volume is greater than the first replenishment volume, which increases the replenishment volume of the replenishment mechanism, thereby increasing the humidity of the mop tray and improving the cleaning power of the floor; the preset gap floor includes a floor with a gap width and / or length greater than the preset width and / or length, which reduces the adjustment frequency and can also avoid repeated adjustments that lead to ineffective adjustment of the mop tray humidity.

[0144] For example, after prolonged use, flooring will develop gaps that easily trap dust and dirt. While these dirt can be removed by a cleaning robot when dry, when liquid mixes with the dirt, the dirt adheres more strongly to the gaps, requiring increased suction power to remove it, or even failing to remove it at all. Furthermore, liquid entering the gaps can easily lead to bacterial growth and may corrode the relatively thin wood material inside the gaps, reducing the floor's lifespan.

[0145] Therefore, when encountering gaps, the amount of liquid replenishment should be reduced as much as possible, or even reduced to zero, to reduce the possibility of liquid overflowing from the cleaning parts into the gaps. This also saves the amount of liquid carried inside the robot body, thereby reducing the frequency of liquid replenishment for the cleaning robot, reducing the time wasted on liquid replenishment, and improving the cleaning efficiency of the cleaning robot.

[0146] This application provides a cleaning system, including a cleaning robot.

[0147] Optionally, the cleaning system further includes a base station for providing charging, cleaning, and / or other services to the cleaning equipment.

[0148] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a control method for a cleaning robot.

[0149] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning robot in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0150] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component and sensors for acquiring ground image information. The cleaning component includes a mop tray and a replenishment mechanism for adding cleaning fluid to the mop tray. The method includes: During the process of the mop tray cleaning the floor, the liquid replenishment mechanism is controlled to replenish the mop tray with a first liquid replenishment amount; When the image information indicates a change in the type of floor being cleaned, the liquid replenishment mechanism is controlled to replenish the mop tray with a different amount of liquid than the first amount of liquid replenishment, based on the changed floor type.

2. The control method for the cleaning robot according to claim 1, characterized in that, The step of controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount, based on the changed ground type, includes: When the image information indicates that the ground type has changed from floor to tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount.

3. The control method for the cleaning robot according to claim 1, characterized in that, The step of controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount, based on the changed ground type, includes: When the image information indicates that the ground type has changed from tile to flooring, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

4. The control method for the cleaning robot according to claim 1, characterized in that, The step of controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount, based on the changed ground type, includes: When the image information indicates that the floor type changes from matte tile to glossy tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount.

5. The control method for the cleaning robot according to claim 1, characterized in that, The step of controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount, based on the changed ground type, includes: When the image information indicates that the floor type has changed from glossy tile to matte tile, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

6. The control method for the cleaning robot according to claim 1, characterized in that, The step of controlling the replenishment mechanism to replenish the wiping tray with a different amount of liquid than the first replenishment amount, based on the changed ground type, includes: When the image information indicates a change in floor type from rough to smooth, the liquid replenishment mechanism is controlled to replenish the mop tray with a second liquid replenishment amount, wherein the second liquid replenishment amount is less than the first liquid replenishment amount; or... When the image information indicates that the floor type changes from smooth floor to rough floor, the liquid replenishment mechanism is controlled to replenish the wiping tray with a third liquid replenishment amount, wherein the third liquid replenishment amount is greater than the first liquid replenishment amount.

7. The control method for the cleaning robot according to claim 1, characterized in that, The cleaning components also include a side brush and a roller brush.

8. A cleaning robot, characterized in that, The device includes a cleaning assembly, a control unit, and a sensor for acquiring ground image information. The cleaning assembly includes a roller brush, a side brush, a mop tray, and a liquid replenishment mechanism for replenishing liquid to the mop tray. The control unit is used to perform the method as described in any one of claims 1-7.

9. A cleaning system, characterized in that, Including the cleaning robot as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

Images