Cleaning robot and control method thereof

Abstract

The present disclosure relates to a cleaning robot and a control method thereof. The control method of the cleaning robot comprises: obtaining first dirt information detected by a detection unit on a target surface, the first dirt information being used to represent the dirt degree of the target surface before being cleaned by a first cleaning unit; obtaining second dirt information detected by the detection unit on the target surface after the target surface is cleaned by the first cleaning unit, the second dirt information being used to represent the dirt degree of the target surface after being cleaned by the first cleaning unit; and controlling the first cleaning unit to clean the target surface again in the case that the first dirt information and the second dirt information represent that the target surface is not cleaned completely. The first dirt information and the second dirt information are used as the basis for judging whether the target surface is cleaned completely, the real-time identification of whether the target surface is cleaned completely is realized, the accuracy of the identification result is ensured, the cleaning effect of the target surface is ensured through the re-cleaning of the target surface, and the user experience is improved.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning robots, specifically to a cleaning robot and its control method. Background Technology

[0002] In recent years, with the rapid development of smart home technology and the continuous iteration of products, cleaning robots with automatic cleaning functions have been widely used in people's daily lives. When performing cleaning tasks, the cleaning robot moves along a specific path or in a specific manner, and cleans the dirt on the surfaces it passes through using cleaning devices.

[0003] However, when using related technologies to control cleaning robots, it is impossible to identify in real time whether the cleaned surfaces are clean, making it difficult to guarantee the cleaning effect and resulting in a poor user experience. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a cleaning robot and its control method.

[0005] According to a first aspect of the present disclosure, a control method for a cleaning robot is provided, applied to the cleaning robot, the control method comprising:

[0006] The detection unit obtains first dirt information from the detection of the target surface, and the first dirt information is used to characterize the degree of dirt on the target surface before it is cleaned by the first cleaning unit.

[0007] After the first cleaning unit cleans the target surface, the second dirt information detected by the detection unit on the target surface is obtained. The second dirt information is used to characterize the degree of dirt on the target surface after it has been cleaned by the first cleaning unit.

[0008] If the first dirt information and the second dirt information indicate that the target surface is not clean, the first cleaning unit is controlled to clean the target surface again.

[0009] In some embodiments of this disclosure, the control method further includes:

[0010] Based on the first dirt information and the second dirt information, overlap information is determined. The overlap information is used to characterize the degree of overlap of dirt amount on the target surface before and after cleaning by the first cleaning unit.

[0011] If the overlap is greater than or equal to the overlap threshold, then the target surface is determined to be unclean.

[0012] In some embodiments of this disclosure, the detection unit includes a first detection device and a second detection device;

[0013] The acquisition of the first dirt information obtained by the detection unit on the target surface includes: acquiring the detection result of the first detection device on the target surface as the first dirt information, wherein the target surface is located in front of the first cleaning unit in the direction of movement of the cleaning robot;

[0014] The step of obtaining second dirt information detected by the detection device on the target surface after the first cleaning unit cleans the target surface includes: after the cleaning robot moves along the first direction so that the first cleaning unit cleans the target surface, obtaining the detection result of the second detection device as the second dirt information, wherein the second detection device is located behind the first detection device in the first direction, and the first cleaning unit is located between the first detection device and the second detection device.

[0015] The method of controlling the first cleaning unit to clean the target surface again includes: controlling the cleaning robot to move in a second direction opposite to the first direction so that the first cleaning unit cleans the target surface again.

[0016] In some embodiments of this disclosure, the control method further includes:

[0017] When the first dirt information and the second dirt information indicate that the target surface is clean, the cleaning robot is controlled to continue moving along the first direction.

[0018] In some embodiments of this disclosure, the first cleaning unit includes a suction and sweeping assembly, and the control method further includes:

[0019] The detection unit obtains the type of dirt detected on the target surface, including solid dirt and liquid dirt.

[0020] In response to the dirt being solid dirt, the suction and sweeping assembly cleans the target surface;

[0021] In response to the type of dirt including liquid dirt, the suction and sweeping assembly is raised.

[0022] In some embodiments of this disclosure, the cleaning robot further includes a second cleaning unit, the second cleaning unit including a mopping assembly, and the control method further includes:

[0023] In response to the type of dirt including liquid dirt, the mopping assembly cleans the target surface.

[0024] In some embodiments of this disclosure, the control method further includes:

[0025] Repeat the following cleaning action until it is determined that the cleaning robot can complete the cleaning of the target surface this time. In response to the cleaning robot moving along the first direction to reach the end of the cleaning path of the target surface, it is determined that the mopping component has completed the cleaning of the target surface.

[0026] The cleaning actions include:

[0027] Based on the first dirt information and the cleaning dimensions of the mopping component, it is determined whether the cleaning robot can complete the cleaning of the target surface in one movement along the first direction;

[0028] If it is determined that the cleaning robot cannot complete the cleaning of the target surface in this instance, in response to the cleaning robot moving along the first direction to the end of the cleaning path on the target surface, the cleaning robot is controlled to retreat along a second direction opposite to the first direction to the starting point of the cleaning path.

[0029] In some embodiments of this disclosure, the control method further includes:

[0030] In response to determining that the mopping assembly has completed cleaning of the target surface, the vacuuming assembly is reset;

[0031] The cleaning robot is controlled to continue moving along the first direction, or the cleaning robot is controlled to retreat along a second direction opposite to the first direction back to the starting point of the cleaning path, so as to control the vacuuming and sweeping components to clean the target surface.

[0032] According to a second aspect of the present disclosure, a cleaning robot is provided, the cleaning robot comprising:

[0033] First Cleaning Department;

[0034] The detection unit is used to detect dirt on the target surface;

[0035] The controller is configured to: acquire first dirt information of the target surface before cleaning and second dirt information of the target surface after cleaning, as detected by the detection unit; the first dirt information is used to characterize the degree of dirt on the target surface before cleaning by the first cleaning unit, and the second dirt information is used to characterize the degree of dirt on the target surface after cleaning by the first cleaning unit.

[0036] If the first dirt information and the second dirt information indicate that the target surface is not clean, the first cleaning unit is controlled to clean the target surface again.

[0037] In some embodiments of this disclosure, the detection unit includes a first detection device and a second detection device, and the first cleaning unit includes a suction and sweeping assembly, which is disposed between the first detection device and the second detection device in the direction of movement of the cleaning robot.

[0038] In some embodiments of this disclosure, the detection unit is also used to detect the type of dirt on the target surface, and the cleaning robot also includes a lifting mechanism connected to the vacuuming and sweeping assembly;

[0039] The controller is also used for:

[0040] In response to the dirt type including liquid dirt, the lifting mechanism is controlled to raise the suction and sweeping assembly.

[0041] In some embodiments of this disclosure, the cleaning robot further includes a second cleaning unit, which includes a mopping assembly disposed on the side of the second detection device away from the vacuuming assembly, or the mopping assembly is disposed between the first detection device and the second detection device.

[0042] In some embodiments of this disclosure, at least one of the first detection device and the second detection device includes a spectrometer.

[0043] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: using the first dirt information and the second dirt information as the basis for judging whether the target surface is clean, real-time identification of whether the target surface is clean is realized, and the accuracy of the identification results is guaranteed. The cleaning effect of the target surface is guaranteed by cleaning the target surface again, thereby improving the user experience.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0046] Figure 1 This is a flowchart illustrating a control method for a cleaning robot according to an exemplary embodiment.

[0047] Figure 2 This is a schematic diagram of a cleaning robot according to an exemplary embodiment.

[0048] Figure 3 This is a flowchart illustrating a control method for a cleaning robot according to another exemplary embodiment.

[0049] Figure 4 This is a flowchart illustrating a control method for a cleaning robot according to another exemplary embodiment.

[0050] Figure 5 This is a flowchart illustrating a cleaning action according to an exemplary embodiment.

[0051] Figure 6 This is a flowchart illustrating a control method for a cleaning robot according to another exemplary embodiment.

[0052] Figure 7 This is a flowchart illustrating a control method for a cleaning robot according to another exemplary embodiment.

[0053] Figure 8 This is a block diagram of an electronic device according to an exemplary embodiment.

[0054] In the picture:

[0055] 10-Detection unit; 11-First detection device; 12-Second detection device; 20-First cleaning unit; 30-Second cleaning unit; 40-Drive assembly; 101-Processing assembly; 102-Memory; 103-Power assembly; 104-Multimedia assembly; 105-Audio assembly; 106-Input / output interface; 107-Sensor assembly; 108-Communication assembly; 109-Processor. Detailed Implementation

[0056] 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 numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0057] In recent years, with the rapid development of smart home technology and the continuous iteration of products, cleaning equipment with automatic cleaning functions, such as robot vacuums, has been widely used. When cleaning, these devices can travel along specific paths, directions, or automatically navigate, and clean the dirt on the surface to be cleaned using cleaning components installed on the device.

[0058] In related technologies, after cleaning equipment such as sweepers return to the base station, the base station uses infrared detection technology to identify dirt in the sewage recycling pipe, and then determines whether the work area needs to be cleaned again based on the identified dirt.

[0059] However, the technology used to control the cleaning equipment has poor accuracy and high latency in detecting whether dirt remains. It cannot identify in real time whether the cleaned surface is clean, which can easily lead to dirt residue, making it difficult to guarantee the cleaning effect and resulting in a poor user experience.

[0060] Based on this, an exemplary embodiment of this disclosure provides a control method for a cleaning robot. By acquiring first and second dirt information detected by a detection unit on a target surface, and cleaning the target surface again when the first and second dirt information indicate that the target surface is not clean, automatic control is achieved to determine whether the cleaning robot should clean the target surface again. Using the first and second dirt information as the basis for judging whether the target surface is clean enables real-time identification of whether the target surface is clean and ensures the accuracy of the identification results. The re-cleaning of the target surface ensures the cleaning effect and improves the user experience.

[0061] In one exemplary embodiment, a control method for a cleaning robot is provided, applicable to cleaning robots such as robot vacuums. (Reference) Figure 1 As shown, the control methods include:

[0062] S100: Obtain first dirt information from the detection unit on the target surface. The first dirt information is used to characterize the degree of dirt on the target surface before it is cleaned by the first cleaning unit.

[0063] In step S100, refer to Figure 2 As shown, the cleaning robot includes a detection unit 10, which has the function of detecting dirt on surfaces such as the ground. The detection unit 10 can detect and identify dirt, for example, through spectral technology. The cleaning robot also includes a first cleaning unit 20, which is used to clean dirt on the surface. The target surface is the surface to be cleaned that the cleaning robot will pass over at its current position. The detection unit 10 detects the degree of dirt on the target surface before it passes through the first cleaning unit 20 to obtain first dirt information, and reports the first dirt information to the cleaning robot so that the cleaning robot can obtain the first dirt information.

[0064] S200: After the first cleaning unit cleans the target surface, the second dirt information detected by the detection unit on the target surface is obtained. The second dirt information is used to characterize the degree of dirt on the target surface after it has been cleaned by the first cleaning unit.

[0065] In step S200, after the cleaning robot passes over the target surface, the first cleaning unit 20 included in the cleaning robot cleans the target surface once. The detection unit 10 monitors the degree of dirt on the target surface after it has been cleaned by the first cleaning unit 20 to obtain second dirt information, and reports the second dirt information to the cleaning robot so that the cleaning robot can obtain the second dirt information.

[0066] S300: If the first dirt information and the second dirt information indicate that the target surface is not clean, control the first cleaning unit to clean the target surface again.

[0067] In step S300, since the first dirt information and the second dirt information can respectively characterize the degree of dirt on the target surface before and after cleaning by the first cleaning unit 20, combining the first dirt information and the second dirt information can characterize whether the target surface is clean. For example, the cleanliness of the target surface can be determined based on whether the change in the degree of dirt on the target surface before and after cleaning by the first cleaning unit 20 meets a preset standard. If the first dirt information and the second dirt information indicate that the target surface is not clean, it means that there is still dirt residue on the target surface after cleaning by the first cleaning unit 20, and the residual dirt needs to be cleaned again. In this case, the first cleaning unit 20 is controlled to clean the target surface again.

[0068] It should be noted that after the first cleaning unit 20 cleans the target surface again, the first dirt information and the second dirt information detected by the detection unit 10 will change. It is necessary to obtain the changed first dirt information and second dirt information again and determine whether the target surface is clean. If the target surface is still not clean, the first cleaning unit 20 is controlled to clean the target surface again, so as to achieve repeated cleaning of the target surface until the target surface is clean.

[0069] In this embodiment, by acquiring the first and second dirt information detected by the detection unit 10 on the target surface, and cleaning the target surface again when the first and second dirt information indicate that the target surface is not clean, automatic control is achieved to determine whether the cleaning robot should clean the target surface again. Using the first and second dirt information as the basis for judging whether the target surface is clean enables real-time identification of whether the target surface is clean and ensures the accuracy of the identification results. The re-cleaning of the target surface ensures the cleaning effect and improves the user experience.

[0070] In some embodiments, reference Figure 3 As shown, the control method also includes:

[0071] S410. Based on the first dirt information and the second dirt information, determine the overlap information. The overlap information is used to characterize the degree of overlap of dirt on the target surface before and after cleaning by the first cleaning unit.

[0072] In step S410, after acquiring the first dirt information and the second dirt information, overlap information can be determined based on the first dirt information and the second dirt information. The overlap information can characterize the degree of overlap, or similarity, of the amount of dirt on the target surface before and after cleaning by the first cleaning unit 20. The higher the overlap, the lower the degree of change in the amount of dirt, and most of the dirt before cleaning remains after cleaning. The lower the overlap, the higher the degree of change in the amount of dirt, and most of the dirt before cleaning is removed after cleaning.

[0073] S420. If the overlap is greater than or equal to the overlap threshold, the target surface is determined to be unclean.

[0074] In step S420, an overlap threshold can be set for the overlap. If the overlap is greater than or equal to the overlap threshold, it means that the change in the amount of dirt is too low, and most of the dirt before cleaning is still left after cleaning. It can be determined that the target surface is not clean, so that the first dirt information and the second dirt information can be used as the basis for judging whether the target surface is clean, and provide a basis for whether to clean the target surface again.

[0075] For example, the first and second dirt information detected by spectral technology are both spectral signals. The overlap of the two spectral signals can be calculated by feature extraction, and the calculated overlap is compared with an overlap threshold. When the overlap is greater than or equal to the overlap threshold, it is determined that the target surface is not clean. When the overlap is less than the overlap threshold, it is determined that the target surface is clean. The overlap threshold can be, for example, 10% to 20%.

[0076] In this embodiment, overlap information is determined based on the first and second dirt information. If the overlap is greater than or equal to the overlap threshold, the target surface is determined to be uncleaned. This achieves the judgment of whether the target surface is clean and provides a basis for deciding whether to clean the target surface again. Using the comparison result between the overlap and the overlap threshold as the basis for judging whether the target surface is clean, and judging whether most of the dirt has been removed or remains by the degree of change in the amount of dirt, ensures the accuracy of determining whether the target surface is not clean, thereby ensuring the cleaning effect of the target surface and improving the user experience.

[0077] In some embodiments, reference Figure 2 As shown, the detection unit 10 includes a first detection device 11 and a second detection device 12.

[0078] The acquisition of first dirt information obtained by the detection unit 10 from the detection of the target surface includes: acquiring the detection result of the first detection device 11 on the target surface as the first dirt information, wherein the target surface is located in front of the first cleaning unit 20 in the direction of movement of the cleaning robot.

[0079] In the direction of movement of the cleaning robot, the target surface is located in front of the first cleaning part 20, so that the first cleaning part 20 does not contact the target surface before the cleaning robot moves in the direction of movement. After the cleaning robot moves in the direction of movement, the first cleaning part 20 can pass over the target surface to clean it. The degree of dirt on the target surface can be detected by the first detection device 11 to obtain a detection result characterizing the degree of dirt on the target surface before it is cleaned by the first cleaning part 20, and this detection result is used as the first dirt information, thus realizing the acquisition of the first dirt information.

[0080] After the first cleaning unit 20 cleans the target surface, second dirt information detected by the detection device on the target surface is acquired, including: after the cleaning robot moves along a first direction to clean the target surface by the first cleaning unit 20, the detection result of the second detection device 12 is acquired as the second dirt information. (Reference) Figure 2 As shown, the second detection device 12 is located behind the first detection device 11 in the first direction, and the first cleaning part 20 is located between the first detection device 11 and the second detection device 12.

[0081] The cleaning robot moves along the first direction past the target surface, enabling the first cleaning unit 20 to clean the target surface. After the first cleaning unit 20 cleans the target surface, it acquires the detection result of the second detection device 12 as the second dirt information, thus realizing the acquisition of the second dirt information.

[0082] Understandably, the second detection device 12 is located behind the first detection device 11 in the first direction, so that when the cleaning robot moves in the first direction, the first detection device 11 and the second detection device 12 can pass over the target surface sequentially. The first cleaning unit 20 is located between the first detection device 11 and the second detection device 12, so that the detection results of the first detection device 11 and the second detection device 12 are respectively the degree of dirt on the target surface before and after the first cleaning unit 20 cleans it.

[0083] Controlling the first cleaning unit 20 to clean the target surface again includes: controlling the cleaning robot to move in a second direction opposite to the first direction so that the first cleaning unit 20 cleans the target surface again.

[0084] If the target surface is not clean, the cleaning robot is controlled to move in a second direction opposite to the first direction, so that the cleaning robot passes over the target surface again and cleans the target surface again through the first cleaning unit 20, thus achieving the re-cleaning of the target surface.

[0085] In this embodiment, the detection result of the first detection device 11 on the target surface is used as the first dirt information. After the cleaning robot moves along the first direction to clean the target surface with the first cleaning unit 20, the detection result of the second detection device 12 is used as the second dirt information. This achieves real-time acquisition of the first and second dirt information during a single cleaning process. The second detection device 12 is located behind the first detection device 11 in the first direction, and the first cleaning unit 20 is located between the first detection device 11 and the second detection device 12. This ensures that the detection results of the first and second detection devices 11 and 12 represent the degree of dirt before and after the first cleaning unit 20 cleans the target surface, respectively. This guarantees the accuracy of the first and second dirt information, provides a basis for real-time identification of whether the target surface is clean, and ensures the accuracy of the identification results. Controlling the cleaning robot to move along a second direction opposite to the first direction allows the first cleaning unit 20 to clean the target surface again. This enables the target surface to be cleaned again even if it is not completely clean, ensuring the cleaning effect of the target surface and improving the user experience.

[0086] In some embodiments, the control method further includes: controlling the cleaning robot to continue moving along a first direction when the first dirt information and the second dirt information indicate that the target surface is clean.

[0087] If the first dirt information and the second dirt information indicate that the target surface is clean, it means that most or all of the dirt on the target surface has been removed after being cleaned by the first cleaning unit 20, and there is no need to clean the target surface again. Then, the cleaning robot is controlled to continue moving along the first direction to clean other surfaces and areas.

[0088] Understandably, after the cleaning robot continues to move in the first direction, the surface in front of the cleaning robot becomes the new target surface. It is necessary to obtain the first dirt information and the second dirt information corresponding to the new target surface again, and determine whether the new target surface needs to be cleaned again after one cleaning process.

[0089] In this embodiment, when the first and second dirt information indicate that the target surface is clean, the cleaning robot is controlled to continue moving along the first direction, realizing continuous operation of the cleaning robot. It can continue to clean other surfaces other than the target surface that has been cleaned, and the continuous acquisition of the first and second dirt information ensures the cleaning effect of other surfaces, thereby improving the user experience.

[0090] In some embodiments, reference Figure 2 As shown, the first cleaning unit 20 includes a vacuuming assembly, which may include, for example, a roller brush. The vacuuming assembly is used to remove solid dirt from the target surface.

[0091] refer to Figure 4 As shown, before the first cleaning unit 20 cleans the target surface, the control method further includes:

[0092] S510. Obtain the type of dirt detected by the detection unit on the target surface. The type of dirt includes solid dirt and liquid dirt.

[0093] In step S510, the detection unit 10 can detect not only the degree of dirt on the target surface but also the type of dirt, including solid dirt and liquid dirt. Before cleaning the target surface by the first cleaning unit 20, the cleaning robot obtains the type of dirt detected by the detection unit 10 to determine whether the dirt on the target surface is solid dirt, liquid dirt, or a combination of solid and liquid dirt. For example, the detection unit 10 can determine the type of dirt by using spectral technology, utilizing the different absorption levels of infrared light by solids and liquids.

[0094] S520, in response to the type of dirt being solid dirt, uses a vacuum sweeping assembly to clean the target surface.

[0095] In step S520, if the type of dirt detected by the detection unit 10 is solid dirt, the target surface is cleaned using a suction and sweeping assembly to remove the solid dirt from the target surface. For example, the target surface can be cleaned using a roller brush, and the removed solid dirt can be sucked into a dust box above the roller brush.

[0096] S530, in response to dirt types including liquid dirt, raises the suction and sweeping assembly.

[0097] In step S530, if the type of dirt detected by the detection unit 10 is liquid dirt, the suction and sweeping assembly is raised to prevent the suction and sweeping assembly from being contaminated by the liquid dirt and to prevent the liquid dirt from being sucked into the dust box and causing odor.

[0098] In this embodiment, by acquiring the type of dirt detected by the detection unit 10 on the target surface, when the type of dirt is solid dirt, the suction and sweeping assembly is used to clean the target surface, thus achieving the removal of solid dirt. When the type of dirt includes liquid dirt, the suction and sweeping assembly is raised to avoid problems such as contamination of the suction and sweeping assembly and odor from the dust box, thereby improving the user experience.

[0099] In some embodiments, reference Figure 2 As shown, the cleaning robot also includes a second cleaning unit 30, which includes a mopping assembly. The control method further includes: in response to the type of dirt including liquid dirt, cleaning the target surface with the mopping assembly.

[0100] The cleaning robot also includes a second cleaning unit 30, which may be located, for example, on the side of the second detection device 12 away from the suction and sweeping assembly, or between the first detection device 11 and the second detection device 12. The second cleaning unit 30 includes a mopping assembly, which may be, for example, a mop, used to remove liquid dirt from the target surface.

[0101] If the type of dirt detected by the detection unit 10 is liquid dirt, after raising the vacuum and sweeping assembly, the mopping assembly is used to clean the target surface to remove the liquid dirt from the target surface.

[0102] In this embodiment, when the type of dirt includes liquid dirt, the mopping component is used to clean the target surface, thereby removing liquid dirt from the target surface. This enables the cleaning robot to simultaneously clean both solid and liquid dirt, ensuring the cleaning effect on the target surface and improving the user experience.

[0103] In some embodiments, the control method further includes: repeatedly performing the following cleaning action until it is determined that the cleaning robot is able to complete the cleaning of the target surface this time, and in response to the cleaning robot moving along the first direction to reach the end of the cleaning path of the target surface, determining that the mopping component has completed the cleaning of the target surface.

[0104] The system repeatedly executes preset cleaning actions, determining each time whether the cleaning robot can successfully clean the target surface. If it is determined that the robot can, the cleaning action stops, and the robot moves along a first direction. When the robot reaches the end of its cleaning path along the first direction, it is determined that the mopping component has completed cleaning the target surface, and all or most of the liquid dirt on the surface has been removed, ensuring the mopping component's effectiveness in removing liquid dirt.

[0105] refer to Figure 5 As shown, the cleaning actions include:

[0106] S610. Based on the first dirt information and the cleaning dimensions of the mopping component, determine whether the cleaning robot can complete the cleaning of the target surface in one movement along the first direction.

[0107] In step S610, based on the first dirt information detected by the detection unit 10 and the cleaning dimension of the mopping assembly, it is determined whether the cleaning robot can complete the cleaning of the target surface after one movement in the first direction, that is, whether the mopping assembly can remove all or most of the liquid dirt on the target surface. For example, the ratio of the area of ​​liquid dirt represented by the first dirt information to the cleaning dimension can be compared with a preset ratio. If it is greater than the preset ratio, it means that the amount of liquid dirt is large, and the cleaning robot cannot complete the cleaning of the target surface in one movement in the first direction under this cleaning dimension. If it is less than the preset ratio, it means that the amount of liquid dirt is small, and the cleaning robot can complete the cleaning of the target surface in one movement in the first direction under this cleaning dimension.

[0108] S620. If it is determined that the cleaning robot cannot complete the cleaning of the target surface in this instance, in response to the cleaning robot moving along the first direction to the end of the cleaning path on the target surface, the cleaning robot is controlled to retreat along the second direction opposite to the first direction to the starting point of the cleaning path.

[0109] In step S620, if it is determined that the cleaning robot cannot complete the cleaning of the target surface this time, and when the cleaning robot moves along the first direction to the end of the cleaning path on the target surface, it fails to remove all or most of the liquid dirt, then the cleaning robot is controlled to retreat along the second direction opposite to the first direction to the starting point of the cleaning path, so as to remove the remaining liquid dirt on the target surface again by the mopping component, thus ensuring the cleaning effect of the mopping component on liquid dirt.

[0110] In this embodiment, by repeating the cleaning action until it is determined that the cleaning robot can complete the cleaning of the target surface, when the cleaning robot moves along the first direction to the end of the cleaning path of the target surface, it is determined that the mopping component has completed the cleaning of the target surface. It can identify the liquid dirt remaining on the target surface after each cleaning action and remove the liquid dirt on the target surface again through the mopping component, ensuring the cleaning effect of the target surface and improving the user experience.

[0111] In some embodiments, reference Figure 6 As shown, the control method also includes:

[0112] S710, in response to determining that the mopping assembly has completed cleaning of the target surface, reset the vacuuming assembly.

[0113] In step S710, when it is determined that the mopping assembly has completed cleaning the target surface, it means that the liquid dirt on the target surface has been removed. At this time, the previously raised vacuuming assembly is reset so that the vacuuming assembly can re-contact the surface to restore the vacuuming assembly's ability to remove solid dirt.

[0114] S720: Control the cleaning robot to continue moving along the first direction, or control the cleaning robot to retreat to the starting point of the cleaning path along the second direction opposite to the first direction, so as to control the suction and sweeping components to clean the target surface.

[0115] In step S720, the cleaning robot is controlled to continue moving along the first direction to clean other surfaces and areas. Alternatively, the cleaning robot is controlled to retreat along a second direction opposite to the first direction to the starting point of the cleaning path, so as to control the suction and sweeping components to clean the target surface and remove solid dirt from the target surface.

[0116] In this embodiment, when it is determined that the mopping component has completed cleaning the target surface, the vacuuming and sweeping component is reset to restore its ability to remove solid dirt. The cleaning robot is then controlled to continue moving along the first direction to clean other surfaces and areas, or the cleaning robot is controlled to retreat along the second direction opposite to the first direction to the starting point of the cleaning path. This controls the vacuuming and sweeping component to clean the target surface, thereby removing solid dirt from the target surface, ensuring the cleaning effect of the target surface, and improving the user experience.

[0117] In one exemplary embodiment, a control method for a cleaning robot is provided, applied to the cleaning robot, with reference to... Figure 7 As shown, the control methods for the cleaning robot include:

[0118] S1. Obtain the detection result of the first detection device on the target surface as the first dirt information;

[0119] S2. Obtain the type of dirt detected by the first detection device on the target surface;

[0120] S3. In response to the type of dirt being solid dirt, the suction and sweeping assembly cleans the target surface.

[0121] S4. In response to the type of dirt, including liquid dirt, the vacuum and sweeping components are raised so that the mopping components can clean the target surface.

[0122] S5. Once the mopping assembly has finished cleaning the target surface, reset the vacuum and sweeping assembly.

[0123] S6. Control the cleaning robot to retreat to the starting point of the cleaning path in a second direction opposite to the first direction, so as to control the suction and sweeping components to clean the target surface;

[0124] S7. After the cleaning robot moves along the first direction to clean the target surface with the suction and sweeping components, the detection result of the second detection device is obtained as the second dirt information.

[0125] S8. Based on the first dirt information and the second dirt information, determine the overlap information. The overlap information is used to characterize the degree of overlap of dirt on the target surface before and after cleaning by the suction and sweeping assembly.

[0126] S9. If the overlap is greater than or equal to the overlap threshold, it is determined that the target surface is not clean. The cleaning robot is controlled to move in a second direction opposite to the first direction so that the suction and sweeping components clean the target surface again.

[0127] S10. If the overlap is less than the overlap threshold, the target surface is determined to be clean, and the cleaning robot is controlled to continue moving along the first direction.

[0128] In this embodiment, the first detection device 11 and the second detection device 12 detect the first dirt information and the second dirt information of the target surface. When the first and second dirt information indicate that the target surface is not clean, the target surface is cleaned again. This achieves automatic control of whether the cleaning robot should clean the target surface again. Using the first and second dirt information as the basis for judging whether the target surface is clean, real-time identification of whether the target surface is clean is achieved, ensuring the accuracy of the identification results. The re-cleaning of the target surface ensures the cleaning effect and improves the user experience.

[0129] In one exemplary embodiment, a cleaning robot is provided, with reference to Figure 2 As shown, the cleaning robot includes a first cleaning unit 20, a detection unit 10, and a controller. The detection unit 10 is used to detect dirt on the target surface. The controller is used to: acquire first dirt information of the target surface before cleaning and second dirt information of the target surface after cleaning, as detected by the detection unit 10. The first dirt information is used to characterize the degree of dirt on the target surface before cleaning by the first cleaning unit 20, and the second dirt information is used to characterize the degree of dirt on the target surface after cleaning by the first cleaning unit 20; if the first dirt information and the second dirt information indicate that the target surface is not clean, the controller controls the first cleaning unit 20 to clean the target surface again.

[0130] The cleaning robot can be, for example, a floor vacuum cleaner. The first cleaning unit 20 can clean the target surface to remove dirt. The detection unit 10 is used to detect dirt on the target surface and can detect the degree of dirt on the target surface. The controller can acquire the first dirt information of the target surface before cleaning and the second dirt information after cleaning detected by the detection unit 10. If the first dirt information and the second dirt information indicate that the target surface is not clean, the controller controls the drive assembly 40 and the first cleaning unit 20 to control the first cleaning unit 20 to clean the target surface again.

[0131] In this embodiment, the detection unit 10 detects first and second dirt information, the cleaning unit cleans the target surface, and the controller cleans the target surface again if the first and second dirt information indicate that the target surface is not clean. This allows the cleaning robot to automatically control whether to clean the target surface again. The cleaning robot itself can achieve real-time identification of whether the target surface is clean, ensuring the accuracy of the identification results, guaranteeing the cleaning effect of the target surface, and improving the user experience.

[0132] In some embodiments, reference Figure 2 As shown, the detection unit 10 includes a first detection device 11 and a second detection device 12, and the first cleaning unit 20 includes a suction and sweeping assembly. In the direction of movement of the cleaning robot, the suction and sweeping assembly is disposed between the first detection device 11 and the second detection device 12.

[0133] The first cleaning unit 20 includes a suction and sweeping assembly, which may include, for example, a roller brush. The suction and sweeping assembly is used to remove solid dirt from the target surface. The detection unit 10 includes a first detection device 11 and a second detection device 12. Both the first detection device 11 and the second detection device 12 can detect the degree of dirt on the target surface. In the direction of movement of the cleaning robot, the suction and sweeping assembly is disposed between the first detection device 11 and the second detection device 12, such that the detection results of the first detection device 11 and the second detection device 12 are respectively the degree of dirt before and after the first cleaning unit 20 cleans the target surface. Therefore, the detection results of the first detection device 11 and the second detection device 12 can be used as the first dirt information and the second dirt information, respectively.

[0134] In this embodiment, the first cleaning unit 20 includes a suction and sweeping assembly, which can clean solid dirt on the target surface. In the direction of movement of the cleaning robot, the suction and sweeping assembly is positioned between the first detection device 11 and the second detection device 12, so that the detection results of the first detection device 11 and the second detection device 12 are respectively the degree of dirt before and after the first cleaning unit 20 cleans the target surface. This ensures the accuracy of the first dirt information and the second dirt information, so that the cleaning robot itself can realize real-time identification of whether the target surface is clean during the cleaning process, and ensures the accuracy of the identification results, providing a basis for whether cleaning is needed again.

[0135] It should be noted that the first cleaning unit 20 may also include a mopping component, such that the vacuuming and sweeping component and the mopping component are both disposed between the first detection device 11 and the second detection device 12. By using the first dirt information and the second dirt information, it is possible to simultaneously determine whether liquid dirt and solid dirt are clean, and if either of them is not clean, the first cleaning unit 20 is controlled to clean the target surface again.

[0136] In some embodiments, the detection unit 10 is further configured to detect the type of dirt on the target surface, and the cleaning robot further includes a lifting mechanism connected to the vacuuming assembly. The controller is also configured to: in response to the dirt type including liquid dirt, control the lifting mechanism to raise the vacuuming assembly.

[0137] The detection unit 10 can detect not only the degree of dirt on the target surface, but also the type of dirt, including solid and liquid dirt. The cleaning robot also includes a lifting mechanism connected to the vacuuming assembly, which provides the driving force and space for raising and lowering the assembly. When liquid dirt is detected, the controller controls the lifting mechanism to raise the vacuuming assembly to prevent it from coming into contact with the liquid dirt and contaminating it, and to prevent the liquid dirt from being sucked into the dust box and causing odor.

[0138] In this embodiment, by setting up a lifting mechanism, when the type of dirt detected includes liquid dirt, the controller can control the lifting mechanism to raise the vacuuming and sweeping component to avoid problems such as contamination of the vacuuming and sweeping component and odor from the dust box, thereby improving the user experience.

[0139] In some embodiments, the cleaning robot further includes a second cleaning unit 30, which includes a mopping assembly disposed on the side of the second detection device 12 away from the vacuuming assembly, or the mopping assembly is disposed between the first detection device 11 and the second detection device 12.

[0140] The cleaning robot also includes a second cleaning unit 30, which includes a mopping assembly, such as a mop, for removing liquid dirt from the target surface. Figure 2 As shown, the mopping component can be positioned on the side of the second detection device 12 away from the vacuuming component, that is, along the direction of movement of the cleaning robot, the mopping component is located behind the vacuuming component. This allows the vacuuming component to clean and suck up solid dirt first when the cleaning robot passes over the target surface, preventing the mopping component from contacting solid dirt first and causing solid dirt to contaminate the target surface or other surfaces. Alternatively, the mopping component can be positioned together with the vacuuming component between the first detection device 11 and the second detection device 12. By using the first and second dirt information, it is possible to simultaneously determine whether liquid and solid dirt have been cleaned.

[0141] In this embodiment, by providing a mopping assembly as the second cleaning unit 30, liquid dirt on the target surface can be cleaned using the mopping assembly. Positioning the mopping assembly on the side of the second detection device 12 away from the suction and sweeping assembly prevents the mopping assembly from contacting solid dirt first and causing solid dirt to contaminate the target surface or other surfaces. Positioning the mopping assembly between the first detection device 11 and the second detection device 12 allows for simultaneous determination of whether both liquid and solid dirt have been cleaned using first and second dirt information.

[0142] In some embodiments, at least one of the first detection device 11 and the second detection device 12 includes a spectrometer.

[0143] At least one of the first detection device 11 and the second detection device 12 can be configured as a spectrometer, which enables the detection of contaminants on the target surface through spectroscopic technology. The spectrometer can utilize the principle that different materials have different absorption levels of infrared light to locate the location and morphology of contaminants through microscopic magnification and analyze the chemical composition of the contaminants.

[0144] In this embodiment, at least one of the first detection device 11 and the second detection device 12 is set as a spectrometer. The spectrometer can utilize its high precision, high sensitivity, real-time monitoring capabilities, as well as its high efficiency and high speed to detect the degree and type of dirt on the target surface, thus ensuring the real-time, accuracy and reliability of the dirt information.

[0145] In one exemplary embodiment, an electronic device is provided, which may include, for example, a cleaning robot such as a vacuum cleaner.

[0146] refer to Figure 8 As shown, the electronic device may include one or more of the following components: processing component 101, memory 102, power component 103, multimedia component 104, audio component 105, input / output (I / O) interface 106, sensor component 107, and communication component 108.

[0147] Processing component 101 typically controls the overall operation of an electronic device, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 101 may include one or more processors 109 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 101 may include one or more modules to facilitate interaction between processing component 101 and other components. For example, processing component 101 may include a multimedia module to facilitate interaction between multimedia component 104 and processing component 101.

[0148] Memory 102 is configured to store various types of data to support the operation of the electronic device. Examples of such data include instructions for any application or method used to operate on the electronic device, contact data, phonebook data, messages, pictures, videos, etc. Memory 102 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0149] Power component 103 provides power to various components of the electronic device. Power component 103 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device.

[0150] Multimedia component 104 includes a screen that provides an output interface between the electronic device and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 104 includes a front-facing camera and / or a rear-facing camera. When the electronic device is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0151] Audio component 105 is configured to output and / or input audio signals. For example, audio component 105 includes a microphone (MIC) configured to receive external audio signals when the electronic device is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 102 or transmitted via communication component 108. In some embodiments, audio component 105 also includes a speaker for outputting audio signals.

[0152] I / O interface 106 provides an interface between processing component 101 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0153] Sensor assembly 107 includes one or more sensors for providing state assessments of various aspects of the electronic device. For example, sensor assembly 107 can detect the on / off state of the electronic device, the relative positioning of components such as the display and keypad of the electronic device, changes in the position of the electronic device or a component of the electronic device, the presence or absence of user contact with the electronic device, the orientation or acceleration / deceleration of the electronic device, and temperature changes of the electronic device. Sensor assembly 107 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 107 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 107 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0154] Communication component 108 is configured to facilitate wired or wireless communication between electronic devices and other devices. Devices can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 108 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 108 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0155] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the control method described above applied to the cleaning robot.

[0156] In one exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 102 including instructions, which can be executed by a processor 109 of an electronic device to perform the control method applied to the cleaning robot described above. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc. When the instructions in the storage medium are executed by the processor 109 of the electronic device, the electronic device is able to perform the control method for the cleaning robot shown in the above embodiment.

[0157] In one exemplary embodiment, a computer program product is also provided, including a computer program that, when executed by processor 109, implements the control method for the cleaning robot shown in the above embodiments.

[0158] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0159] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a cleaning robot, applied to a cleaning robot, characterized in that, The control method includes: The detection unit obtains first dirt information from the detection of the target surface, and the first dirt information is used to characterize the degree of dirt on the target surface before it is cleaned by the first cleaning unit. After the first cleaning unit cleans the target surface, the second dirt information detected by the detection unit on the target surface is obtained. The second dirt information is used to characterize the degree of dirt on the target surface after it has been cleaned by the first cleaning unit. If the first dirt information and the second dirt information indicate that the target surface is not clean, the first cleaning unit is controlled to clean the target surface again.

2. The control method for the cleaning robot according to claim 1, characterized in that, The control method further includes: Based on the first dirt information and the second dirt information, overlap information is determined. The overlap information is used to characterize the degree of overlap of dirt amount on the target surface before and after cleaning by the first cleaning unit. If the overlap is greater than or equal to the overlap threshold, then the target surface is determined to be unclean.

3. The control method for the cleaning robot according to claim 1, characterized in that, The detection unit includes a first detection device and a second detection device; The acquisition of the first dirt information obtained by the detection unit on the target surface includes: acquiring the detection result of the first detection device on the target surface as the first dirt information, wherein the target surface is located in front of the first cleaning unit in the direction of movement of the cleaning robot; The step of obtaining second dirt information detected by the detection device on the target surface after the first cleaning unit cleans the target surface includes: after the cleaning robot moves along the first direction so that the first cleaning unit cleans the target surface, obtaining the detection result of the second detection device as the second dirt information, wherein the second detection device is located behind the first detection device in the first direction, and the first cleaning unit is located between the first detection device and the second detection device. The method of controlling the first cleaning unit to clean the target surface again includes: controlling the cleaning robot to move in a second direction opposite to the first direction so that the first cleaning unit cleans the target surface again.

4. The control method for the cleaning robot according to claim 3, characterized in that, The control method further includes: When the first dirt information and the second dirt information indicate that the target surface is clean, the cleaning robot is controlled to continue moving along the first direction.

5. The control method for the cleaning robot according to any one of claims 1 to 4, characterized in that, The first cleaning unit includes a suction and sweeping assembly. Before the first cleaning unit cleans the target surface, the control method further includes: The detection unit obtains the type of dirt detected on the target surface, including solid dirt and liquid dirt. In response to the dirt being solid dirt, the suction and sweeping assembly cleans the target surface; In response to the type of dirt including liquid dirt, the suction and sweeping assembly is raised.

6. The control method for the cleaning robot according to claim 5, characterized in that, The cleaning robot further includes a second cleaning unit, which includes a mopping component, and the control method further includes: In response to the type of dirt including liquid dirt, the mopping assembly cleans the target surface.

7. The control method for the cleaning robot according to claim 6, characterized in that, The control method further includes: Repeat the following cleaning action until it is determined that the cleaning robot can complete the cleaning of the target surface this time. In response to the cleaning robot moving along the first direction to reach the end of the cleaning path of the target surface, it is determined that the mopping component has completed the cleaning of the target surface. The cleaning actions include: Based on the first dirt information and the cleaning dimensions of the mopping component, it is determined whether the cleaning robot can complete the cleaning of the target surface in one movement along the first direction; If it is determined that the cleaning robot cannot complete the cleaning of the target surface in this instance, in response to the cleaning robot moving along the first direction to the end of the cleaning path on the target surface, the cleaning robot is controlled to retreat along a second direction opposite to the first direction to the starting point of the cleaning path.

8. The control method for the cleaning robot according to claim 6, characterized in that, The control method further includes: In response to determining that the mopping assembly has completed cleaning of the target surface, the vacuuming assembly is reset; The cleaning robot is controlled to continue moving along the first direction, or the cleaning robot is controlled to retreat along a second direction opposite to the first direction back to the starting point of the cleaning path, so as to control the vacuuming and sweeping components to clean the target surface.

9. A cleaning robot, characterized in that, The cleaning robot includes: First Cleaning Department; The detection unit is used to detect dirt on the target surface; The controller is configured to: acquire first dirt information of the target surface before cleaning and second dirt information of the target surface after cleaning, as detected by the detection unit; the first dirt information is used to characterize the degree of dirt on the target surface before cleaning by the first cleaning unit, and the second dirt information is used to characterize the degree of dirt on the target surface after cleaning by the first cleaning unit. If the first dirt information and the second dirt information indicate that the target surface is not clean, the first cleaning unit is controlled to clean the target surface again.

10. The cleaning robot according to claim 9, characterized in that, The detection unit includes a first detection device and a second detection device. The first cleaning unit includes a suction and sweeping assembly, which is disposed between the first detection device and the second detection device in the direction of movement of the cleaning robot.

11. The cleaning robot according to claim 10, characterized in that, The detection unit is also used to detect the type of dirt on the target surface, and the cleaning robot also includes a lifting mechanism connected to the suction and sweeping assembly; The controller is also used for: In response to the dirt type including liquid dirt, the lifting mechanism is controlled to raise the suction and sweeping assembly.

12. The cleaning robot according to claim 10, characterized in that, The cleaning robot also includes a second cleaning unit, which includes a mopping component. The mopping component is disposed on the side of the second detection device away from the vacuuming component, or the mopping component is disposed between the first detection device and the second detection device.

13. The cleaning robot according to claim 10, characterized in that, At least one of the first detection device and the second detection device includes a spectrometer.

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