Control method and apparatus for cleaning robot, and cleaning system

Abstract

The invention provides a control method and device of a cleaning robot and a cleaning system, relates to the field of intelligent robots and is applied to the cleaning system comprising the cleaning robot and a cleaning base station, and the cleaning base station comprises a bearing unit, a conveying mechanism, a first cleaning assembly and a second cleaning assembly. Comprising the steps that a preset cleaning sequence is generated in response to the requirement of a user for a cleaning assembly of a cleaning area and the adjustment operation of the cleaning sequence, and after it is determined that the robot completes cleaning of all sub-areas in a first area based on a first cleaning assembly, the robot is controlled to return to a base station to replace a second cleaning assembly needed for cleaning a second area; after returning to the base station and executing the dismounting action of the first cleaning assembly, controlling the robot to drive out of the base station; after the robot is located outside the base station, if it is determined that the second cleaning assembly exists in the bearing unit, the robot is controlled to drive into the base station so as to install the second cleaning assembly, in this way, a user can adjust the cleaning sequence, and the user experience and satisfaction degree are improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511999479.9 (22) Application Date 2025.03.21 (62) Divisional Application Data 202510344738.8 2025.03.21 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventor: Luo Shaohan (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Zhang Yi (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 40 (2006.01) (54) Title of Invention: Control Method, Apparatus and Cleaning System for Cleaning Robot (57) Abstract: This application provides a control method, apparatus and cleaning system for a cleaning robot, relating to the field of intelligent robots, and applied to a cleaning system including a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism and a first cleaning component and a second cleaning component. The system includes: generating a preset cleaning sequence in response to a user's adjustment of the cleaning component requirements and cleaning sequence for a cleaning area, so as to determine that after the robot has completed cleaning all sub-areas within the first area based on the first cleaning component, the robot is controlled to return to the base station to replace the second cleaning component required for cleaning the second area; after returning to the base station and completing the disassembly of the first cleaning component, the robot is controlled to drive out of the base station; after the robot is located outside the base station, if it is determined that there is a second cleaning component in the receiving unit, the robot is controlled to drive into the base station to install the second cleaning component. In this way, the user can adjust the cleaning sequence, thereby improving the user experience and satisfaction. Claims (3 pages), Description (27 pages), Drawings (4 pages), CN 121549692 A, 2026.02.24, CN 1 21 54 96 92 A. 1. A control method for a cleaning robot, characterized in that it is applied to a cleaning system, the cleaning system including a cleaning robot and a cleaning base station, the cleaning base station including a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, the first cleaning component and the second cleaning component corresponding to different cleaning areas; the receiving unit is used to receive cleaning components disassembled from the cleaning robot, and to receive cleaning components to be installed on the cleaning robot; the method includes: responding to a user's adjustment operation on the cleaning component requirements and cleaning sequence of the cleaning area, generating a preset cleaning sequence; determining a first area that the cleaning robot needs to clean based on the currently installed first cleaning component based on the preset cleaning sequence; after completing the cleaning of all sub-areas within the first area, controlling the cleaning robot to return to the cleaning area.The base station replaces the second cleaning component required for performing cleaning of the second area; the first area includes at least one sub-area requiring cleaning using the first cleaning component; after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, the cleaning robot is controlled to leave the cleaning base station; after the cleaning robot is outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit is the second cleaning component, the cleaning robot is controlled to enter the cleaning base station to install the second cleaning component in the receiving unit. 2. The method according to claim 1, wherein the operation of adjusting the cleaning component requirements and cleaning sequence of the cleaning area in response to the user's voice control command includes any one of the following: adjusting the cleaning component requirements and cleaning sequence of the cleaning area in response to the user's voice control command; adjusting the cleaning component requirements and cleaning sequence of the cleaning area in response to the user's configuration operation on the terminal device; the terminal device establishes a communication connection with the cleaning robot. 3. The method according to claim 1, wherein controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area after cleaning all sub-areas within the first area comprises: determining the second area to be cleaned by the cleaning robot based on the preset cleaning sequence after cleaning all sub-areas within the first area; controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area. 4. The method according to claim 3, wherein the cleaning base station further comprises a third cleaning component, the third cleaning component corresponding to a different cleaning area than the second cleaning component, and the third cleaning component corresponding to a third area; the method further comprises: determining a first duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area after determining the second area to be cleaned based on the preset cleaning sequence, and determining a second duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area being the cleaning area closest to the first area and / or the cleaning base station; determining the target cleaning component to be replaced by the cleaning robot based on the first duration and the second duration, so as to clean the target area based on the target cleaning component. 5. The method according to claim 4, characterized in that, determining the target cleaning component to be replaced by the cleaning robot based on the first duration and the second duration includes: (Claims 1 / 3 page 2 CN 121549692 A) If the first duration is less than or equal to the second duration, controlling the cleaning robot to return to the cleaning...The cleaning robot replaces the second cleaning component at the cleaning base station to clean the second area based on the second cleaning component; if the first duration is longer than the second duration, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component to clean the third area based on the third cleaning component, and after cleaning the third area, it returns to the cleaning base station to replace the second cleaning component. 6. The method according to claim 1, characterized in that the method further includes: after determining the first duration of the cleaning robot returning to the cleaning base station to replace the second cleaning component and returning to the second area, obtaining the remaining battery power of the cleaning robot, and determining whether the remaining battery power supports the movement of the cleaning robot during the first duration and the execution of cleaning tasks in the second area; if it is determined that the remaining battery power is insufficient to support the movement of the cleaning robot during the first duration and the execution of cleaning tasks in the second area, then the cleaning robot is controlled to return to the cleaning base station for charging. 7. The method according to claim 1, wherein the cleaning robot includes an identification sensor, and the method further includes: after the cleaning robot is located outside the cleaning base station, if it is determined that the identification range of the identification sensor is insufficient to cover the cleaning component in the receiving unit, then controlling the cleaning robot to rotate until the identification range of the identification sensor covers the cleaning component in the receiving unit. 8. The method according to claim 1, wherein installing the second cleaning component in the receiving unit includes: controlling the cleaning base station to drive the lifting structure to descend to a second preset position; after the lifting structure reaches the second preset position, controlling the cleaning robot to install the second cleaning component. 9. The method according to claim 1, wherein after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, controlling the cleaning robot to drive out of the cleaning base station includes: after the cleaning robot returns to the cleaning base station, controlling the lifting structure inside the cleaning base station to rise to a first preset position so that the first cleaning component falls into the receiving unit; after the first cleaning component falls into the receiving unit, controlling the cleaning robot to drive out of the cleaning base station. 10. The method according to claim 1, characterized in that the method further comprises: generating a prompt message to remind the user to manually replace the second cleaning component if it is determined that the cleaning component present in the receiving unit is not the second cleaning component, or controlling the cleaning base station to replace the cleaning component present in the receiving unit with the required second cleaning component. 11. The method according to claim 1, characterized in that the first cleaning component and the second cleaning component...The first cleaning component and the second cleaning component are cleaning components with different cleaning performance, and / or the first cleaning component and the second cleaning component are cleaning components with different performance parameters. 12. The method according to claim 1, wherein the cleaning of all sub-regions within the first region is completed, the process includes: when cleaning all sub-regions within the first region based on the first cleaning component, if a second obstacle region is detected during the process of moving from the current position to the target sub-region, determining whether there are other sub-regions to be cleaned that need to be cleaned using the first cleaning component; the second obstacle region includes the area where an insurmountable obstacle is located and / or the restricted area formed based on the obstacle; if it is determined that there are other sub-regions to be cleaned, controlling the cleaning robot to adjust the path to avoid the second obstacle region, and cleaning the other sub-regions to be cleaned based on the first cleaning component. 13. A control device for a cleaning robot, characterized in that it is applied to a cleaning system, the cleaning system including a cleaning robot and a cleaning base station, the cleaning base station including a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, wherein the first cleaning component and the second cleaning component correspond to different cleaning areas; the receiving unit is used to receive cleaning components disassembled from the cleaning robot, and to receive cleaning components to be installed on the cleaning robot; the device includes: a first control module, used to generate a preset cleaning sequence in response to a user's adjustment operation on the cleaning component requirements and cleaning sequence of the cleaning area, and to determine a first area that the cleaning robot needs to clean based on the currently installed first cleaning component based on the preset cleaning sequence; after cleaning all sub-areas within the first area, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component; a second control module, used to control the cleaning robot to leave the cleaning base station after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component; A third control module is configured to, after the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit is the second cleaning component, control the cleaning robot to drive into the cleaning base station to install the second cleaning component in the receiving unit. 14. A cleaning system, characterized in that the cleaning system includes a cleaning robot and a cleaning base station, the cleaning base station including a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component, wherein the first cleaning component and the second cleaning component correspond to different cleaning areas; the receiving unit is used to receive the cleaning components disassembled from the cleaning robot.Components, and cleaning components for receiving the cleaning robot to be installed; the cleaning system is used to perform the method as described in any one of claims 1-12. Claims 3 / 3 Page 4 CN 121549692 A Control method, apparatus and cleaning system for a cleaning robot

[0001] This application is a divisional application, the original application number is 202510344738.8, the original application date is March 21, 2025, and the entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent robots, and particularly to a control method, apparatus and cleaning system for a cleaning robot. Background Art

[0003] With the acceleration of the pace of life and the increase in the requirements for cleaning efficiency, automated cleaning robots have emerged. How to effectively arrange the order and time of cleaning robots to perform cleaning tasks in a specific environment is an effective measure to ensure the maximization of cleaning efficiency and effect.

[0004] In related technologies, cleaning robots use the same cleaning components in different areas of the cleaning room and randomly generate the cleaning order according to the cleaning area. Due to the complexity of indoor environments and the varying cleaning needs of different cleaning areas, how to flexibly configure cleaning methods and sequences according to the cleaning needs of each area to match the user's refined cleaning requirements is a problem that urgently needs to be solved.

[0005] This application provides a control method, device, and cleaning system for a cleaning robot. By planning the cleaning sequence and replacement of the second cleaning component for cleaning the next cleaning area after all sub-areas cleaned using the first cleaning component are completed, the cleaning robot can complete cleaning tasks more efficiently, reducing time wasted due to frequent component replacements, thereby improving cleaning efficiency.

[0006] In a first aspect, this application provides a control method for a cleaning robot, applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive cleaning components disassembled from the cleaning robot and to receive cleaning components to be installed on the cleaning robot. The method includes:

[0007] After the cleaning robot has completed cleaning all sub-areas within a first area based on the currently installed first cleaning component, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning a second area; the first area includes at least one sub-area requiring cleaning using the first cleaning component;

[0008] After the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, controlling the cleaning robot to leave the cleaning base station;

[0009] After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component in the receiving unit is the second cleaning component, the cleaning robot is controlled to enter the cleaning base station to install the second cleaning component in the receiving unit.

[0010] Since the cleaning needs of each cleaning area are different, using a suitable cleaning component to clean each sub-area can ensure an ideal cleaning effect. Moreover, this application controls the cleaning robot to return to the cleaning base station to replace the second cleaning component used to perform the next cleaning area only after all sub-areas that need to be cleaned using the first cleaning component have been cleaned. This optimizes the cleaning sequence of the cleaning robot, enabling the cleaning robot to complete the cleaning task more efficiently. This reduces the frequency and time wastage of unnecessary cleaning component replacement. Furthermore, this application also needs to check and confirm the second cleaning component outside the cleaning base station to ensure that the cleaning component in the receiving unit is the second cleaning component before returning to the cleaning base station to install the second cleaning component. This avoids unnecessary entry and exit operations of the cleaning base station, reduces energy consumption and time waste, optimizes the cleaning component replacement process, and thus improves the overall operating efficiency and cleaning efficiency.

[0011] Furthermore, through the intelligent cleaning component confirmation and replacement process, the cleaning system not only demonstrates a higher level of autonomy and intelligence, reducing reliance on manual intervention, but also ensures that the correct cleaning components are used to perform cleaning tasks on each cleaning area, improving the cleaning effect and meeting the cleaning needs of different areas.

[0012] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0013] Determined based on the location information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0014] Determined based on the material information of the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0015] Determined based on the degree of dirt on the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0016] Determined based on the functional information of the cleaning areas corresponding to the first cleaning component and the second cleaning component.

[0017] Therefore, by determining the cleaning area in multiple ways, it is possible to flexibly adapt to the needs of different application scenarios, enabling the cleaning robot to adapt to various environments and cleaning needs. Whether in homes, commercial spaces, or industrial settings, it can provide efficient cleaning services. Moreover, by accurately matching cleaning components with area characteristics, the cleaning robot can complete cleaning tasks more efficiently, reducing unnecessary repetition and resource waste, and ensuring ideal cleaning results, avoiding problems such as damage to the surface material being cleaned or incomplete cleaning.

[0018] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component...After cleaning the area, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area, including:

[0019] determining the first area that the cleaning robot needs to clean based on the currently installed first cleaning component according to a preset cleaning sequence;

[0020] controlling the cleaning robot to clean all sub-areas within the first area based on the first cleaning component, and after cleaning is completed, determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence;

[0021] controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area.

[0022] In this way, by using a preset cleaning sequence, the cleaning robot can perform cleaning tasks in an orderly manner, reducing unnecessary repetition and time waste, improving overall cleaning efficiency, and the preset cleaning sequence and cleaning component replacement process can ensure that resources are used rationally, reducing energy consumption and the time spent on frequent cleaning component replacement. In addition, the automated cleaning sequence and cleaning component replacement process reduce reliance on manual operation, reduce labor costs and operational complexity, and the orderly and efficient cleaning process can also improve user satisfaction, thereby providing a better user experience.

[0023] Optionally, the preset cleaning sequence is determined in any of the following ways:

[0024] After the cleaning robot finishes mapping, a preset cleaning sequence for each cleaning area is generated based on the cleaning components required for each identified cleaning area;

[0025] In response to the user's voice control command, a preset cleaning sequence for each cleaning area is generated, wherein the voice control command is used to adjust the cleaning components and cleaning sequence required for at least one cleaning area;

[0026] In response to the user's configuration operation on the terminal device, a preset cleaning sequence for each cleaning area is generated; the configuration operation manual (page 2 / 27, CN 121549692 A) is used to configure the cleaning components and cleaning sequence required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0027] Based on the historical information of the cleaning components used after the last cleaning task was completed, a preset cleaning sequence for each cleaning area is generated;

[0028] Wherein, all sub-areas in each cleaning area are grouped together and cleaned sequentially in a specific order, and the next group is cleaned after one group is completed.

[0029] Therefore, various methods for generating cleaning sequences offer high flexibility, enabling the cleaning system to adapt to different user needs and environmental changes. For example, through voice control and terminal device configuration, users can easily adjust the cleaning sequence, improving user experience and satisfaction. Cleaning sequence generation methods based on mapping recognition and historical information can ensure efficient execution of cleaning tasks, reducing unnecessary duplication and resource waste. In this way, the cleaning system can intelligently generate cleaning sequences according to multiple methods, demonstrating a higher level of intelligence and reducing reliance on manual intervention. Furthermore, each cleaning area...The corresponding sub-area grouping cleaning method ensures the systematicness and orderliness of the cleaning task, thereby improving cleaning efficiency.

[0030] Optionally, the cleaning base station also includes a third cleaning component, the third cleaning component corresponds to a different cleaning area than the second cleaning component, and the third cleaning component corresponds to a third area; the method further includes:

[0031] After determining the second area to be cleaned by the cleaning robot based on a preset cleaning sequence, determining a first time duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second time duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station;

[0032] Based on the first time duration and the second time duration, determining the target cleaning component to be replaced by the cleaning robot, so as to clean the target area based on the target cleaning component.

[0033] In this way, by comparing the time of different paths, the cleaning system can select the shortest time path, thereby improving cleaning efficiency and reducing unnecessary time waste. Moreover, the cleaning system can dynamically adjust the cleaning path and cleaning component selection according to the real-time situation, demonstrating high flexibility and adaptability. Therefore, through intelligent time assessment and cleaning component selection, the cleaning system can better utilize resources, reduce energy consumption and overall cleaning time, improve the completion speed of cleaning tasks, and thus improve user satisfaction, providing a better user experience.

[0034] Optionally, based on the first duration and the second duration, determining the target cleaning component to be replaced by the cleaning robot includes:

[0035] When the first duration is less than or equal to the second duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component;

[0036] When the first duration is greater than the second duration, controlling the cleaning robot to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, returning to the cleaning base station to replace the second cleaning component.

[0037] In this way, by selecting the shortest time path, the cleaning system can improve cleaning efficiency and reduce unnecessary time waste. Combined with replacing the appropriate cleaning components to clean the corresponding cleaning area, the overall cleaning time can be reduced and the completion speed of the cleaning task can be improved. Therefore, this method reflects the intelligence level of the cleaning system, enabling it to make complex decisions autonomously and reducing the reliance on human intervention.

[0038] Optionally, determining the first time interval for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area includes:

[0039] Determining the first path for the cleaning robot to return from its current position to the cleaning base station, the second path for it to travel from the cleaning base station to the second area (page 3 / 27 of the specification, CN 121549692 A), and the travel speed of the cleaning robot;

[0040] The third time required to return to the cleaning base station is determined based on the length of the first path and the travel speed, and the fourth time required to travel to the second area is determined based on the length of the second path and the travel speed;

[0041] The fifth time required for the cleaning robot to replace is estimated based on the replacement time of the second cleaning component last time;

[0042] The first time is determined based on the third, fourth, fifth, and sixth time; the sixth time is the average time required for the cleaning robot to avoid living obstacles in the historical time period.

[0043] In this way, by comprehensively considering various factors, such as path length, travel speed, replacement time, obstacle avoidance time, etc., the cleaning system can more accurately estimate the time required to replace different cleaning components and return to the corresponding cleaning area. This time estimation helps to select appropriate cleaning component replacement strategies, reduce unnecessary waiting and delays, improve cleaning efficiency and task completion speed, and thus manage its operation process more efficiently, ensuring the efficient and smooth completion of cleaning tasks.

[0044] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component, the cleaning process includes:

[0045] When cleaning all sub-areas within the first area based on the first cleaning component, if a first obstacle area is detected during the process of moving from the current position to the target sub-area, the cleaning robot passes through the first obstacle area and then cleans the target sub-area based on the first cleaning component to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

[0046] In this way, through intelligent obstacle detection and processing, the cleaning robot can ensure comprehensive cleaning of reachable areas, minimize omissions, and ensure the completion rate of cleaning tasks. Furthermore, by effectively handling obstacle areas, it reduces stagnation and detours caused by obstacles, thereby improving overall cleaning efficiency. Therefore, by autonomously detecting and processing obstacle areas, the cleaning system demonstrates a higher level of intelligence, enabling it to autonomously adapt to complex environments and execute tasks.

[0047] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component, the process includes:

[0048] When cleaning all sub-areas within the first area using the first cleaning component, if a second obstacle area is detected during the process of moving from the current position to the target sub-area, determining whether there are other sub-areas to be cleaned using the first cleaning component; the second obstacle area includes areas containing insurmountable obstacles and / or restricted areas formed by obstacles;

[0049] If it is determined that there are other sub-areas to be cleaned, cleaning the other sub-areas to be cleaned using the first cleaning component.

[0050] It is understood that not all sub-areas within the first area are accessible for cleaning. This application addresses this issue by...Prioritizing the cleaning of accessible sub-areas within the first area allows for more efficient use of the cleaning robot's power and cleaning components, reducing frequent returns to the cleaning base station to replace cleaning components and avoiding unnecessary resource waste.

[0051] Thus, through intelligent obstacle detection and area adjustment, the cleaning robot can continue to perform cleaning tasks, even when encountering insurmountable obstacles, ensuring the task continues to be executed, demonstrating a higher level of intelligence. This enables it to autonomously adapt to complex environments and perform tasks. Moreover, by effectively handling obstacles and replanning cleaning paths, it can reduce stagnation and detours caused by obstacles, improving overall cleaning efficiency. Consequently, the cleaning robot can adapt to various environments and obstacle types, demonstrating high flexibility and adaptability.

[0052] Optionally, the method further includes:

[0053] If it is determined that there are no other sub-areas to be cleaned, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for performing the cleaning of the next area. Instruction manual 4 / 27 pages 8 CN 121549692 A

[0054] In this way, the cleaning robot can avoid wasting time and resources in unnecessary areas. This strategy ensures that the cleaning robot only cleans the areas that need it, thereby improving the overall cleaning efficiency. In addition, by replacing the second cleaning component suitable for the next cleaning area, the cleaning robot can handle different types of cleaning tasks more effectively. This flexibility ensures that each area can receive appropriate cleaning treatment and improve the cleaning effect. Furthermore, after determining that there are no other sub-areas that need to be cleaned, the cleaning robot directly returns to the cleaning base station to replace the second cleaning component, which can also reduce unnecessary movement and operation, thereby saving battery energy and extending the working time of the cleaning robot.

[0055] Optionally, the cleaning robot includes a body and an identification sensor. The identification sensor is used to identify the presence of the second cleaning component in the receiving unit. Determining that the cleaning component present in the receiving unit is the second cleaning component includes:

[0056] Based on the identification result of the identification sensor, determining that the second cleaning component exists in the receiving unit; the identification range of the identification sensor covers the second cleaning component in the receiving unit.

[0057] Thus, by using the identification sensor to obtain a suitable viewing angle and distance to identify the cleaning component, the accuracy of identification can be improved. Accurate identification helps avoid misoperation caused by identification errors, such as installing unsuitable cleaning components, thereby reducing the possibility of cleaning task interruption and rework. In addition, by integrating the identification sensor on the cleaning robot, rather than on the cleaning base station, the hardware complexity and cost of the cleaning base station are reduced, while the flexibility of the cleaning system is improved.

[0058] Optionally, the method further includes:

[0059] When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, controlling the cleaning robot...The robot adjusts its posture so that the identification sensor is oriented towards the direction where the second cleaning component of the cleaning base station can be detected.

[0060] In this way, by adjusting the posture to optimize the viewing angle of the identification sensor, the accuracy of identification can be improved, the possibility of misidentification or missed identification can be reduced, and accurate identification of the cleaning component can also reduce task interruption or delay caused by identification errors, thereby improving the overall cleaning efficiency. Moreover, posture adjustment allows the cleaning robot to adapt to different environments and cleaning base station layouts, demonstrating high flexibility and adaptability.

[0061] Optionally, controlling the cleaning robot to drive into the cleaning base station includes:

[0062] If it is determined that there is a second cleaning component in the receiving unit, the cleaning robot is again controlled to adjust its posture so that the cleaning robot is oriented towards the direction where it can dock with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

[0063] In this way, by readjusting the posture again, it can be ensured that the cleaning robot can successfully dock with the cleaning base station, reducing the error and failure risk in the docking process. This posture adjustment and automatic docking process reduces the installation time of the cleaning group and improves the efficiency of cleaning component replacement and installation. Therefore, this application can demonstrate a higher level of intelligence by autonomously adjusting its posture and returning to the cleaning base station for docking. It can autonomously adapt to complex environments and perform tasks, thereby improving the user experience. In addition, accurate docking can also reduce task interruption or delay caused by docking failure, and improve the overall operation efficiency.

[0064] Optionally, the cleaning base station further includes a storage unit and a drying device. The storage unit is used to store the first cleaning component and the second cleaning component. The drying device includes an air outlet facing the storage unit and is used to provide hot air to the storage unit. The method further includes:

[0065] After the cleaning robot leaves the cleaning base station, controlling the transport mechanism to pick up the first cleaning component from the receiving unit and controlling the transport mechanism to transport the picked-up first cleaning component to the storage unit; and controlling the transport mechanism to take the second cleaning component from the storage unit and transport it to the receiving unit for the cleaning robot to install;

[0066] After the first cleaning component is transported to the storage unit, controlling the air outlet of the drying device to open to dry the first cleaning component.

[0067] Therefore, this application can dry the disassembled first cleaning component during the replacement of the second cleaning component, which can effectively utilize time, reduce the downtime of the cleaning robot, improve the overall operating efficiency, and simultaneously perform replacement and drying to better utilize the resources and functions of the cleaning base station, avoid resource idleness, and improve the utilization efficiency of the cleaning robot.

[0068] In addition, by replacing and drying the cleaning component midway, it can be ensured that the first cleaning component is ready for reuse in the shortest possible time, thereby improving the task turnaround speed of the cleaning robot.

[0069] Optionally, the method further includes:

[0070] After performing the disassembly action of the first cleaning component, if it is determined that the cleaning robot is still connected to the first cleaning component, and / or if it is determined that the receiving unit does not have the first cleaning component, then a first abnormality message is generated and / or the disassembly action of the first cleaning component is repeated.

[0071] Therefore, by automatically detecting and handling abnormal situations, the cleaning system can promptly identify and correct problems in the disassembly process, improve the operational reliability of the cleaning robot, reduce subsequent problems caused by improper disassembly of the cleaning component, and allow users to understand the status of the cleaning system in a timely manner through the first abnormality message and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0072] In addition, the cleaning system can automatically identify and handle abnormal situations in the disassembly process, improving the reliability and availability of the cleaning system and demonstrating a higher level of intelligence.

[0073] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the method further includes:

[0074] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component present in the receiving unit is not the second cleaning component, then a second abnormal information is generated and / or the transport mechanism is controlled again to perform the action of transporting the second cleaning component from the storage unit to the receiving unit.

[0075] In this way, by detecting and handling abnormal situations during the transportation process, the cleaning system can identify and correct problems in a timely manner, improve the operational reliability of the cleaning base station, reduce subsequent problems caused by the incorrect transportation of cleaning components, and allow users to understand the status of the cleaning system in a timely manner through the second abnormal information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0076] In addition, the cleaning system can automatically identify and handle abnormal situations during the transportation process, reflecting a higher level of intelligence and improving the adaptability of the cleaning base station in complex environments.

[0077] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the method further includes:

[0078] Before determining that the receiving unit contains the second cleaning component, controlling the transport mechanism to retrieve the second cleaning component from the storage unit, and controlling the transport mechanism to transport the retrieved second cleaning component to the receiving unit;

[0079] After determining that the second cleaning component is located in the receiving unit, controlling the transport mechanism to leave the position corresponding to the receiving unit.

[0080] In this way, by automatically detecting the component status in the receiving unit and promptly retrieving the cleaning component to be installed, it can be ensured that the cleaning robot can quickly return to the working state, reducing downtime. Furthermore, through the aforementioned automated in-situ detection and cleaning component replacement process, the cleaning robot can perform cleaning tasks more quickly, improving the utilization rate and task turnover rate of the cleaning robot.

[0081] Secondly, this application provides a control device for a cleaning robot, applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive the cleaning component disassembled from the cleaning robot manual (page 6 / 27, 10 CN 121549692 A), and to receive the cleaning component to be installed on the cleaning robot. The device includes:

[0082] a first control module, used to control the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component; the first area includes at least one sub-area requiring cleaning using the first cleaning component;

[0083] a second control module, used to control the cleaning robot to leave the cleaning base station after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component;

[0084] The third control module is used to control the cleaning robot to drive into the cleaning base station after the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit is the second cleaning component, so as to install the second cleaning component in the receiving unit.

[0085] In a third aspect, this application provides a cleaning system, which includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive the cleaning component disassembled from the cleaning robot and to receive the cleaning component to be installed on the cleaning robot.

[0086] The cleaning system is used to perform the method as described in any of the first aspects.

[0087] It should be noted that the second to third aspects of this application correspond to the technical solutions of the first aspect of this application. The beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0088] In summary, this application provides a control method, device, and cleaning system for a cleaning robot. By dividing the cleaning area into multiple sub-areas, each sub-area can be matched with a specific cleaning component based on its material or degree of dirt. After the cleaning robot completes the cleaning task of all sub-areas within the first area using the currently installed first cleaning component, the cleaning robot returns to the cleaning base station to perform the disassembly operation of the first cleaning component. After completing the disassembly operation of the first cleaning component, the cleaning robot is controlled to leave the cleaning base station. When the cleaning robot is outside the cleaning base station, the cleaning system can check whether a second cleaning component exists in the receiving unit. This second cleaning component is the cleaning component required for cleaning the next second area. If the second cleaning component exists in the receiving unit, the cleaning robot re-enters the cleaning base station to install the first cleaning component.Two cleaning components are installed, and after installation, the cleaning robot uses the second cleaning component to perform the cleaning task of the second area. Since the cleaning robot frequently returns to the cleaning base station to replace the cleaning component, it takes a lot of time. Therefore, this application controls the cleaning robot to return to the cleaning base station to replace the second cleaning component after all sub-areas cleaned by the first cleaning component are cleaned in advance. The cleaning areas corresponding to the second cleaning component and the first cleaning component are different, which can optimize the cleaning sequence and reduce the time wasted due to frequent component replacement. In addition, this application also checks the cleaning component outside the cleaning base station. Only when it is confirmed that the cleaning component in the receiving unit is the second cleaning component will it return to the cleaning base station, reducing unnecessary returns and further improving replacement efficiency. Brief Description of the Drawings

[0089] The accompanying drawings are incorporated in and constitute a part of this specification, illustrating embodiments consistent with this application, and together with the description serve to explain the principles of this application.

[0090] Figure 1 is a partial structural schematic diagram of a cleaning system provided in an embodiment of this application;

[0091] Figure 2 is a partial structural schematic diagram of another cleaning system provided in an embodiment of this application;

[0092] Figure 3 is a partial structural schematic diagram of yet another cleaning system provided in an embodiment of this application;

[0093] Figure 4 is a partial structural schematic diagram of yet another cleaning base station provided in an embodiment of this application;

[0094] Figure 5 is a partial structural schematic diagram of a cleaning base station provided in an embodiment of this application; Specification 7 / 27 pages 11 CN 121549692 A

[0095] Figure 6 is a schematic diagram of an application scenario provided in an embodiment of this application;

[0096] Figure 7 is a flowchart of a control method for a cleaning robot provided in an embodiment of this application;

[0097] Figure 8 is a structural schematic diagram of a control device for a cleaning robot provided in an embodiment of this application;

[0098] Figure 9 is a structural schematic diagram of a controller provided in an embodiment of this application.

[0099] The above figures have shown specific embodiments of this application, which will be described in more detail below. These accompanying drawings and textual descriptions are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art through reference to specific embodiments. Detailed Description

[0100] To facilitate a clear description of the technical solutions of the embodiments of the present application, the terms "first," "second," etc., are used in the embodiments of the present application to distinguish identical or similar items with substantially the same function and effect. For example, "first device" and "second device" are merely used to distinguish different devices and do not limit their order. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and that "first," "second," etc., do not necessarily imply differences.

[0101] It should be noted that in this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0102] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0103] In related technologies, cleaning robots use the same cleaning components in different areas of a cleaning room and randomly generate a cleaning sequence based on the cleaning area. Due to the complexity of the indoor environment, the cleaning needs of different cleaning areas vary. How to flexibly configure the cleaning method and cleaning sequence according to the cleaning needs of each area to match the user's refined cleaning needs is a problem that urgently needs to be solved.

[0104] For example, the cleaning robot can determine the cleaning sequence of areas with different surface materials based on the material properties of the surface to be cleaned, and then clean multiple areas with different surface material properties according to the cleaning sequence, or determine the cleaning sequence of areas with different degrees of dirt based on the degree of dirt properties, and clean multiple areas with different degrees of dirt properties according to the cleaning sequence.

[0105] However, since areas with different surface materials or different levels of dirt require different types of cleaning components, the cleaning sequence planned in the above manner may require frequent returns to the cleaning base station to replace the cleaning components, resulting in low cleaning efficiency.

[0106] To address the above problems, this application provides a control method for a cleaning robot. By dividing the cleaning area into multiple sub-areas, each sub-area can be matched with a specific cleaning component according to its material or level of dirt. In this way, after the cleaning robot completes the cleaning task of all sub-areas within the first area using the currently installed first cleaning component, the cleaning robot returns to the cleaning base station to perform the disassembly operation of the first cleaning component. After the disassembly operation of the first cleaning component is completed, ... (Page 8 / 27 of the specification, 12 CN 121549692 A)The cleaning robot is controlled to leave the cleaning base station. When the cleaning robot is outside the cleaning base station, the cleaning system can check whether a second cleaning component is present in the receiving unit. This second cleaning component is the cleaning component required to clean the next second area. If the second cleaning component is present in the receiving unit, the cleaning robot re-enters the cleaning base station to install the second cleaning component. After installation, the cleaning robot uses the second cleaning component to perform the cleaning task of the second area. Since the cleaning robot frequently returns to the cleaning base station to replace the cleaning component, which takes a lot of time, this application controls the cleaning robot to return to the cleaning base station to replace the second cleaning component after all sub-areas cleaned using the first cleaning component have been cleaned in advance. The second cleaning component and the first cleaning component correspond to different cleaning areas, thereby optimizing the cleaning sequence and reducing the time wasted due to frequent component replacement. Furthermore, this application also checks the cleaning component outside the cleaning base station, and only returns to the cleaning base station when it is confirmed that the cleaning component present in the receiving unit is the second cleaning component, reducing unnecessary returns and further improving replacement efficiency. In summary, through reasonable cleaning component replacement and cleaning sequence planning, the cleaning robot can complete the cleaning task more efficiently, saving time and resources.

[0107] Optionally, the control method for the cleaning robot provided in this application is applied to a cleaning system. For example, FIG1 is a partial structural schematic diagram of a cleaning system provided in an embodiment of this application. As shown in FIG1, the cleaning system 300 includes a cleaning robot 100 and a cleaning base station 200; the cleaning base station 200 includes a receiving unit 201, a transport mechanism 202, a first cleaning component 203, and a second cleaning component 204. The cleaning areas corresponding to the first cleaning component 203 and the second cleaning component 204 are different; the receiving unit 201 is used to receive the cleaning components disassembled from the cleaning robot 100, and to receive the cleaning components to be installed on the cleaning robot 100.

[0108] Optionally, the cleaning component includes at least the mop assembly of the cleaning robot 100; wherein, the cleaning robot 100 includes any automatic cleaning device with cleaning function such as a sweeping robot, a mopping robot, a floor washing robot, or a sweeping and mopping robot, and the mop assembly can be a disc mop, a triangular mop, a flat mop, or other mop disc assembly. The specific types of the cleaning robot 100 and the mop assembly are not limited in the embodiments of this application.

[0109] For example, the first cleaning component 203 and the second cleaning component 204 can be mop components, which are used to clean the surfaces to be cleaned corresponding to the cleaning area to be cleaned. Alternatively, the first cleaning component 203 and the second cleaning component 204 can also include replacements for the mop component and other cleaning components, such as replacing the brush type of the mop component. This application embodiment does not specifically limit the type of the first cleaning component 203 and the second cleaning component 204, and they can be based on different cleaning methods.The requirements and the type of surface to be cleaned are determined.

[0110] Optionally, the receiving unit 201 may include a disassembly position and an installation position. The disassembly position is used for the cleaning robot 100 to disassemble the cleaning components and to receive the cleaning components disassembled by the cleaning robot 100. The installation position is used for the cleaning robot 100 to install the cleaning components and to receive the cleaning components to be installed by the cleaning robot 100. The receiving position and the installation position may be the same position on the cleaning base station 200 or partially overlapping positions to save space on the cleaning base station 200. Alternatively, the receiving position and the installation position may be at different positions on the cleaning base station 200 to make the position distribution more flexible. Alternatively, the receiving unit 201 may be a cleaning tank position. After the cleaning robot 100 returns to the cleaning base station 200, it can clean the cleaning components at the cleaning tank position. That is, a position for disassembling and installing cleaning components is set in the cleaning base station 200, which can be used to receive the cleaning components disassembled by the cleaning robot 100 and to receive the cleaning components to be installed by the cleaning robot 100.

[0111] For example, FIG2 is a partial structural schematic diagram of another cleaning system provided in the embodiment of this application. As shown in FIG2, in addition to the structure shown in FIG1, the cleaning system 300 includes a body 101 and an identification sensor 102. The identification sensor 102 is used to identify the presence of the second cleaning component 203 in the receiving unit 201.

[0112] Optionally, the identification sensor 102 can be installed on the front side of the body 101, or on the top or side wall of the body 101. The specific installation position of the identification sensor 102 is not limited in the embodiment of this application. Specification 9 / 27 pages 13 CN 121549692 A

[0113] Optionally, FIG3 is a partial structural schematic diagram of yet another cleaning system provided in the embodiment of this application. As shown in FIG3, in addition to the structure shown in FIG1, the cleaning system 300 includes a cleaning base station 200 and a storage unit 205. The storage unit 205 is used to store the first cleaning component 203 and the second cleaning component 204.

[0114] For example, FIG4 is a partial structural schematic diagram of another cleaning system provided in an embodiment of the present application. As shown in FIG4, in addition to the structure shown in FIG3, the cleaning system 300 also includes a drying device 206. The drying device 206 includes an air outlet 21 facing the storage unit 205 and is used to provide hot air to the storage unit 205.

[0115] For example, FIG5 is a partial structural schematic diagram of a cleaning base station provided in an embodiment of the present application. As shown in FIG5, the cleaning base station 200 includes a receiving unit 201, a transport mechanism 202, a storage unit 205, and a second cleaning component 204. That is, the storage unit 205 stores the second cleaning component 204 to be replaced. The cleaning base station 200 also includes a drying device 206 (not shown in the figure).The drying device 206 includes an air outlet 21, which blows hot air toward the storage unit 205 to dry the cleaning components stored in the storage unit 205. It should be noted that the embodiments of this application do not specifically limit the number and type of cleaning components stored in the storage unit 205. For example, before the cleaning robot 100 installs the first cleaning component 203, the first cleaning component 203 is also stored in the storage unit 205.

[0116] Optionally, the transport mechanism 202 includes a transport vehicle and a transport track. The transport track is bent to form a lifting section and a translation section. The transport vehicle can move along the lifting section to the side of the storage unit 205 and along the translation section to the top of the receiving unit 201. The transport vehicle is used to transport cleaning components.

[0117] The embodiments of this application do not specifically limit the specific structure of the transport mechanism 202. It can transport the disassembled cleaning components from the receiving unit 201 to the storage unit 205, and transport the cleaning components to be installed from the storage unit 205 to the receiving unit 201.

[0118] For example, Figure 6 is a schematic diagram of an application scenario provided by an embodiment of this application. As shown in Figure 6, this application scenario can be applied to a home setting. Taking the cleaning robot 100 as a sweeping robot as an example, in a home environment, different rooms may have different materials to be cleaned. For example, bedroom 1 has a wooden floor, bedroom 2 has a wooden floor, the living room has a tile floor, and the balcony has a tile floor. Each material may require different cleaning components to achieve the ideal cleaning effect.

[0119] If the first cleaning component 203 currently installed on the sweeping robot is a cleaning component for cleaning wooden floors, and the cleaning base station 200 stores a second cleaning component 204 for cleaning tile floors, then the sweeping robot can return to the cleaning base station 200 to replace the second cleaning component 204 required for cleaning tile floors after completing the cleaning of bedroom 1 and bedroom 2 based on the currently installed first cleaning component 203.

[0120] Specifically, after the robot vacuum returns to the cleaning base station 200 and completes the disassembly of the first cleaning component 203, it controls the robot vacuum to drive out of the cleaning base station 200. As shown in Figure 6, after the robot vacuum is outside the cleaning base station 200, it checks whether the receiving unit 201 contains the second cleaning component 204. If it is determined that the cleaning component in the receiving unit 201 is the second cleaning component 204, it controls the robot vacuum to drive into the cleaning base station 200 to install the second cleaning component 204 in the receiving unit 201.

[0121] In this way, after cleaning both bedrooms 1 and 2 using the first cleaning component 203, the robot vacuum is controlled to return to the cleaning base station 200 to replace the second cleaning component used for cleaning the living room and balcony. Through the optimization of the cleaning sequence, the time wasted by the robot vacuum due to frequent component replacement is reduced. Furthermore, this application also improves the cleaning efficiency of the cleaning system.The cleaning base station 200 performs an external inspection of the second cleaning component 204. Only when it is confirmed that the cleaning component present in the receiving unit 201 is the second cleaning component 204 will it return to the cleaning base station 200 for component replacement. This reduces unnecessary return times and further improves replacement efficiency, thereby improving overall cleaning efficiency.

[0122] Optionally, if it is determined that the cleaning component present in the receiving unit 201 is not the second cleaning component 204, a prompt message can be generated to remind the user of an abnormality. The user can then manually replace the cleaning component. This application embodiment does not specifically limit the operation processing after an abnormality occurs. If it is further determined that the cleaning component present in the receiving unit 201 is not the second cleaning component 204, the cleaning base station 200 can also be controlled to replace the cleaning component with the required second cleaning component 204.

[0123] It should be noted that the second cleaning component 204 can refer to any type of cleaning component different from the first cleaning component 203. The cleaning base station 200 may include at least one type of second cleaning component 204. This application embodiment does not specifically limit the number and type of second cleaning components included in the cleaning base station 200.

[0124] It is understood that the cleaning robot 100 can also be applied to shopping mall scenarios, school scenarios, and office scenarios. This application embodiment does not limit the specific application scenarios; the above are merely illustrative examples.

[0125] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0126] Figure 7 is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. As shown in Figure 7, the control method for the cleaning robot is applied to a cleaning system. The control method for the cleaning robot includes the following steps:

[0127] S701: After the cleaning robot has completed cleaning all sub-areas within the first region based on the currently installed first cleaning component, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second region. The first region includes at least one sub-area that requires cleaning using the first cleaning component.

[0128] Wherein, at least one sub-area included in the first region has a mapping relationship with the first cleaning component. This mapping relationship can be matched according to the material of the surface to be cleaned or the degree of dirt, etc., that is, each sub-area needs to be cleaned using the first cleaning component.

[0129] It should be noted that the second region may also include at least one sub-area that requires cleaning using the second cleaning component.Sub-regions: In this embodiment of the application, the number of sub-regions that need to be cleaned using the second cleaning component included in the second region is not specifically limited.

[0130] The sub-regions cleaned using the first cleaning component and the second cleaning component are different, and can be based on at least one of the following: surface material to be cleaned, degree of dirt, geographical coordinates, region function type, etc.

[0131] For example, the cleaning robot uses the currently installed first cleaning component to complete the cleaning task of all sub-regions in the first region. All sub-regions in the first region are sub-regions that need to be cleaned using the first cleaning component. After completing the cleaning of the first region, the cleaning robot is controlled to return to the cleaning base station to remove the first cleaning component and replace it with the second cleaning component for performing the cleaning of the second region.

[0132] Optionally, before the cleaning robot has installed the first cleaning component or has not installed any cleaning component, the cleaning robot can be controlled to drive into the cleaning base station to replace or install the first cleaning component required for performing the cleaning of the first region.

[0133] S702: After the cleaning robot returns to the cleaning base station and completes the removal of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station.

[0134] In this step, after completing the cleaning task in the first area, the cleaning robot returns to the cleaning base station to prepare for the replacement of the cleaning components. That is, at the cleaning base station, the cleaning robot performs the disassembly of the first cleaning component. This step is to remove the first cleaning component that is no longer needed and prepare for the installation of the new second cleaning component. Furthermore, after completing the disassembly of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station to ensure that the cleaning robot can perform the next component inspection or other operations outside the cleaning base station.

[0135] S703. After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit (page 11 / 27 of the specification, 15 CN 121549692 A) is the second cleaning component, the cleaning robot is controlled to drive into the cleaning base station to install the second cleaning component in the receiving unit.

[0136] In this step, after the cleaning robot completes the disassembly of the first cleaning component and drives out of the cleaning base station, it stays outside the cleaning base station to confirm the cleaning component and ensure the accuracy of the installation of the second cleaning component. That is, it checks whether the second cleaning component exists in the receiving unit outside the cleaning base station. If it is confirmed that the second cleaning component exists in the receiving unit, the cleaning robot is controlled to re-enter the cleaning base station to install the second cleaning component. After the installation is completed, the cleaning robot is ready to perform the cleaning task of the second area.

[0137] It should be noted that the method for checking whether the second cleaning component exists in the receiving unit in this application embodiment is not specifically limited. It can be based on the detection of sensors inside the cleaning base station, such as installing a vision sensor inside the cleaning base station.The identification of cleaning components can be performed by sensors, or detection can be performed based on sensors on the body of the cleaning robot, such as detection based on artificial intelligence (AI) cameras.

[0138] Optionally, when the cleaning robot needs to replace or install a second cleaning component, it controls its body to drive into the cleaning base station. After the cleaning robot is located in the cleaning base station, it drives its lifting structure to descend to a second preset position. After the lifting structure reaches the second preset position, the second cleaning component is installed on the cleaning robot. After installation, the cleaning robot drives to the second area and begins to perform the cleaning task.

[0139] Wherein, the cleaning robot drives the lifting structure to descend to the second preset position so that the cleaning component can be accurately connected to the body of the cleaning robot, ensuring the stability and correctness of the installation. The installation process may include mechanical locking or other fixing methods to ensure that the cleaning component will not loosen during subsequent cleaning. The embodiments of this application do not limit the specific installation process, which can refer to existing installation methods or redefine new installation methods.

[0140] Since the cleaning needs of each cleaning area are different, using appropriate cleaning components to clean each sub-area can ensure ideal cleaning results. Moreover, this application controls the cleaning robot to return to the cleaning base station to replace the second cleaning component for the next cleaning area only after all sub-areas requiring cleaning with the first cleaning component have been cleaned. This optimizes the cleaning sequence of the cleaning robot, enabling it to complete cleaning tasks more efficiently and reducing unnecessary cleaning component replacement frequency and time waste. Furthermore, this application also requires checking and confirming the second cleaning component outside the cleaning base station to ensure that the cleaning component in the receiving unit is the second cleaning component before returning to the cleaning base station for installation. This avoids unnecessary entry and exit operations to the cleaning base station, reduces energy consumption and time waste, optimizes the cleaning component replacement process, and thus improves overall operational efficiency and cleaning efficiency.

[0141] In addition, through the intelligent cleaning component confirmation and replacement process, the cleaning system not only demonstrates a higher level of autonomy and intelligence, reducing reliance on manual intervention, but also ensures that the correct cleaning component is used to perform cleaning tasks in each cleaning area, improving cleaning results and meeting the cleaning needs of different areas.

[0142] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0143] Determined based on the position information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0144] Determined based on the material information of the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0145] Determined based on the degree of dirt on the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0146] The cleaning area is determined based on the functional information of the cleaning area corresponding to the first cleaning component and the second cleaning component.

[0147] In this embodiment of the application, the cleaning area can be divided according to its geographical location information. For example, a specific floor or room may be designated as an area for using a certain type of cleaning component. This method relies on a pre-set map and location marker.

[0148] The cleaning area can also be divided according to the material information of the surface to be cleaned, such as the material type. For example, different materials such as wooden floors, tiles, and carpets require different types of cleaning components. This method relies on the identification and classification of the material of the cleaning area.

[0149] The cleaning area can also be divided according to its degree of dirtiness. For example, a heavily soiled area requires a more powerful cleaning component than a lightly soiled area. This method relies on sensors to detect the degree of dirtiness.

[0150] The cleaning area can also be divided according to its functional information, such as its functional purpose. For example, kitchens, toilets, and bathrooms may require different types of cleaning components. This method relies on the understanding and classification of the area's function.

[0151] Optionally, the first cleaning component and the second cleaning component are cleaning components with different cleaning performance, and / or, the first cleaning component and the second cleaning component are cleaning components with different performance parameters. In this way, different cleaning parameters and cleaning performance can be designed to provide different cleaning experiences for different cleaning areas.

[0152] It is understood that the cleaning parameters of the same type of cleaning component can be the same, and the cleaning components used in different cleaning areas can be the same type of cleaning component. The cleaning parameters of different types of cleaning components can be different, thereby providing different cleaning performance.

[0153] Optionally, the first cleaning component and the second cleaning component are represented by different identifiers, which include at least one of color identifiers and pattern identifiers.

[0154] For example, different identifiers correspond to different types of cleaning components, or different identifiers correspond to cleaning components with different cleaning parameters or cleaning performance. For example, black corresponds to a type of cleaning component for cleaning tiles, white corresponds to a type of cleaning component for cleaning wooden floors, and gray corresponds to a type of cleaning component for cleaning carpets.

[0155] Since the cleaning system can recognize multiple types of markings, different marking schemes and component types can be designed to adapt to different user or scenario requirements, thereby improving the flexibility of the application.

[0156] Optionally, when the cleaning performance of the first cleaning component and the second cleaning component is different, the first cleaning component and the second cleaning component differ in at least part of their cleaning power, water retention power, and heat preservation ability. For example, the first cleaning component is a high water retention mop type, and the second cleaning component is a high cleaning mop type, and the two are used to clean different types of cleaning areas respectively.

[0157] In some embodiments, the kitchen area corresponds to a high-cleaning mop type with strong scraping, the bathroom area corresponds to a high-water-locking mop type, and the balcony area corresponds to a phase-change mop type. The high-cleaning mop type, combined with the use of cleaning liquid, can be used for deep cleaning. It has high friction and is especially suitable for resistant surfaces such as ceramic tiles. The high-water-locking mop type can absorb surface liquids on the surface to be cleaned. The phase-change mop type can perform heat-insulating cleaning. This application embodiment does not specifically limit the type of cleaning component corresponding to different area types. The above is only an example.

[0158] It should be noted that there is a mapping relationship between the type of cleaning component and different cleaning areas. This mapping relationship can be configured in advance by the user or generated intelligently by the cleaning system. This application embodiment does not specifically limit this.

[0159] Therefore, by determining the cleaning area in multiple ways, it is possible to flexibly adapt to the needs of different application scenarios, enabling the cleaning robot to adapt to a variety of different environments and cleaning needs. Whether it is a home, commercial or industrial place, it can provide efficient cleaning services. Moreover, by accurately matching the cleaning components and area characteristics, the cleaning robot can complete the cleaning task more efficiently, reduce unnecessary repetition and waste of resources, and also ensure the ideal cleaning effect, avoiding the problem of damage to the surface material to be cleaned or incomplete cleaning.

[0160] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area, including:

[0161] determining the first area to be cleaned by the cleaning robot based on the currently installed first cleaning component according to a preset cleaning sequence;

[0162] controlling the cleaning robot to clean all sub-areas within the first area based on the first cleaning component, and after cleaning is completed, determining the second area to be cleaned by the cleaning robot based on the preset cleaning sequence;

[0163] controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area.

[0164] Wherein, the preset cleaning sequence may refer to the cleaning sequence set based on the pre-planned cleaning task and the pre-divided area. The method of determining the preset cleaning sequence is not specifically limited in this application embodiment.

[0165] For example, the cleaning system determines the first area that the first cleaning component currently installed on the cleaning robot needs to clean according to a preset cleaning sequence. Further, the system controls the cleaning robot to use the first cleaning component to clean all sub-areas within the first area according to a preset path and strategy. Then, after completing the cleaning of the first area, the cleaning system determines the second area that the cleaning robot needs to clean based on the preset cleaning sequence. This step ensures the cleaning task is completed.Furthermore, to ensure continuity and efficiency, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area. After replacement, the cleaning robot is ready to perform the cleaning task of the second area.

[0166] In this way, by pre-setting the cleaning sequence, the cleaning robot can perform the cleaning task in an orderly manner, reducing unnecessary repetition and time waste, improving the overall cleaning efficiency. Moreover, the pre-set cleaning sequence and cleaning component replacement process can ensure that resources are used rationally, reducing energy consumption and the time spent on frequent cleaning component replacement. In addition, the automated cleaning sequence and cleaning component replacement process reduce the dependence on manual operation, reduce labor costs and operational complexity, and the orderly and efficient cleaning process can also improve user satisfaction, thereby providing a better user experience.

[0167] Optionally, the preset cleaning sequence is determined in any of the following ways:

[0168] After the cleaning robot finishes mapping, a preset cleaning sequence for each cleaning area is generated based on the cleaning components required for each identified cleaning area;

[0169] In response to the user's voice control command, a preset cleaning sequence for each cleaning area is generated, wherein the voice control command is used to adjust the cleaning components and cleaning sequence required for at least one cleaning area;

[0170] In response to the user's configuration operation on the terminal device, a preset cleaning sequence for each cleaning area is generated; the configuration operation is used to configure the cleaning components and cleaning sequence required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0171] Based on the historical information of the cleaning components used after the last cleaning task was completed, a preset cleaning sequence for each cleaning area is generated;

[0172] Wherein, all sub-areas in each cleaning area are grouped together and cleaned sequentially in a specific order, and the next group is cleaned after one group is completed.

[0173] In some embodiments, after the cleaning robot completes environmental mapping, the cleaning system can generate a preset cleaning sequence based on the identified cleaning areas and their required cleaning components. Optionally, the identified cleaning areas and their required cleaning components are determined based on the cleaning robot's map building and environmental recognition capabilities.

[0174] In other embodiments, the user can adjust the requirements of the cleaning components and the cleaning sequence of the cleaning areas via voice commands, and the cleaning system responds to these voice commands to generate the corresponding cleaning sequence.

[0175] In yet another embodiment, the user can adjust the requirements of the cleaning components and the cleaning sequence of the cleaning areas by performing configuration operations on a terminal device that establishes a communication connection with the cleaning robot, so that the cleaning system generates the cleaning sequence according to these configuration operations. Optionally, the terminal device can provide a flexible user interface and control options. This application does not specifically limit this specification (pages 14 / 27, CN 121549692 A).

[0176] Optionally, without user configuration, the terminal device's application (APP) can also recommend the cleaning components and cleaning order required for each cleaning area. This recommendation method can be determined based on mapping information.

[0177] In some embodiments, the cleaning system can also use the historical information of the cleaning components used after the last cleaning task to generate a new cleaning order. For example, the cleaning area adapted to the cleaning components used after the last cleaning task is completed will be cleaned first in the next cleaning, reducing the replacement time of the cleaning components.

[0178] Therefore, the various methods of generating cleaning orders provide high flexibility, enabling the cleaning system to adapt to different user needs and environmental changes. For example, through voice control and terminal device configuration, users can easily adjust the cleaning order, improving user experience and satisfaction. The cleaning order generation method based on mapping recognition and historical information can ensure the efficient execution of cleaning tasks, reducing unnecessary duplication and resource waste. In this way, the cleaning system can intelligently generate cleaning orders according to multiple methods, showing a higher level of intelligence and reducing the dependence on manual intervention. In addition, the sub-area grouping cleaning method corresponding to each cleaning area ensures the systematicness and orderliness of the cleaning task, thereby improving cleaning efficiency.

[0179] Optionally, the cleaning base station further includes a third cleaning component, the third cleaning component corresponding to a different cleaning area than the second cleaning component, the third cleaning component corresponding to a third area; the method further includes:

[0180] after determining the second area to be cleaned by the cleaning robot based on a preset cleaning sequence, determining a first duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determining a second duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or closest to the cleaning base station;

[0181] based on the first duration and the second duration, determining the target cleaning component to be replaced by the cleaning robot, so as to clean the target area based on the target cleaning component.

[0182] For example, the cleaning system determines a second area that the cleaning robot needs to clean based on a preset cleaning sequence, and evaluates the time required for the cleaning robot to return from the current area to the cleaning base station to replace the second cleaning component and return to the second area, i.e., a first duration. Simultaneously, the cleaning system can also evaluate the time required for the cleaning robot to return to the cleaning base station to replace the third cleaning component and proceed to the third area, i.e., a second duration. This third area is the area closest to the first area and / or the cleaning base station. Further, based on a comparison of the first and second durations, the cleaning system determines the target cleaning component to be replaced, i.e., selects a strategy or path with shorter time, so that the cleaning robot can complete the cleaning task more efficiently. Then, the cleaning robot can proceed to the target area to perform the cleaning task according to the determined target cleaning component.

[0183] The target cleaning component can be either the second cleaning component or the third cleaning component, and the cleaning area corresponding to the third cleaning component is different from that of the second cleaning component.

[0184] In this way, by comparing the time of different paths, the cleaning system can select the shortest time path, thereby improving cleaning efficiency and reducing unnecessary time waste. Moreover, the cleaning system can dynamically adjust the cleaning path and cleaning component selection according to the real-time situation, showing high flexibility and adaptability. Therefore, through intelligent time assessment and cleaning component selection, the cleaning system can better utilize resources, reduce energy consumption and overall cleaning time, improve the completion speed of cleaning tasks, and thus improve user satisfaction to provide a better user experience.

[0185] Optionally, after determining the first time duration after the cleaning robot returns to the cleaning base station to replace the second cleaning component and returns to the second area, the remaining power of the cleaning robot is obtained, and it is determined whether the remaining power supports the movement of the cleaning robot during the first time duration and the execution of cleaning tasks in the second area. If it is determined that the remaining power is insufficient to support the movement of the cleaning robot during the first time duration and the execution of cleaning tasks in the second area, the cleaning robot is controlled to return to the cleaning base station for charging.

[0186] Thus, by confirming sufficient power before the start of the cleaning task, the cleaning system can ensure that the cleaning robot has enough power to complete the predetermined task, reducing task interruptions caused by insufficient power. Therefore, by ensuring that the cleaning robot performs the cleaning task when the power is sufficient, the reliability of the cleaning system and the stability of task execution are improved. In turn, by reducing the interruption of cleaning tasks caused by insufficient power, users can enjoy more continuous and efficient cleaning services, thereby improving satisfaction.

[0187] Optionally, based on the first duration and the second duration, determining the target cleaning component to be replaced by the cleaning robot includes:

[0188] If the first duration is less than or equal to the second duration, controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component;

[0189] If the first duration is greater than the second duration, controlling the cleaning robot to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, returning to the cleaning base station to replace the second cleaning component.

[0190] For example, the cleaning system evaluates a first time required for the cleaning robot to return from the current area to the cleaning base station to replace the second cleaning component and return to the second area. Simultaneously, it also evaluates a second time required for the cleaning robot to return to the cleaning base station to replace the third cleaning component and proceed to the third area. If the first time is less than or equal to the second time, the system controls the cleaning robot to return to the cleaning base station to replace the second cleaning component, so that the second area can be cleaned based on the second cleaning component. This means...The cleaning task in the second area can be completed faster, optimizing cleaning efficiency. If the first time is longer than the second time, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so that the third area can be cleaned based on the third cleaning component. This means that the cleaning task in the third area can be completed faster, and the cleaning system has chosen a more efficient path. Furthermore, after the third area is cleaned based on the third cleaning component, the cleaning robot can be controlled to return to the cleaning base station to replace the second cleaning component, and then the second area can be cleaned based on the second cleaning component.

[0191] In this way, by selecting the shortest time path, the cleaning system can improve cleaning efficiency and reduce unnecessary time waste. Combined with replacing the appropriate cleaning component to clean the corresponding cleaning area, the overall cleaning time can be reduced, and the completion speed of the cleaning task can be improved. Therefore, this method reflects the intelligence level of the cleaning system, enabling it to make complex decisions autonomously and reducing the reliance on human intervention.

[0192] Optionally, determining the first time interval for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area includes:

[0193] determining the first path for the cleaning robot to return from its current position to the cleaning base station, the second path for the cleaning robot to travel from the cleaning base station to the second area, and the travel speed of the cleaning robot;

[0194] determining the third time interval for returning to the cleaning base station based on the length of the first path and the travel speed, and determining the fourth time interval required to travel to the second area based on the length of the second path and the travel speed;

[0195] estimating the fifth time interval required for the cleaning robot to replace the second cleaning component based on the replacement time interval of the last time;

[0196] determining the first time interval based on the third, fourth, fifth, and sixth time intervals; the sixth time interval is the average time interval required for the cleaning robot to avoid living obstacles within a historical time period.

[0197] Wherein, the travel speed can be a pre-set fixed value or a value dynamically adjusted according to environmental conditions. This application embodiment does not specifically limit the value of the travel speed.

[0198] In the step of determining the first duration, the average time required for the cleaning robot to avoid living obstacles such as people or pets over a historical time period is also considered in order to more accurately reflect the time consumption in actual operation. Specification 16 / 27 pages 20 CN 121549692 A

[0199] Optionally, determining the second duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area includes:

[0200] Determining the first path for the cleaning robot to return from its current position to the cleaning base station, the third path for the cleaning robot to travel from the cleaning base station to the third area, and the travel speed of the cleaning robot; determining the third duration for returning to the cleaning base station based on the length of the first path and the travel speed, and determining the seventh duration required to travel to the third area based on the length of the third path and the travel speed.The length is calculated based on the replacement time of the third cleaning component. The eighth time required for the cleaning robot to replace the component is estimated based on the replacement time of the third, seventh, eighth and sixth time periods. The second time period is determined based on the third, seventh, eighth and sixth time periods. The sixth time period is the average time required for the cleaning robot to avoid living obstacles in the historical time period.

[0201] In this way, by comprehensively considering various factors, such as path length, travel speed, replacement time and obstacle avoidance time, the cleaning system can more accurately estimate the time required to replace different cleaning components and return to the corresponding cleaning area. This accurate time estimation helps to select appropriate cleaning component replacement strategies, reduce unnecessary waiting and delays, improve cleaning efficiency and task completion speed, and thus manage its operation process more efficiently to ensure the efficient and smooth completion of cleaning tasks.

[0202] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component, the process includes:

[0203] When cleaning all sub-areas within the first area based on the first cleaning component, if a first obstacle area is detected during the process of moving from the current position to the target sub-area, the cleaning robot passes through the first obstacle area and then cleans the target sub-area based on the first cleaning component to complete the cleaning of all sub-areas within the first area; the first obstacle area is an obstacle area that the cleaning robot can cross.

[0204] Optionally, the height of the obstacle in the first obstacle area is less than a preset threshold so that the cleaning robot can cross the obstacle.

[0205] For example, when the cleaning robot uses the currently installed first cleaning component to traverse and clean all sub-areas within the first area, during the process of the cleaning robot moving from its current position to the target sub-area, sensors can be used to continuously detect obstacles on the path. If a first obstacle area that the cleaning robot can cross is detected, such as a small threshold or carpet edge, the cleaning robot will attempt to cross the first obstacle area so that after passing the first obstacle area, it can continue to use the first cleaning component to clean the target sub-area. The above process can be repeated until all reachable sub-areas within the first area have been cleaned.

[0206] Optionally, if it is found during the cleaning process that some sub-areas cannot be reached due to insurmountable obstacles, the cleaning robot can return to the cleaning base station in advance. After returning to the cleaning base station, it can replace the second cleaning component suitable for cleaning the next cleaning area or replan the path to bypass the obstacle in order to clean other sub-areas that need to be cleaned using the first cleaning component. This application embodiment does not specifically limit the handling method after the cleaning robot encounters an insurmountable obstacle; the above is only an example.

[0207] In this way, through intelligent obstacle detection and handling, the cleaning robot can ensure comprehensive cleaning of accessible areas, minimize omissions, ensure the completion rate of cleaning tasks, and further reduce the impact of obstacles by effectively handling obstacle areas.The stagnation and detours caused by obstacles improve the overall cleaning efficiency. Therefore, by autonomously detecting and handling obstacle areas, the cleaning system demonstrates a higher level of intelligence, enabling it to autonomously adapt to complex environments and perform tasks.

[0208] Optionally, after the cleaning robot has completed cleaning all sub-areas within the first area based on the currently installed first cleaning component, it includes:

[0209] When cleaning all sub-areas within the first area based on the first cleaning component, if a second obstacle area is detected during the process of moving from the current position to the target sub-area, it determines whether there are other sub-areas to be cleaned that need to be cleaned using the cleaning component (page 17 / 27 of the specification, 21 CN 121549692 A); the second obstacle area includes the area where an insurmountable obstacle is located and / or the restricted area formed by the obstacle;

[0210] If it is determined that there are other sub-areas to be cleaned, the other sub-areas are cleaned based on the first cleaning component.

[0211] Optionally, the height of the obstacle in the second obstacle area is greater than or equal to a preset threshold, so the cleaning robot cannot cross the obstacle or pass through the second obstacle area.

[0212] For example, when the cleaning robot uses the currently installed first cleaning component to traverse and clean all sub-areas within the first area, during the process of the cleaning robot moving from its current position to the target sub-area, the cleaning robot can use sensors to detect obstacles on its path. If a second obstacle area is detected, including insurmountable obstacles such as walls, furniture, and restricted areas formed by obstacles such as a bedroom area formed by a closed door, the cleaning system can assess whether there are other sub-areas that need to be cleaned using the first cleaning component. This step ensures that the cleaning task can continue even when obstacles are encountered. Furthermore, if there are other sub-areas to be cleaned, the cleaning robot can adjust its path to go to the other sub-areas to be cleaned and clean them based on the first cleaning component. This flexible adjustment ensures the continuity and efficiency of the cleaning task.

[0213] It is understood that not all sub-areas within the first area are accessible for cleaning. By prioritizing the cleaning of accessible sub-areas within the first area, this application can more effectively utilize the power of the cleaning robot and the cleaning component, reduce the need for frequent returns to the cleaning base station to replace the cleaning component, and avoid unnecessary waste of resources.

[0214] In this way, through intelligent obstacle detection and area adjustment, the cleaning robot can continue to perform cleaning tasks. Even when encountering insurmountable obstacles, it can ensure that the task continues, demonstrating a higher level of intelligence. This allows it to autonomously adapt to complex environments and perform tasks. Moreover, by effectively handling obstacles and replanning cleaning paths, it can reduce stagnation and detours caused by obstacles, improve overall cleaning efficiency, and thus enable the cleaning robot to...It is adaptable to various environments and obstacle types, demonstrating high flexibility and adaptability.

[0215] Optionally, the method further includes:

[0216] If it is determined that there are no other sub-areas to be cleaned, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required to perform the cleaning of the next area.

[0217] In this step, the cleaning robot uses the currently installed first cleaning component to clean the first area. During the cleaning process, the cleaning robot detects obstacles on the path and attempts to clean all accessible sub-areas. However, if the cleaning robot encounters an insurmountable second obstacle area during the cleaning process, it will check whether there are other sub-areas to be cleaned using the first cleaning component. If there are no other sub-areas to be cleaned, it means that there are no sub-areas that need to be cleaned using the first cleaning component or the cleaning task of the first area can no longer continue. Therefore, if it is determined that there are no other sub-areas to be cleaned, the cleaning robot can be controlled to return to the cleaning base station to replace the second cleaning component required to perform the cleaning of the next area.

[0218] It is understood that not all sub-areas within the first area are accessible for cleaning. When encountering an inaccessible sub-area, and determining that there are no other sub-areas requiring cleaning using the first cleaning component, the robot can return to the cleaning base station in advance to replace the second cleaning component used for cleaning the second area.

[0219] In this way, the cleaning robot can avoid wasting time and resources in unnecessary areas. This strategy ensures that the cleaning robot only cleans the areas that are needed, thereby improving the overall cleaning efficiency. Furthermore, by replacing the second cleaning component with one suitable for the next cleaning area, the cleaning robot can handle different types of cleaning tasks more effectively. This flexibility ensures that each area receives appropriate cleaning treatment, improving the cleaning effect. In addition, after determining that there are no other sub-areas requiring cleaning, the cleaning robot can directly return to the cleaning base station to replace the second cleaning component, which can also reduce unnecessary movement and operation, thereby saving battery energy and extending the working time of the cleaning robot.

[0220] Optionally, determining that the cleaning component present in the receiving unit is the second cleaning component includes:

[0221] Determining that a second cleaning component exists in the receiving unit based on the identification result of the identification sensor; the identification range of the identification sensor covers the second cleaning component in the receiving unit.

[0222] For example, when the cleaning robot needs to install a new cleaning component, positioning the body of the cleaning robot outside the cleaning base station is to ensure that the identification sensor on the cleaning robot can effectively cover and scan the cleaning component in the receiving unit within the cleaning base station to determine whether the cleaning component present in the receiving unit is the second cleaning component. If...If the identification result indicates the presence of a second cleaning component, the cleaning system will confirm the presence of the second cleaning component and prepare for the corresponding installation operation.

[0223] It should be noted that by positioning the cleaning robot outside the cleaning base station, the purpose is to enable the identification sensor to obtain a good viewing angle to completely cover the cleaning component in the receiving unit, which helps to improve the accuracy and efficiency of identification.

[0224] Optionally, if the identification range of the identification sensor of the cleaning robot located outside the cleaning base station is insufficient to cover the cleaning component in the receiving unit, that is, it cannot effectively identify whether the cleaning component in the receiving unit is the second cleaning component, the robot body can be controlled to rotate until the identification range of the identification sensor covers the cleaning component in the receiving unit, so as to identify whether the cleaning component in the receiving unit is the second cleaning component.

[0225] In this way, by obtaining a suitable viewing angle and distance based on the identification sensor to identify the cleaning component, the accuracy of identification can be improved. Accurate identification helps to avoid misoperation caused by identification errors, such as installing unsuitable cleaning components, thereby reducing the possibility of cleaning task interruption and rework. In addition, by integrating the identification sensor on the cleaning robot, rather than on the cleaning base station, the hardware complexity and cost of the cleaning base station are reduced, while improving the flexibility of the cleaning system.

[0226] Optionally, the method further includes:

[0227] When it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, the cleaning robot is controlled to adjust its posture so that the identification sensor is oriented in a direction that can detect the second cleaning component of the cleaning base station.

[0228] For example, when the cleaning robot attempts to identify the second cleaning component in the cleaning base station, it can detect whether the current posture can effectively utilize the identification sensor for detection. If it is determined that the current posture cannot identify the cleaning component of the cleaning base station, the cleaning robot will perform posture adjustment, and after adjusting the posture, the identification sensor will scan the cleaning base station again to confirm whether there is a second cleaning component in the receiving unit.

[0229] It should be noted that, in the above situation, controlling the cleaning robot to adjust its posture may include rotating or moving the robot so that the identification sensor can face and cover the cleaning components in the cleaning base station. This application embodiment does not specifically limit the posture adjustment process, direction, or angle; it only needs to ensure that the identification sensor can obtain a suitable viewing angle to accurately identify and determine the type of cleaning component.

[0230] Posture adjustment helps avoid identification errors caused by poor viewing angles of the identification sensor, thereby reducing the risk of misoperation.

[0231] Optionally, if the current posture of the cleaning robot can identify the cleaning component of the cleaning base station as a second cleaning component, then there is no need to adjust the posture, reducing unnecessary movement and improving work efficiency while reducing energy consumption.

[0232] In this way, by adjusting the posture to optimize the viewing angle of the recognition sensor, the accuracy of recognition can be improved, the possibility of misidentification or missed identification can be reduced, and accurate identification of cleaning components can also reduce task interruption or delay caused by recognition errors, thereby improving the overall cleaning efficiency. Moreover, posture adjustment enables the cleaning robot to adapt to different environments and cleaning base station layouts, demonstrating high flexibility and adaptability.

[0233] Optionally, controlling the cleaning robot to drive into the cleaning base station includes:

[0234] When it is determined that there is a second cleaning component in the receiving unit, the cleaning robot is controlled to adjust its posture again so that the cleaning robot faces the direction that can dock with the cleaning base station, and the cleaning robot is controlled to drive into the cleaning base station.

[0235] For example, the cleaning system confirms the presence of a second cleaning component in the receiving unit through a sensor to ensure that the cleaning robot has identified the required cleaning component before entering the cleaning base station. After confirming the presence of the second cleaning component, the cleaning system controls the cleaning robot to adjust its posture so that the cleaning robot faces the direction that allows it to dock with the cleaning base station. Furthermore, after the posture adjustment is completed, the cleaning system controls the cleaning robot to enter the cleaning base station to achieve a smooth docking.

[0236] It should be noted that, with the forward direction of the cleaning robot as the front, the cleaning robot can move forward out of the cleaning base station and backward into the cleaning base station if it is behind the cleaning base station.

[0237] In this way, by adjusting the posture again, it can be ensured that the cleaning robot docks smoothly with the cleaning base station, reducing the error and failure risk during the docking process. This posture adjustment and automatic docking process reduces the installation time of the cleaning group and improves the efficiency of cleaning component replacement and installation. Therefore, this application can demonstrate a higher level of intelligence by autonomously adjusting its posture and returning to the cleaning base station for docking. It can autonomously adapt to complex environments and perform tasks, thereby improving the user experience. In addition, accurate docking can also reduce task interruptions or delays caused by docking failures and improve overall operational efficiency.

[0238] Optionally, the method further includes:

[0239] After the cleaning robot leaves the cleaning base station, controlling the transport mechanism to pick up the first cleaning component from the receiving unit, and controlling the transport mechanism to transport the picked-up first cleaning component to the storage unit; and controlling the transport mechanism to take the second cleaning component from the storage unit and transport it to the receiving unit for the cleaning robot to install;

[0240] After the first cleaning component is transported to the storage unit, controlling the air outlet of the drying device to open to dry the first cleaning component.

[0241] For example, when the cleaning robot leaves the cleaning base station, the transport mechanism of the cleaning base station will pick up the disassembled first cleaning component from the receiving unit, and then the transport mechanism will transport the picked-up first cleaning component to the storage unit of the cleaning base station.The storage unit stores the first cleaning component, while the transport mechanism retrieves the second cleaning component from the storage unit and transports it to the receiving unit for installation by the cleaning robot. Further, after the first cleaning component is transported to the storage unit, the cleaning base station controls the air outlet of the drying device to open, with the outlet facing the storage unit, providing hot air to dry the first cleaning component. This process ensures the cleaning component remains dry during storage, preventing the growth of mold and bacteria. The aforementioned drying process occurs during the replacement of the cleaning component.

[0242] Therefore, this application can dry the disassembled first cleaning component during the replacement of the second cleaning component, effectively utilizing time, reducing the downtime of the cleaning robot, improving overall operational efficiency, and simultaneously performing replacement and drying can better utilize the resources and functions of the cleaning base station, avoiding resource idleness and improving the utilization efficiency of the cleaning robot.

[0243] In addition, by replacing and drying the cleaning component midway, it can be ensured that the first cleaning component is ready for reuse in the shortest possible time, thereby improving the task turnaround speed of the cleaning robot.

[0244] Optionally, the method further includes:

[0245] After performing the disassembly action of the first cleaning component, if it is determined that the cleaning robot is still connected to the first cleaning component, and / or if it is determined that the receiving unit does not have the first cleaning component, then a first abnormal information is generated and / or the disassembly action of the first cleaning component is repeated again on pages 20 / 27 of the first cleaning instruction manual, CN 121549692 A.

[0246] For example, after the cleaning robot performs the disassembly action of the first cleaning component, the cleaning system will perform a detection to confirm whether the disassembly was successful. Usually, the following two situations are checked: First, whether the cleaning robot is still connected to the first cleaning component. This detection can be performed by sensor detection or mechanical feedback to confirm whether the cleaning component is still connected to the cleaning robot; Second, whether the receiving unit has the first cleaning component. This detection is performed by the sensor of the cleaning base station to confirm whether the receiving unit has received the detached cleaning component.

[0247] If any of the above-mentioned abnormal situations are detected, the cleaning system can generate first abnormal information, which may include error codes, alarm notifications, SMS notifications, etc., to prompt the user or the cleaning system to intervene, or the cleaning system may choose to repeat the disassembly action of the first cleaning component to try to correct the abnormal situation.

[0248] Optionally, the cleaning robot can perform the disassembly action of the first cleaning component by means of a robotic arm or other automated device such as a lifting mechanism. The specific process corresponding to the disassembly action is not limited in this application embodiment.

[0249] For example, after the cleaning robot returns to the cleaning base station, it activates its internal lifting structure to raise the lifting structure to the first preset position. At this time, the connection between the first cleaning component and the cleaning robot is released, and then due to gravity or cleaningThe base station is designed so that the first cleaning component naturally falls into the receiving unit located below the cleaning base station. Furthermore, after the first cleaning component successfully falls into the receiving unit, the cleaning robot is controlled to drive out of the cleaning base station.

[0250] It should be noted that the above disassembly process is only an example. The embodiments of this application do not limit the specific disassembly process. It can refer to the existing disassembly method or redefine a new disassembly method.

[0251] Therefore, by automatically detecting and handling abnormal situations, the cleaning system can identify and correct problems in the disassembly process in a timely manner, improve the operational reliability of the cleaning robot, reduce subsequent problems caused by the improper disassembly of the cleaning component, and allow users to understand the status of the cleaning system in a timely manner through the first abnormal information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction.

[0252] In addition, the cleaning system can automatically identify and handle abnormal situations in the disassembly process, improve the reliability and availability of the cleaning system, and reflect a higher level of intelligence.

[0253] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the method further includes:

[0254] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component present in the receiving unit is not the second cleaning component, then a second abnormality information is generated and / or the transport mechanism is controlled again to perform the action of transporting the second cleaning component from the storage unit to the receiving unit.

[0255] For example, after the transport operation of the transport mechanism is completed, the cleaning system will detect whether there is a second cleaning component in the receiving unit. If it is detected that the cleaning component present in the receiving unit is not the second cleaning component, the cleaning system can generate a second abnormality information, or it can choose to control the transport mechanism again to perform the action of transporting the second cleaning component from the storage unit to the receiving unit in an attempt to correct the abnormal situation.

[0256] The definition of the second abnormality information is similar to that of the first abnormality information, and will not be repeated here. For details, please refer to the description of the first abnormality information. One is to remind the first cleaning group of disassembly abnormality, and the other is to remind the second cleaning component of transport abnormality.

[0257] In this way, by detecting and handling abnormal situations during transportation, the cleaning system can identify and correct problems in a timely manner, improving the operational reliability of the cleaning base station, reducing subsequent problems caused by improper transportation of cleaning components, and allowing users to understand the status of the cleaning system in a timely manner through the second abnormal information and take necessary measures to intervene, providing a more efficient and transparent operating experience and improving user satisfaction. Specification 21 / 27 pages 25 CN 121549692 A

[0258] In addition, the cleaning system can automatically identify and handle abnormal situations during transportation, reflecting a higher level of intelligence and improving the adaptability of the cleaning base station in complex environments.

[0259] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the method further includes:

[0260] Before determining that the receiving unit has the second cleaning component, controlling the transport mechanism to take the second cleaning component from the storage unit, and controlling the transport mechanism to transport the taken second cleaning component to the receiving unit;

[0261] After determining that the second cleaning component is located in the receiving unit, controlling the transport mechanism to leave the position corresponding to the receiving unit.

[0262] In this embodiment of the application, the cleaning system can perform an in-situ detection to determine whether the second cleaning component exists in the receiving unit. For example, if it is detected that there is no second cleaning component in the receiving unit, the cleaning system will instruct the transport mechanism to take a new second cleaning component from the storage unit, and the transport mechanism is responsible for transporting the taken second cleaning component to the receiving unit. Further, after the cleaning system determines whether the transport mechanism has successfully placed the second cleaning component into the receiving unit, if it confirms that the position of the cleaning component is correct, the transport mechanism leaves the position corresponding to the receiving unit to make room for subsequent installation operations.

[0263] In this way, by automatically detecting the status of components in the receiving unit and promptly retrieving the cleaning components to be installed, it can be ensured that the cleaning robot can quickly return to the working state, reducing downtime. Furthermore, through the aforementioned automated in-situ detection and cleaning component replacement process, the cleaning robot can perform cleaning tasks more quickly, improving the utilization rate and task turnover rate of the cleaning robot.

[0264] In the foregoing embodiments, the control method of the cleaning robot provided in the embodiments of this application has been described. In order to realize the various functions in the methods provided in the embodiments of this application, the cleaning system as the execution subject may include hardware structures and / or software modules, and implement the above functions in the form of hardware structures, software modules, or hardware structures plus software modules. Whether a certain function among the above functions is executed in the form of hardware structures, software modules, or hardware structures plus software modules depends on the specific application and design constraints of the technical solution.

[0265] For example, FIG8 is a structural schematic diagram of a control device for a cleaning robot provided in an embodiment of this application. As shown in FIG8, the control device 800 for the cleaning robot is applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive the cleaning component disassembled from the cleaning robot and to receive the cleaning component to be installed on the cleaning robot. The control device 800 for the cleaning robot includes:

[0266] a first control module 801, used to control the cleaning robot to return to the cleaning base station to replace the cleaning component used to perform cleaning of the second area after the cleaning robot has completed cleaning of all sub-areas in the first area based on the currently installed first cleaning component.The required second cleaning component; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component;

[0267] the second control module 802 is used to control the cleaning robot to drive out of the cleaning base station after the cleaning robot returns to the cleaning base station and performs the disassembly action of the first cleaning component;

[0268] the third control module 803 is used to control the cleaning robot to drive into the cleaning base station to install the second cleaning component in the receiving unit after the cleaning robot is located outside the cleaning base station and if it is determined that the cleaning component present in the receiving unit is the second cleaning component.

[0269] Optionally, the cleaning areas corresponding to the first cleaning component and the second cleaning component are determined by at least one of the following methods:

[0270] Determined based on the location information of the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0271] Determined based on the material information of the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0272] Determined based on the degree of dirt on the surfaces to be cleaned in the cleaning areas corresponding to the first cleaning component and the second cleaning component;

[0273] Determined based on the functional information of the cleaning areas corresponding to the first cleaning component and the second cleaning component.

[0274] Optionally, the first control module 801 is specifically used for:

[0275] determining the first area that the cleaning robot needs to clean based on the currently installed first cleaning component according to a preset cleaning sequence;

[0276] controlling the cleaning robot to clean all sub-areas within the first area based on the first cleaning component, and after cleaning is completed, determining the second area that the cleaning robot needs to clean based on the preset cleaning sequence;

[0277] controlling the cleaning robot to return to the cleaning base station to replace the second cleaning component required for cleaning the second area.

[0278] Optionally, the preset cleaning sequence is determined in any of the following ways:

[0279] After the cleaning robot finishes mapping, a preset cleaning sequence for each cleaning area is generated based on the cleaning components required for each identified cleaning area;

[0280] In response to the user's voice control command, a preset cleaning sequence for each cleaning area is generated, wherein the voice control command is used to adjust the cleaning components and cleaning sequence required for at least one cleaning area;

[0281] In response to the user's configuration operation on the terminal device, a preset cleaning sequence for each cleaning area is generated; the configuration operation is used to configure the cleaning components and cleaning sequence required for at least one cleaning area; the terminal device establishes a communication connection with the cleaning robot;

[0282] Based on the historical information of the cleaning components used after the last cleaning task was completed, a preset cleaning sequence for each cleaning area is generated;

[0283] Wherein, all sub-areas in each cleaning area are grouped together and cleaned sequentially in a specific order, and the next group is cleaned after one group is completed.

[0284] Optionally, the cleaning base station also includes a third cleaning component, the third cleaning component corresponding to a different cleaning area than the second cleaning component, the third cleaning component corresponding to a third area; the control device 800 of the cleaning robot also includes a fourth control module, the fourth control module being used to:

[0285] after determining the second area to be cleaned by the cleaning robot based on a preset cleaning sequence, determine a first duration for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and determine a second duration for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or closest to the cleaning base station;

[0286] based on the first duration and the second duration, determine the target cleaning component to be replaced by the cleaning robot, so as to clean the target area based on the target cleaning component.

[0287] Optionally, the fourth control module includes a first determining unit, which is configured to:

[0288] control the cleaning robot to return to the cleaning base station to replace the second cleaning component when the first duration is less than or equal to the second duration, so as to clean the second area based on the second cleaning component;

[0289] control the cleaning robot to return to the cleaning base station to replace the third cleaning component when the first duration is greater than the second duration, so as to clean the third area based on the third cleaning component, and return to the cleaning base station to replace the second cleaning component after the cleaning of the third area is completed.

[0290] Optionally, the fourth control module includes a second determining unit, which is configured to:

[0291] determine a first path for the cleaning robot to return from its current position to the cleaning base station, a second path for the cleaning robot to travel from the cleaning base station to the second area (page 23 / 27 of the specification, CN 121549692 A), and the traveling speed of the cleaning robot;

[0292] determine a third time interval for returning to the cleaning base station based on the length of the first path and the traveling speed, and determine a fourth time interval required to travel to the second area based on the length of the second path and the traveling speed;

[0293] estimate a fifth time interval required for the cleaning robot to replace based on the replacement time interval of the second cleaning component last time;

[0294] determine a first time interval based on the third, fourth, fifth, and sixth time intervals; the sixth time interval is the average time interval required for the cleaning robot to avoid living obstacles in a historical time period.

[0295] Optionally, the control device 800 of the cleaning robot further includes a first cleaning module, which is used for:

[0296] When cleaning all sub-regions within the first region based on the first cleaning component, if a first obstacle region is detected during the process of moving from the current position to the target sub-region, the cleaning robot passes through the first obstacle region and then cleans the target sub-region based on the first cleaning component to complete the cleaning of all sub-regions within the first region; the first obstacle region is an obstacle region that the cleaning robot can cross.

[0297] Optionally, the control device 800 of the cleaning robot further includes a second cleaning module, which is configured to:

[0298] When cleaning all sub-regions within the first region based on the first cleaning component, if a second obstacle region is detected during the process of moving from the current position to the target sub-region, determine whether there are other sub-regions to be cleaned that need to be cleaned using the first cleaning component; the second obstacle region includes the area where an insurmountable obstacle is located and / or the restricted area formed by the obstacle;

[0299] If it is determined that there are other sub-regions to be cleaned, clean the other sub-regions to be cleaned based on the first cleaning component.

[0300] Optionally, the control device 800 of the cleaning robot further includes a fifth control module, which is configured to:

[0301] If it is determined that there are no other sub-regions to be cleaned, control the cleaning robot to return to the cleaning base station to replace the second cleaning component required to perform cleaning of the next region.

[0302] Optionally, the cleaning robot includes a body and an identification sensor, the identification sensor being used to identify the presence of the second cleaning component in the receiving unit; the third control module 803 includes a third determining unit, the third determining unit being used to:

[0303] determine that the second cleaning component exists in the receiving unit based on the identification result of the identification sensor; the identification range of the identification sensor covers the second cleaning component in the receiving unit.

[0304] Optionally, the control device 800 of the cleaning robot further includes a sixth control module, the sixth control module being used to:

[0305] when it is determined that the posture of the cleaning robot cannot identify the second cleaning component of the cleaning base station, control the cleaning robot to adjust its posture so that the identification sensor is oriented towards the direction in which the second cleaning component of the cleaning base station can be detected.

[0306] Optionally, the third control module 803 includes a control unit, the control unit being used to:

[0307] when it is determined that the second cleaning component exists in the receiving unit, control the cleaning robot to adjust its posture again so that the cleaning robot is oriented towards the direction in which it can dock with the cleaning base station, and control the cleaning robot to drive into the cleaning base station.

[0308] Optionally, the cleaning base station further includes a storage unit and a drying device. The storage unit is used to store the first cleaning component and the second cleaning component. The drying device includes an air outlet facing the storage unit for providing hot air to the storage unit. The control device 800 of the cleaning robot further includes a seventh control module, which is used to:

[0309] After the cleaning robot leaves the cleaning base station, control the transport mechanism to pick up the first cleaning component from the receiving unit and control the transport mechanism to transport the picked-up first cleaning component to the storage unit; and control the transport mechanism to take the second cleaning component from the storage unit and transport it to the receiving unit for the cleaning robot to install;

[0310] After the first cleaning component is transported to the storage unit, the air outlet of the drying device is opened to dry the first cleaning component. Specification 24 / 27 pages 28 CN 121549692 A

[0311] Optionally, the control device 800 of the cleaning robot further includes a first determining module, which is used to:

[0312] After performing the disassembly action of the first cleaning component, if it is determined that the cleaning robot is still connected to the first cleaning component, and / or if it is determined that the receiving unit does not have the first cleaning component, then generate a first abnormal information and / or repeat the disassembly action of the first cleaning component again.

[0313] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the control device 800 of the cleaning robot further includes a second determining module, which is used to:

[0314] After the transport mechanism completes the action of transporting the second cleaning component from the storage unit to the receiving unit, if it is determined that the cleaning component existing in the receiving unit is not the second cleaning component, then generate second abnormal information and / or control the transport mechanism again to perform the action of transporting the second cleaning component from the storage unit to the receiving unit.

[0315] Optionally, the cleaning base station further includes a storage unit for storing the first cleaning component and the second cleaning component; the control device 800 of the cleaning robot further includes an eighth control module, which is used to:

[0316] Before determining that the receiving unit contains the second cleaning component, control the transport mechanism to take the second cleaning component from the storage unit, and control the transport mechanism to transport the taken second cleaning component to the receiving unit;

[0317] After determining that the second cleaning component is located in the receiving unit, control the transport mechanism to leave the position corresponding to the receiving unit.

[0318] It should be noted that the specific implementation principle and effect of the control device of the above-mentioned cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated here.

[0319] For example, this application embodiment also provides a controller. FIG9 is a schematic diagram of the structure of a controller provided in this application embodiment. As shown in FIG9, the controller 400 is deployed in the cleaning system 300. The cleaning system 300 includes a cleaning robot 100 and a cleaning base station 200. The cleaning base station 200 includes a receiving unit 201, a transport mechanism 202, a first cleaning component, and a second cleaning component. The receiving unit 201 is used to receive the cleaning component disassembled from the cleaning robot 100, and to receive the cleaning component to be installed on the cleaning robot 100.

[0320] The controller 400 is used to execute the method as described in any of the above embodiments.

[0321] The above-mentioned controller 400 may include a microcontroller unit (MCU). Of course, the above-mentioned controller 400 may also include other devices capable of control functions.

[0322] It should be noted that the specific implementation principle and effects of the controller 400 described above can be found in the relevant descriptions and effects of the above embodiments, and will not be elaborated further here.

[0323] This application embodiment also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in any of the foregoing embodiments of this application.

[0324] This application embodiment also provides a chip for running instructions, which is used to execute the method described in any of the foregoing embodiments of this application executed by a cleaning device or cleaning system.

[0325] This application embodiment also provides a computer program product, which includes a computer program, which, when executed by a processor, can implement the method described in any of the foregoing embodiments of this application executed by a cleaning device or cleaning system.

[0326] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between the mutual specifications shown or discussed on pages 25 / 27 of CN 121549692 A may be through some interfaces, indirect coupling or communication connection between devices or modules, and may be electrical, mechanical or other forms.

[0327] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the modules may be selected to implement the scheme of this embodiment according to actual needs.

[0328] In addition, the functional modules in the various embodiments of this application may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned modules can be implemented in hardware or in the form of hardware plus software functional units.

[0329] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above-mentioned software functional modules stored in a storage medium include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0330] It should be understood that the above-mentioned processor may be a central processing unit (CPU).The unit (CPU) can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules in the processor.

[0331] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk, or optical disc, etc.

[0332] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus in the accompanying drawings of this application is not limited to only one bus or one type of bus.

[0333] The above-mentioned storage medium 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. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0334] An exemplary storage medium is coupled to a processor, thereby enabling the processor to read information from the storage medium.Information can be written to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in the cleaning device or the main control device.

[0335] It should be noted that, for the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should know that this application is not limited by the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0336] It should be further noted that, although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0337] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered as being within the scope of this specification.

[0338] Other embodiments of this application will be readily apparent to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the art that are not disclosed in this application. The description and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0339] The above description is only a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered by the implementation of this application.The scope of protection of the examples is within the scope of the claims. Therefore, the scope of protection of the embodiments of this application should be determined by the scope of protection of the claims. Instruction Manual 27 / 27 Page 31 CN 121549692 A Figure 1 Figure 2 Figure 3 Figure 4 Instruction Manual Appendix 1 / 4 Page 32 CN 121549692 A Figure 5 Figure 6 Instruction Manual Appendix 2 / 4 Page 33 CN 121549692 A Figure 7 Figure 8 Instruction Manual Appendix 3 / 4 Page 34 CN 121549692 A Figure 9 Instruction Manual Appendix 4 / 4 Page 35 CN 121549692 A CONTROL METHOD AND APPARATUS FOR CLEANING ROBOT, AND CLEANING SYSTEM Abstract The present application provides a control method and apparatus for a cleaning robot, and a cleaning system, relating to the field of intelligent robots, and applied to a cleaning system including a cleaning robot and a cleaning base station. The cleaning base station comprises a bearing unit, a transport mechanism, a first cleaning assembly, and a second cleaning assembly. The method comprises: generating a preset cleaning sequence in response to a user's adjustment operation on a cleaning assembly demand and a cleaning sequence for a cleaning area, so as to determine that, after the robot finishes cleaning all sub-areas in a first area based on the first cleaning assembly, therobot is controlled to return to the base station to replace the second cleaning assembly required for performing cleaning of a second area; controlling the robot to drive out of the base station after a disassembly action of the first cleaning assembly is completed upon returning to the base station; and after the robot is located outside the base station, controlling the robot to drive into the base station to install the second cleaning assembly if it is determined that the second cleaning assembly exists in the bearing unit. In this way, a user can adjust the cleaning sequence, thereby improving user experience and satisfaction.

Claims

1. A control method for a cleaning robot, characterized in that, The system is applied to a cleaning system, which includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive cleaning components disassembled from the cleaning robot, and to receive cleaning components to be installed on the cleaning robot; the method includes: In response to the user's adjustment of the cleaning components and cleaning order for the cleaning area, a preset cleaning order is generated, and based on the preset cleaning order, the first area that the cleaning robot needs to clean based on the currently installed first cleaning component is determined; After cleaning all sub-areas within the first area, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area; the first area includes at least one sub-area that requires cleaning using the first cleaning component; After the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component, the cleaning robot is controlled to drive out of the cleaning base station. After the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit is the second cleaning component, the cleaning robot is controlled to drive into the cleaning base station to install the second cleaning component in the receiving unit.

2. The method according to claim 1, characterized in that, The operation of responding to the user's needs for cleaning components and the order of cleaning in the cleaning area includes any of the following methods: In response to the user's voice control commands, adjust the cleaning component requirements and cleaning sequence of the cleaning area; In response to the user's configuration operation on the terminal device, the cleaning component requirements and cleaning sequence of the cleaning area are adjusted; the terminal device establishes a communication connection with the cleaning robot.

3. The method according to claim 1, characterized in that, After cleaning all sub-areas within the first area, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area, including: After cleaning all sub-areas within the first area, the second area to be cleaned by the cleaning robot is determined based on the preset cleaning sequence. The cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component required for cleaning the second area.

4. The method according to claim 3, characterized in that, The cleaning base station also includes a third cleaning component, which corresponds to a different cleaning area than the second cleaning component, and the third cleaning component corresponds to a third area; The method further includes: After determining the second area to be cleaned by the cleaning robot based on the preset cleaning sequence, the system determines a first time interval for the cleaning robot to return to the cleaning base station to replace the second cleaning component and return to the second area, and a second time interval for the cleaning robot to return to the cleaning base station to replace the third cleaning component and return to the third area; the third area is the cleaning area closest to the first area and / or the cleaning base station. Based on the first duration and the second duration, the target cleaning component that needs to be replaced by the cleaning robot is determined, so as to clean the target area based on the target cleaning component.

5. The method according to claim 4, characterized in that, The step of determining the target cleaning component that needs to be replaced by the cleaning robot based on the first duration and the second duration includes: If the first duration is less than or equal to the second duration, the cleaning robot is controlled to return to the cleaning base station to replace the second cleaning component, so as to clean the second area based on the second cleaning component; If the first duration is longer than the second duration, the cleaning robot is controlled to return to the cleaning base station to replace the third cleaning component, so as to clean the third area based on the third cleaning component, and after cleaning the third area, it returns to the cleaning base station to replace the second cleaning component.

6. The method according to claim 1, characterized in that, The method further includes: After determining the first duration of the cleaning robot returning to the cleaning base station to replace the second cleaning component and returning to the second area, the remaining battery power of the cleaning robot is obtained, and it is determined whether the remaining battery power supports the movement of the cleaning robot during the first duration and the execution of cleaning tasks in the second area. If it is determined that the remaining power is insufficient to support the cleaning robot's movement during the first duration and its cleaning tasks within the second area, then the cleaning robot is controlled to return to the cleaning base station for charging.

7. The method according to claim 1, characterized in that, The cleaning robot includes identification sensors, and the method further includes: After the cleaning robot is positioned outside the cleaning base station, if it is determined that the recognition range of the identification sensor is insufficient to cover the cleaning components in the receiving unit, the cleaning robot is controlled to rotate until the recognition range of the identification sensor covers the cleaning components in the receiving unit.

8. The method according to claim 1, characterized in that, The installation of the second cleaning component in the receiving unit includes: The cleaning base station drive lifting structure is controlled to descend to a second preset position. After the lifting structure reaches the second preset position, the cleaning robot is controlled to install the second cleaning component.

9. The method according to claim 1, characterized in that, The step of controlling the cleaning robot to leave the cleaning base station after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component includes: After the cleaning robot returns to the cleaning base station, the lifting structure inside the cleaning base station is controlled to rise to a first preset position so that the first cleaning component falls into the receiving unit; After the first cleaning component detaches from the receiving unit, the cleaning robot is controlled to drive out of the cleaning base station.

10. The method according to claim 1, characterized in that, The method further includes: If it is determined that the cleaning component present in the receiving unit is not the second cleaning component, a prompt message is generated to remind the user to manually replace the second cleaning component, or the cleaning base station is controlled to replace the cleaning component present in the receiving unit with the required second cleaning component.

11. The method according to claim 1, characterized in that, The first cleaning component and the second cleaning component are cleaning components with different cleaning performance, and / or the first cleaning component and the second cleaning component are cleaning components with different performance parameters.

12. The method according to claim 1, characterized in that, The process of cleaning all sub-regions within the first region includes: When cleaning all sub-regions within the first area using the first cleaning component, if a second obstacle area is detected during the process of moving from the current position to the target sub-region, it is determined whether there are other sub-regions to be cleaned that need to be cleaned using the first cleaning component; the second obstacle area includes the area where an insurmountable obstacle is located and / or the restricted area formed based on the obstacle; If it is determined that there are other sub-areas to be cleaned, the cleaning robot is controlled to adjust its path to avoid the second obstacle area, and the other sub-areas to be cleaned are cleaned based on the first cleaning component.

13. A control device for a cleaning robot, characterized in that, The system is applied to a cleaning system, which includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive cleaning components disassembled from the cleaning robot, and to receive cleaning components to be installed on the cleaning robot; the device includes: The first control module is used to respond to the user's adjustment operation on the cleaning component requirements and cleaning sequence of the cleaning area, generate a preset cleaning sequence, and determine the first area that the cleaning robot needs to clean based on the preset cleaning sequence and the currently installed first cleaning component; after cleaning all sub-areas within the first area, control the cleaning robot to return to the cleaning base station to replace the second cleaning component required to perform cleaning of the second area; the first area includes at least one sub-area that needs to be cleaned using the first cleaning component; The second control module is used to control the cleaning robot to leave the cleaning base station after the cleaning robot returns to the cleaning base station and completes the disassembly of the first cleaning component. The third control module is used to, after the cleaning robot is located outside the cleaning base station, if it is determined that the cleaning component present in the receiving unit is the second cleaning component, control the cleaning robot to drive into the cleaning base station to install the second cleaning component in the receiving unit.

14. A cleaning system, characterized in that, The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes a receiving unit, a transport mechanism, a first cleaning component, and a second cleaning component. The first cleaning component and the second cleaning component correspond to different cleaning areas. The receiving unit is used to receive cleaning components disassembled from the cleaning robot and to receive cleaning components to be installed on the cleaning robot. The cleaning system is used to perform the method as described in any one of claims 1-12.

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