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

Abstract

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

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511936239.4 (22) Application Date 2024.06.21 (62) Divisional Application Data 202410806874.X 2024.06.21 (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) Inventors: Sun Jiajia, Song Shangtai, Qian Hongzhi (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Zheng Haitao (51) Int.Cl. A47L 11 / 30 (2006.01) A47L 11 / 40 (2006.01) (54) Invention Title: Cleaning Robot and its Control Method, Cleaning System and Storage Medium (57) Abstract: This invention provides a cleaning robot and its control method, cleaning system and storage medium, belonging to the field of smart home technology. The method includes: during the cleaning process of the mop tray, controlling the liquid replenishment mechanism to replenish liquid to the mop tray with a first liquid replenishment amount; when the image information indicates that the type of the currently cleaned floor has changed, based on the changed floor type, controlling the liquid replenishment mechanism to replenish liquid to the mop tray with a liquid replenishment amount different from the first liquid replenishment amount. During the cleaning process, the floor is monitored in real time by sensors. When it is detected that the type of the currently cleaned floor has changed, the amount of liquid replenished to the cleaning device by the liquid replenishment mechanism is adjusted according to the changed floor condition, thereby improving the cleaning effect of the floor and making the cleaning robot more intelligent and humanized. Claims 1 page, Description 16 pages, Drawings 10 pages, CN 121587610 A 2026.03.03 CN 1 21 58 76 10 A 1. A control method for a cleaning robot, characterized in that the cleaning robot includes a cleaning component and a sensor for acquiring ground image information, the cleaning component includes a mop tray and a replenishing mechanism for replenishing cleaning fluid to the mop tray; the method includes: during the cleaning process of the mop tray cleaning the ground, controlling the replenishing mechanism to replenish fluid to the mop tray at a first replenishing amount; when the image information indicates a change in the type of ground currently being cleaned, based on the changed ground type, controlling the replenishing mechanism to replenish fluid to the mop tray at a replenishing amount different from the first replenishing amount. 2. The control method for the cleaning robot according to claim 1, characterized in that, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed ground type includes: when the image information indicates that the ground type changes from floor to tile, controlling the replenishing mechanism to replenish the mop tray with a second replenishing amount, wherein the second replenishing amount is less than the first replenishing amount.3. The control method for a cleaning robot according to claim 1, characterized in that, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from tile to floor, controlling the replenishing mechanism to replenish the mop tray with a third replenishing amount, wherein the third replenishing amount is greater than the first replenishing amount. 4. The control method for a cleaning robot according to claim 1, characterized in that, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from matte tile to glossy tile, controlling the replenishing mechanism to replenish the mop tray with a second replenishing amount, wherein the second replenishing amount is less than the first replenishing amount. 5. The control method for a cleaning robot according to claim 1, characterized in that, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from glossy tile to matte tile, controlling the replenishing mechanism to replenish the mop tray with a third replenishing amount, wherein the third replenishing amount is greater than the first replenishing amount. 6. The control method for a cleaning robot according to claim 1, characterized in that, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from rough floor to smooth floor, controlling the replenishing mechanism to replenish the mop tray with a second replenishing amount, wherein the second replenishing amount is less than the first replenishing amount; or, when the image information indicates that the floor type changes from smooth floor to rough floor, controlling the replenishing mechanism to replenish the mop tray with a third replenishing amount, wherein the third replenishing amount is greater than the first replenishing amount. 7. The control method for a cleaning robot according to claim 1, wherein the cleaning component further comprises a side brush and a roller brush. 8. A cleaning robot, comprising a cleaning component, a control device, and a sensor for acquiring ground image information, wherein the cleaning component comprises a roller brush, a side brush, a mop tray, and a liquid replenishment mechanism for replenishing liquid to the mop tray; the control device is used to execute the method according to any one of claims 1-7. 9. A cleaning system, comprising the cleaning robot according to claim 8. 10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1-7. Claims 1 / 1 page 2 CN 121587610 A Cleaning robot and its control method, cleaning system, and storage medium

[0001] This application is a divisional application of the invention patent with application number 202410806874.X, application date 2024.06.21, and invention title "Cleaning Robot and its Control Method, Cleaning System and Storage Medium". Technical Field

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

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

[0004] Existing cleaning robots are usually equipped with a liquid replenishment mechanism to deliver liquid to the cleaning components during wet cleaning, so as to achieve the function of continuous wet cleaning. However, existing cleaning robots often face various floor materials in the home environment, such as ceramic tiles, wood flooring, matte ceramic tiles, glossy ceramic tiles, rough floors and smooth floors. These materials have different physical properties, especially significant differences in water absorption: for example, ceramic tiles have a dense surface and poor water absorption, making them prone to leaving water stains after cleaning; while flooring has a certain degree of water absorption, requiring more cleaning liquid to achieve the ideal wet cleaning effect. Existing cleaning robots typically use a uniform replenishment amount and cleaning mode, and cannot identify changes in floor material.

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

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

[0007] To achieve the above objective, a first aspect of the present invention provides a control method for a cleaning robot, the cleaning robot including a cleaning component and a sensor for acquiring ground image information, the cleaning component including a mop tray and a replenishment mechanism for replenishing cleaning fluid to the mop tray; the method includes: during the cleaning process of the mop tray cleaning the ground, controlling the replenishment mechanism to replenish the mop tray with a first replenishment amount; when the image information indicates a change in the type of ground currently being cleaned, based on the changed ground type, controlling the replenishment mechanism to replenish the mop tray with a replenishment amount different from the first replenishment amount.

[0008] Optionally, the step of controlling the replenishment mechanism to replenish with a different amount of fluid based on the changed ground type is...The replenishment of the cleaning cloth tray with a certain amount of liquid includes: when the image information indicates that the floor type changes from floor to tile, controlling the replenishment mechanism to replenish the cleaning cloth tray with a second replenishment amount, wherein the second replenishment amount is less than the first replenishment amount.

[0009] Optionally, the step of controlling the replenishment mechanism to replenish the cleaning cloth tray with a replenishment amount different from the first replenishment amount based on the changed floor type includes: when the image information indicates that the floor type changes from tile to floor, controlling the replenishment mechanism to replenish the cleaning cloth tray with a third replenishment amount, wherein the third replenishment amount is greater than the first replenishment amount.

[0010] Optionally, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from matte tile to glossy tile, controlling the replenishing mechanism to replenish the mop tray with a second replenishing amount, wherein the second replenishing amount is less than the first replenishing amount.

[0011] Optionally, controlling the replenishing mechanism to replenish the mop tray with a replenishing amount different from the first replenishing amount based on the changed floor type includes: when the image information indicates that the floor type changes from glossy tile to matte tile, controlling the replenishing mechanism to replenish the mop tray with a third replenishing amount, wherein the third replenishing amount is greater than the first replenishing amount.

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

[0013] Optionally, the cleaning component further includes a side brush and a roller brush.

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

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

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

[0017] Through the above technical solutions, a cleaning robot and its control method, a cleaning system, and a storage medium are provided, in...During the cleaning process, the liquid replenishment mechanism replenishes the liquid to the cleaning tray with a first replenishment amount. When the image information indicates a change in the type of floor being cleaned, the liquid replenishment mechanism replenishes the cleaning tray with a different amount of liquid than the first replenishment amount, based on the changed floor type. During the cleaning process, the floor is monitored in real time by sensors. When a change in the type of floor being cleaned is detected, the liquid replenishment amount of the liquid replenishment mechanism is dynamically adjusted based on the changed floor type, and the cleaning tray is simultaneously controlled to rotate in a specific low-speed mode. By adjusting the amount of liquid replenished to the cleaning component according to the changed floor conditions when the floor changes, the cleaning effect of the floor is improved, making the cleaning robot more intelligent and human-like.

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

[0019] Brief Description of the Drawings: In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 is a bottom view of the cleaning robot provided in an embodiment of this application; Figure 2 is an exploded view of the optical flow sensor provided in an embodiment of this application; Figure 3 is a flowchart of the control method for the cleaning robot provided in an embodiment of this application; Figure 4 is a flowchart of the specific control method for the cleaning robot provided in this application (first); Figure 5 is a flowchart of the specific control method for the cleaning robot provided in this application (second); Figure 6 is a flowchart of the specific control method for the cleaning robot provided in this application (third); Figure 7 is a flowchart of the specific control method for the cleaning robot provided in this application (fourth); Figure 8 is a flowchart of the specific control method for the cleaning robot provided in this application (fifth); Figure 9 is a flowchart of the specific control method for the cleaning robot provided in this application (sixth); Figure 10 is a flowchart of the specific control method for the cleaning robot provided in this application (seventh); Figure 11 is a flowchart of the specific control method for the cleaning robot provided in this application (eighth); Figure 12 is a flowchart of the specific control method for the cleaning robot provided in this application (ninth); Figure 13 is a flowchart of the specific control method for the cleaning robot provided in this application (tenth); Figure 14 is a flowchart of the specific control method for the cleaning robot provided in this application (eleventh); Figure 15 is a flowchart of the specific control method for the cleaning robot provided in this application (twelfth). Figure 16 is a schematic flowchart of the specific control method for the cleaning robot provided in this application (Figure 13); Figure 17 is a schematic flowchart of the specific control method for the cleaning robot provided in this application (Figure 14); Figure 18 is a schematic flowchart of the specific control method for the cleaning robot provided in this application (Figure 15).Figure 19 is a schematic flowchart of the specific control method of the cleaning robot provided in this application, number sixteen; Figure 20 is a schematic flowchart of the specific control method of the cleaning robot provided in this application, number seventeen. Detailed Description of Embodiments

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

[0022] Existing cleaning robots are usually equipped with a liquid replenishment mechanism to deliver liquid to the cleaning parts during wet cleaning, thereby achieving the function of continuous wet cleaning. However, existing cleaning robots can only control the delivery of liquid to the cleaning parts or not deliver liquid, and cannot be adjusted according to the actual ground conditions, which is not intelligent enough.

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

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

[0025] The body can be circular, square, or other shapes, such as an irregular shape formed by combining a part of a circle and a part of a square. Specification 3 / 16 pages 5 CN 121587610 A

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

[0027] For example, the sensor mainly includes an optical flow sensor, or a combination of an ultrasonic sensor and an optical flow sensor, or a combination of an infrared sensor and an optical flow sensor.

[0028] Figure 2 is a schematic diagram of the exploded structure of the optical flow sensor provided in an embodiment of this application. As shown in Figure 2, the optical flow sensor includes an image sensor 201, a light source 202, and a circuit board 203. Both the image sensor 201 and the light source 202 are disposed on the circuit board 203. The image sensor 201 is used to acquire images of the clean surface, and the image sensor 201 can transmit the captured images to the circuit board 203. The circuit board 203 is electrically connected to a control device and is used to convert the images acquired by the image sensor 201 into image information and...The optical flow sensor is transmitted to the control device. The optical flow sensor may also include a protective cover 204. After the protective cover 204 is connected to the circuit board 203, it encloses the image sensor 201 and the light source 202 inside, thereby reducing interference from splashed liquid and debris on the normal operation of the image sensor 201 and the light source 202. It also protects the image sensor 201, the light source 202, and the circuit board 203, reducing the possibility of damage during collisions.

[0029] During operation, the image sensor continuously captures two images within a certain time period. The circuit board analyzes and processes the two images to obtain the direction and speed of the cleaning robot's movement within a certain time period. Furthermore, by analyzing the color features, texture features, brightness features, and other image features of the captured images, the circuit board can obtain the identification value of the working area and then match the corresponding ground conditions based on the identification value.

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

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

[0032] The image information includes brightness information, or image quality information, or both brightness and image quality information.

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

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

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

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

[0037] It should be understood that the cleaning robot can clean by sweeping in front and mopping behind, or by sweeping and mopping separately. Among them, sweeping in front and mopping behind can sweep and mop at the same time, which can improve cleaning efficiency. Sweeping and mopping separately can sweep first and then mop after sweeping, which can improve the cleaning effect. The accompanying drawings of this application show a sweeping robot with a mop tray fixed.The robot is used as an example of a cleaning robot to illustrate its functions and effects. Figure 1 above only shows some components related to the solution of this application, and does not limit whether the cleaning robot includes other components or parts. These can be added according to the functions provided by the cleaning robot.

[0038] The control device and storage component are both located inside the cleaning robot. Optionally, the storage component can be integrated with the control device, or they can be two independent components.

[0039] The storage component is used to store data; for example, various software control programs, some modes and / or parameters of the cleaning robot, etc. Specifically, the program may include program code, which includes computer operation instructions.

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

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

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

[0043] The following uses the control device in the cleaning robot as the execution subject as an example to specifically illustrate the technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems. 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.

[0044] Figure 3 is a schematic flowchart of the control method of the cleaning robot provided in the embodiment of this application. As shown in Figure 3, the method includes: S301, when the cleaning robot performs a cleaning task, acquiring image information of the area to be cleaned collected by the sensor.

[0045] For example, when the cleaning robot performs a self-service mobile cleaning task of the area to be cleaned, it detects the ground conditions in the area to be cleaned by the sensor set on the robot body.

[0046] The sensor can be located at the bottom, side, or top of the cleaning device body. The sensor's position relative to the cleaning component can be at the front end, rear end, or middle of the device in the direction of travel.

[0047] For example, the sensor is located at the bottom of the cleaning device body, at the front end in the direction of travel, while the cleaning component is located at the rear end relative to the direction of travel. This allows the cleaning robot to first...After the front-end sensor collects image information, it determines the ground condition based on the image information, and then determines whether to adjust the cleaning components at the back end based on the ground condition.

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

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

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

[0051] Another possible method for determining ground conditions based on image information is to collect image information by pre-setting ground conditions with different materials and states, and then process the collected image information using a classification model to train a classification model. When in use, the newly acquired image information is directly input into the pre-trained classification model to obtain the classification result and probability value of each result. The classification result with the highest probability value is output as the result of the current ground condition. The newly acquired image information can also be input into the classification model for training to improve the accuracy of the model output.

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

[0053] Method 2: The newly acquired image information is pre-processed and compared with the previously acquired image information. When the deviation is large after comparison, the newly acquired image information is then subjected to image data analysis to determine the ground condition.

[0054] Because the cleaning robot is constantly moving, if it is performing a floor cleaning task in the same area, the collected impact information is mostly consistent. For example, if both are floors or tiles, or both are clean or have normal dust, the collected previous image information and the next image information are almost identical in features, making comparison and processing difficult.The degree of sensitivity will decrease, and the changing image information can be quickly locked when the ground conditions change. After processing the image information, the frequency of image data analysis can be reduced, thereby reducing the consumption of computing resources and improving the overall information processing efficiency of the cleaning robot.

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

[0056] For example, when the ground is heavily dirty, a relatively wet cleaning component is needed to clean it, thereby improving the cleaning component's ability to clean dirt. If the ground is basically not dirty, it is not necessary to increase the humidity of the cleaning component. The liquid can be retained until it encounters dirt before use, thereby reducing the frequency of liquid replenishment for the cleaning robot.

[0057] For another example, when the ground is tile, due to the material characteristics of the tile, the cleaning component will leave a large amount of water stains after wet cleaning, resulting in poor cleaning effect. Usually, the cleaning robot needs to perform a re-cleaning process to eliminate the impact of water stains. However, when cleaning a wooden floor with a cleaning component of the same humidity, the amount of water stains left is less.

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

[0059] The method provided in this embodiment monitors changes in the ground conditions through sensors, and adjusts the amount of liquid replenished to the cleaning components by the replenishment mechanism according to the changed ground conditions when the ground conditions change, thereby improving the cleaning effect of the ground; at the same time, it reduces the complexity of the control logic and the computational load of image analysis and processing, improving the performance of the cleaning robot; it can also reasonably distribute the liquid carried in the cleaning robot body, improve the utilization rate of cleaning liquid, and reduce the replenishment frequency of the cleaning robot.

[0060] Meanwhile, when the cleaning robot is working in the preset cleaning mode, when it encounters sudden stains, especially water stains, soy sauce, vinegar, beverages, milk, oil stains, excrement, vomit, etc., the cleaning robot adjusts its cleaning method according to the current sudden stain. It adjusts the amount of liquid replenished to the mop tray according to the type and specific situation of the sudden stain. Simultaneously, it rotates the mop tray at a first speed (greater than or equal to 0 and less than 500 rpm), rotates the side brush at a second speed (greater than or equal to 0 and less than 500 rpm), and rotates the roller brush at a third speed (greater than or equal to 0 and less than 2000 rpm). While the cleaning robot is working, the mop tray, side brush, and roller brush are generally rotating. This is especially important when the cleaning robot encounters sudden stains.Page 6 / 16, CN 121587610 A: When there are water stains, water-based liquids, oil stains, excrement, or vomit, the mop tray, side brush, and roller brush will scatter these stains all over the room, causing serious pollution to the floor. For example, if there are pets at home, and the pets urinate on the floor, the cleaning robot's side brush, mop tray, and roller brush will sweep and drag the urine all over the area, giving the user a very bad experience.

[0061] For such sudden stains, especially water stains, soy sauce, vinegar, beverages, milk, and other water-based liquids, oil stains, excrement, vomit, etc., the optical flow sensor is used to monitor the changes in the state of the floor in real time. When a sudden stain is detected, the water supply to the mop tray is adjusted through the water replenishment structure, so that the sudden stain can be cleaned in a targeted manner. The rotation speed of the mop tray, side brush, and roller brush is also adjusted to avoid scattering and throwing water stains and other stains. That is, the mop tray rotates at a first speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering and splashing water. If the rotation speeds of the mop tray, side brush, and roller brush are within the corresponding first, second, and third speeds, then their rotation speeds remain unchanged. Of course, if the rotation speeds of the mop tray, side brush, and roller brush are not within the corresponding first, second, and third speeds, then their rotation speeds are adjusted to fall within the corresponding first, second, and third speeds. By adjusting the water supply and rotation speed, the cleaning robot can perform targeted cleaning of water stains, avoiding the spread of water stains. This enables the cleaning robot to intelligently target specific stains for specific areas, making the cleaning robot more intelligent and user-friendly, thereby improving the floor cleaning effect, reducing the number of repeated cleanings, and thus improving cleaning efficiency. This method can also rationally distribute the liquid carried inside the cleaning robot, improving the utilization rate of cleaning liquid and reducing the frequency of liquid replenishment for the cleaning robot.

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

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

[0064] Figure 4 is a schematic flowchart of the specific control method of the cleaning robot provided in this application. The cleaning robot includes a cleaning component and an optical flow sensor for acquiring ground image information. The cleaning component includes a roller brush, a side brush, a mop tray, and a liquid replenishment mechanism for replenishing cleaning liquid to the mop tray. Referring to Figure 4, the control method of the cleaning robot includes: S401, during the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

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

[0066] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism is reduced, thereby reducing the humidity of the wiping tray, so that the water stains on the wiping tray after cleaning the ground are reduced or even disappear.

[0067] Since the image information indicates that there are water stains on the ground, it means that the humidity of the mop tray exceeds the cleaning requirements of the ground. It is necessary to reduce the humidity of the mop tray. The main way to reduce the humidity is to reduce the amount of liquid replenished by the liquid replenishment mechanism to the mop tray, so as to reduce the water stain residue on the ground, thereby improving the cleaning effect and reducing the number of repeated cleanings. At the same time, the mop tray is rotated at a first speed, which is greater than or equal to 0 and less than 500 rpm. The side brush is rotated at a second speed, which is greater than or equal to 0 and less than 500 rpm. The roller brush is rotated at a third speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush and roller brush from scattering and throwing water stains. This allows the cleaning robot to perform targeted cleaning of water stains, avoiding the spread of water stains. It realizes that the cleaning robot can intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and humanized, thereby improving cleaning efficiency.

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

[0069] Scenario 2: Changes in ground dirt.

[0070] Figure 5 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 5, the control method of the cleaning robot includes: S501, during the process of the mop mop cleaning the ground, the liquid replenishment mechanism of the cleaning robot replenishes the mop mop with a first liquid replenishment amount.

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

[0072] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, which reduces the liquid replenishment amount of the liquid replenishment mechanism, thereby reducing the humidity of the wiping tray.

[0073] Since the liquid replenished by the liquid replenishment mechanism is mainly water, if the cleaning component has high humidity when encountering water-based liquids, it will affect the water absorption of the cleaning component, thereby reducing the cleaning effect of the cleaning robot on water-based liquids. Therefore, it is necessary to reduce the liquid output of the liquid replenishment mechanism, or even adjust the liquid output of the liquid replenishment mechanism to 0, so that the mop tray can absorb water-based liquids while cleaning the floor, thereby improving the floor cleaning effect. Meanwhile, the mop tray rotates at a first rotation speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotation speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotation speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering and splashing water-based liquids such as soy sauce, vinegar, beverages, and milk. This allows the cleaning robot to perform targeted cleaning of water-based liquids, preventing the spread of water-based liquids. It enables the cleaning robot to intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and user-friendly.

[0074] Figure 6 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 6, the control method of the cleaning robot includes: S601, during the process of the mop tray cleaning the floor, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount. Instruction manual, page 8 / 16, 10 CN 121587610 A

[0075] S602, the image information acquired by the optical flow sensor indicates that there is an aqueous liquid on the ground, and the aqueous liquidWhen the area of ​​the body is greater than the preset absorption area of ​​the wiping tray, the replenishment of liquid to the wiping tray is stopped, and the suction mechanism is controlled to suck up the aqueous liquid.

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

[0077] Wherein, the second replenishment amount is less than the first replenishment amount, so that the replenishment amount of the replenishment mechanism is reduced, thereby reducing the humidity of the wiping tray.

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

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

[0080] Among these, water-based liquids such as soy sauce, vinegar, beverages, and milk may also be colored. Therefore, after the cleaning robot completes a cleaning of the floor with the water-based liquid, the colored water-based liquid will cause the image information to indicate that there is color residue on the floor. At this time, the rag will also be covered with the color of the water-based liquid, making it impossible to further clean the floor. Therefore, it is necessary to stop replenishing the rag tray to stop the loss of cleaning liquid during the non-cleaning process, and control the cleaning robot to return to the base station to clean the rag tray. After the rag tray is cleaned, the robot returns to the floor where the image information indicates that there is color residue, and controls the replenishment mechanism to replenish the rag tray with a first replenishment amount to clean the floor, thereby using a clean rag to remove the residual color from the floor and improve the cleaning effect. Simultaneously, the mop tray rotates at a first rotational speed, greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotational speed, greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotational speed, greater than or equal to 0 and less than 2000 rpm. This prevents the mop tray, side brush, and roller brush from scattering or splashing water-based liquids such as soy sauce, vinegar, beverages, and milk, allowing the cleaning robot to perform targeted cleaning of water-based liquids, preventing the spread of water-based liquids, and realizing the intelligent cleaning robot.The cleaning robot can perform targeted cleaning of specific stains in specific areas, making it more intelligent and user-friendly.

[0081] Figure 7 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 7, the control method of the cleaning robot includes: S701, during the cleaning of the floor by the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0082] S702, when the image information obtained by the optical flow sensor indicates that there are solid particles on the floor, the liquid replenishment to the mop tray is stopped, and the suction mechanism is controlled to suck up the solid particles.

[0083] S703, the liquid replenishment mechanism is controlled to replenish the mop tray with a third liquid replenishment amount, the mop tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed, the first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm. Instruction manual, pages 9 / 16, CN 121587610 A

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

[0085] A suction mechanism is added to the cleaning robot. When the image information obtained by the optical flow sensor identifies solid particles and other dirt on the ground, the liquid supply needs to be stopped first. The suction mechanism is used to remove the solids first, and then wet cleaning is performed to avoid wetting the solid dirt and increasing the cleaning difficulty. Then the replenishment amount of the mop tray is increased to enhance the cleaning power. By using the method of suction first and then wet cleaning, the cleaning efficiency and cleaning effect can be effectively improved.

[0086] Figure 8 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 8, the control method of the cleaning robot includes: S801, during the process of the mop tray cleaning the floor, the replenishment mechanism of the cleaning robot replenishes the mop tray with the first replenishment amount.

[0087] S802. When the image information acquired by the optical flow sensor indicates the presence of oily liquid on the ground, stop replenishing the wiping tray with liquid and control the suction mechanism to suction the oily liquid.

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

[0089] Wherein, the third liquid replenishment amount is greater than the first liquid replenishment amount, thereby increasing the liquid replenishment amount of the liquid replenishment mechanism, thus increasing the humidity of the wiping tray and improving the cleaning power of the ground.

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

[0091] It should be noted that increasing the liquid output will lead to an increase in the amount of water residue on the ground. However, for environments with heavy oil and heavy pollution, the primary task of the cleaning robot is to remove dirt and grime, and the cleaning robot usually needs to perform re-cleaning as well. Therefore, the liquid output of the replenishment mechanism can be increased when heavy oil and heavy pollution are present, and the liquid output of the replenishment mechanism can be reduced according to the ground moisture level when heavy oil and heavy pollution are not present, so as to meet the cleaning effect requirements of the water residue on the ground after cleaning by the cleaning robot.

[0092] Figure 9 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 9, the control method of the cleaning robot includes: S901, during the cleaning process of the mop tray, the replenishment mechanism of the cleaning robot replenishes the mop tray with a first replenishment amount.

[0093] S902, when the image information indicates that there is vomit or excrement on the ground, the replenishment of liquid to the mop tray is stopped, and the suction mechanism is controlled to suction the vomit or excrement.

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

[0095] S904. After cleaning the floor where there is vomit or excrement, the replenishment of the cloth tray is stopped, and the cleaning robot is controlled to return to the base station to clean the suction mechanism and wash the cloth tray.

[0096] Wherein, the third replenishment amount is greater than the first replenishment amount, which increases the replenishment amount of the replenishment mechanism, thereby...The increased humidity in the mop tray enhances the cleaning power of the floor.

[0097] When dealing with special types of waste such as vomit or excrement, in order to remove the waste as quickly as possible, the original ordinary cleaning task needs to be stopped first. Then, the waste is removed quickly by suction, and after removal, a wiping cloth with a large amount of liquid is used for strong cleaning to improve cleaning efficiency. After cleaning, the cleaning robot needs to clean its body as soon as possible. Therefore, after only suctioning and cleaning the ground where there is vomit or excrement, it should immediately return to perform the body cleaning operation and not clean other areas of the ground to prevent the odor of the waste inside the body from overflowing or causing secondary pollution to the ground. At the same time, the wiping cloth is rotated at a first speed, which is greater than or equal to 0 and less than 500 rpm, the side brush is rotated at a second speed, which is greater than or equal to 0 and less than 500 rpm, and the roller brush is rotated at a third speed, which is greater than or equal to 0 and less than 2000 rpm. This avoids the wiping cloth, side brush and roller brush scattering and throwing the vomit or excrement, and also avoids secondary pollution to the ground, making the cleaning robot more intelligent and humanized.

[0098] Figure 10 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 10, the control method of the cleaning robot includes: S1001, during the cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

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

[0100] Wherein, the third liquid replenishment amount is greater than the first liquid replenishment amount, thereby increasing the liquid replenishment amount of the liquid replenishment mechanism, thereby increasing the humidity of the mop tray and thus improving the cleaning power of the ground.

[0101] Since paste-like substances are more difficult to clean than ordinary solids and liquids, it is necessary to increase the humidity of the mop tray to enhance the cleaning power of the floor and achieve a better cleaning effect.

[0102] Through the above adjustment method, the liquid replenishment mechanism can adjust the liquid output according to different dirt conditions, thereby effectively removing dirt from the floor, improving the floor cleaning effect, and increasing the utilization rate of the carried liquid; after the dirt is removed, the liquid replenishment volume can continue to be adjusted according to the floor type, realizing the control logic of prioritizing dirt removal and then considering water stains after dirt removal, making the control process more reasonable.

[0103] Scenario 3: Change in floor material.

[0104] Figure 11 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 11, the control method of the cleaning robot includes: S1101, during the cleaning of the floor by the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

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

[0106] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism is reduced, thereby reducing the humidity of the mop tray.

[0107] Figure 12 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 12, the control method of the cleaning robot includes: S1201, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the tiles.

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

[0109] Wherein, the third liquid replenishment amount is greater than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism increases, thereby increasing the humidity of the wiping tray, thereby improving the cleaning power of the floor.

[0110] Due to its material properties, the floor has a certain ability to absorb liquid. When the cleaning robot maintains a first liquid output to clean the floor, and the water residue on the floor after cleaning meets the cleaning effect requirements, if the floor is changed to a tile, due to the low liquid absorption of the tile itself, if the cleaning robot still maintains the first liquid output to clean the tile, it will result in a large amount of water residue remaining on the tile after cleaning, affecting the cleaning effect. This requires the cleaning robot to re-clean to eliminate the impact of water residue on the cleaning effect. Therefore, when cleaning tiles, the liquid output can be adjusted to a second liquid output, which is less than the first liquid output, and the second liquid output can meet the cleaning robot's requirements for water residue remaining on the floor after cleaning. At the same time, the mop tray is rotated at a first rotation speed, which is greater than or equal to 0 and less than 500 revolutions per minute, and the side brush is rotated at a second rotation speed.The second rotation speed is greater than or equal to 0 and less than 500 rpm, and the roller brush rotates at a third rotation speed, greater than or equal to 0 and less than 2000 rpm. This avoids the wiping pad, side brush and roller brush scattering and flying water stains, allowing the cleaning robot to perform targeted cleaning of water stains, avoiding the spread of water stains. This realizes that the cleaning robot can intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and humanized.

[0111] As mentioned above, by utilizing the different liquid absorption capacity of different materials, a corresponding liquid output capacity is preset. When a change in the ground condition is detected as a change in the ground material, the liquid output capacity corresponding to that material is directly called, and the current liquid output capacity is adjusted according to the corresponding liquid output capacity. This makes more reasonable use of the liquid stored in the machine body, improves the cleaning effect, reduces the frequency of liquid replenishment and the number of times the cleaning robot cleans the ground, and improves the cleaning efficiency.

[0112] Figure 13 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 13, the control method of the cleaning robot includes: S1301, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans matte tiles.

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

[0114] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, thereby reducing the liquid replenishment amount of the liquid replenishment mechanism and thus reducing the humidity of the wiping tray. Instruction manual, pages 12 / 16, CN 121587610 A

[0115] Figure 14 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 14, the control method of the cleaning robot includes: S1401, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the glossy tiles.

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

[0117] Wherein, the third liquid replenishment amount is greater than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism increases, thereby cleaning the glossy tiles.The increased humidity of the mop tray enhances the cleaning power of the floor.

[0118] Figure 15 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 15, the control method of the cleaning robot includes: S1501, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount, and the mop tray cleans the rough floor.

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

[0120] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism is reduced, thereby reducing the humidity of the mop tray.

[0121] Figure 16 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 16, the control method of the cleaning robot includes: S1601, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the smooth floor.

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

[0123] Wherein, the third liquid replenishment amount is greater than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism increases, thereby increasing the humidity of the wiping tray, thereby improving the cleaning power of the floor.

[0124] In the above embodiments, matte tiles, glossy tiles, rough floors, and smooth floors are different types of flooring. Flooring type is a further refinement of flooring material. When the flooring material is the same, due to different processing methods and effect requirements, floors of the same material can be processed into different types, thus requiring further subdivision of the corresponding liquid requirements for each type.

[0125] The brightness of the reflected light from the floor can be obtained from image information, such as the FA value. Different brightness levels correspond to different flooring types. Generally speaking, matte floors reflect light less, and water stains are not easily observed. Therefore, compared to glossy floors, the liquid requirement for glossy floors is less than that for matte floors. That is, when cleaning...When the cleaning robot maintains cleaning of a matte floor with the third liquid output, if it detects a change in the floor type to a glossy floor, it needs to reduce the liquid output to ensure that the water residue on the floor after cleaning meets the cleaning effect requirements. Instruction manual 13 / 16 pages 15 CN 121587610 A

[0126] The image quality of the floor can be obtained based on image information, such as the IQ value. Different image quality conditions can correspond to different floor types. Generally speaking, water residue on rough floors is not easy to observe. Therefore, compared with smooth floors, the liquid requirement for smooth floors is less than that for rough floors. That is, when the cleaning robot maintains cleaning of a rough floor, if it detects a change in the floor type to a smooth floor, it needs to reduce the liquid output to ensure that the water residue on the floor after cleaning meets the cleaning effect requirements.

[0127] Through the above methods, the humidity of the mop tray is precisely controlled for the further refined classification of floor materials, which further improves the cleaning effect of the floor, reduces the number of re-cleaning times, and thus improves the cleaning efficiency.

[0128] Scenario 4: Change of floor obstacles.

[0129] Figure 17 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 17, the control method of the cleaning robot includes: S1701, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the ground.

[0130] S1702, when the image information obtained by the optical flow sensor indicates that the ground changes to the edge of at least one of the tracks, pressure strips, steps, and floor mats, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount, the wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed, the first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0131] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount, so that the liquid replenishment amount of the liquid replenishment mechanism is reduced, thereby reducing the humidity of the wiping tray.

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

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

[0134] Wherein, the third replenishment amount is greater than the first replenishment amount, so that the replenishment amount of the replenishment mechanism increases, thereby increasing the humidity of the mop tray, thereby improving the cleaning power of the floor.

[0135] For example, when the cleaning robot moves to the track or pressure strip or step to clean, due to the height difference, it will cause a certain amount of compression to the cleaning part. If the liquid content in the cleaning part is large, the liquid will be squeezed out of the cleaning part. The liquid that is squeezed out is likely to enter the gap of the track or pressure strip or step. The long-term humid environment will breed bacteria and cause secondary pollution to such areas. Therefore, when cleaning the above areas, it is necessary to reduce the liquid output of the replenishment mechanism.

[0136] For example, when the cleaning robot moves to the edge of a covering, such as a floor mat or carpet, since the covering usually does not need to be wet-cleaned, but the covering itself is easily contaminated by water, it is necessary to reduce the liquid content of the cleaning component to avoid the liquid on the cleaning component being absorbed by the covering after contact with it during the cleaning process, or the liquid squeezed out by the covering when the cleaning component cleans the edge entering the area below the covering through the gap between the covering and the ground, causing the area below the covering to be in a humid environment for a long time, which breeds bacteria and causes secondary contamination of the covering and the ground below the covering.

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

[0138] Figure 19 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 19, the control method of the cleaning robot includes: S1901, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the ground.

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

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

[0141] Figure 20 is a schematic diagram of the specific control method of the cleaning robot provided in this application. Referring to Figure 20The control method of the cleaning robot includes: S2001, the liquid replenishment mechanism of the cleaning robot replenishes the wiping tray with a first liquid replenishment amount, and the wiping tray cleans the preset gap floor.

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

[0143] Wherein, the third replenishment amount is greater than the first replenishment amount, thereby increasing the replenishment amount of the replenishment mechanism, which in turn increases the humidity of the mop tray, thereby improving the cleaning power of the floor; the preset gap floor includes the floor with a gap width and / or length greater than the preset width and / or length, reducing the adjustment frequency and avoiding repeated adjustments that lead to ineffective adjustment of the mop tray humidity.

[0144] For example, after long-term use, some gaps will be generated in the floor. These gaps are easy to trap dust and other dirt. In a dry state, this dirt can be sucked away by the cleaning robot using suction. However, when liquid mixes with dirt, the adhesion between the dirt and the gap will increase, requiring a higher suction power to be sucked away, or even if the suction power is increased, it may not be sucked away. Moreover, liquid entering the gap can easily lead to bacterial growth and may also corrode the relatively weak protective wood board material in the gap, reducing the service life of the floor.

[0145] Therefore, when encountering gaps, the amount of liquid replenishment should be reduced as much as possible, or even reduced to 0, to reduce the possibility of liquid overflowing from the cleaning parts into the gaps. At the same time, it can also save the amount of liquid carried in the body, thereby reducing the frequency of liquid replenishment of the cleaning robot, reducing the time loss of liquid replenishment in the body, and improving the cleaning efficiency of the cleaning robot.

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

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

[0148] This application also provides a computer-readable storage medium storing computer-executable instructions, which are used to implement a control method for a cleaning robot when executed by a processor. Specification 15 / 16 pages 17 CN 121587610 A

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

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

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Instruction Manual 16 / 16 Page 18 CN 121587610 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 10 Page 19 CN 121587610 A Figure 3 Figure 4 Instruction Manual Appendix 2 / 10 Page 20 CN 121587610 A Figure 5 Figure 6 Instruction Manual Appendix 3 / 10 Page 21 CN 121587610 A Figure 7 Figure 8 Instruction Manual Appendix 4 / 10 Page 22 CN 121587610 A Figure 9 Figure 10 Instruction Manual Appendix 5 / 10 Page 23 CN 121587610 A Figure 11 Figure 12 Instruction Manual Appendix 6 / 10 Page 24 CN 121587610 A Figure 13 Figure 14 Instruction Manual Appendix 7 / 10 Page 25 CN 121587610 A Figure 15 Figure 16 Instruction Manual Appendix 8 / 10 Page 26 CN 121587610 A Figure 17 Figure 18 Instruction Manual Drawings, Pages 9 / 10, 27 CN 121587610 A Figure 19 Figure 20 Instruction Manual Drawings, Pages 10 / 10, 28 CN 121587610 A CLEANING ROBOT, CONTROL METHOD THEREOF, CLEANING SYSTEM AND STORAGE MEDIUM Abstract The present invention provides a cleaning robot, a control method thereof, a cleaning system and a storage medium, belonging to the technical field of smart home. The methodincludes: controlling a liquid supply mechanism to supply liquid to a mop disc at a first liquid supply amount during a process of cleaning a floor by the mop disc; and when image information indicates that a type of the floor currently being cleaned changes, controlling the liquid supply mechanism to supply liquid to the mop disc at a liquid supply amount different from the first liquid supply amount based on the changed floor type. During the cleaning process, a sensor monitors the floor in real time. When it is recognized that the type of the floor currently being cleaned changes, the amount of liquid supplied by the liquid supply mechanism to a cleaning member is adjusted according to the changed floor condition, so as to improve the floor cleaning effect and make the cleaning robot more intelligent and user-friendly.

Claims

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

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

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

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

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

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

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

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

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

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

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