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; when the image information indicates that the ground is changed into the edge of at least one of a track, a pressing strip, a step or a ground mat or the ground meeting the preset gap ground, the liquid supplementing mechanism is controlled to supplement liquid to the cleaning cloth disc according to the second liquid supplementing amount, the cleaning cloth disc is controlled to rotate at the first rotating speed, the side brush is controlled to rotate at the second rotating speed, and the rolling brush is controlled to rotate at the third rotating speed; wherein the second liquid supplementing amount is smaller than the first liquid supplementing amount. In the process that the cleaning robot adopts the rag disc to perform wet cleaning, the sensor is used for monitoring the state change of the ground, and the image information acquired by the sensor is used for identifying that the special obstacle exists on the ground, so that the cleaning robot is more intelligent and humanized. The cleaning effect is improved, and the intelligent degree of the cleaning equipment is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511935617.7 (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: Li Hong (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 the mop tray with a first liquid replenishment amount; when the image information indicates that the ground changes to the edge of at least one of the tracks, strips, steps or mats or the ground that meets the preset gap, controlling the liquid replenishment mechanism to replenish the mop tray with a second liquid replenishment amount, and controlling the mop tray to rotate at a first speed, controlling the side brush to rotate at a second speed, and controlling the roller brush to rotate at a third speed; wherein, the second liquid replenishment amount is less than the first liquid replenishment amount. During the process of the cleaning robot performing wet cleaning with the mop tray, the sensor monitors the changes in the state of the ground, and uses the image information obtained by the sensor to identify the presence of special obstacles on the ground, making the cleaning robot more intelligent and humanized. Improve the cleaning effect and enhance the intelligence level of the cleaning equipment. Claims 1 page, Description 16 pages, Drawings 10 pages, CN 121512396 A 2026.02.13 CN 1 21 51 23 96 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 side brush, a roller brush, 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, controlling the replenishment mechanism to replenish the mop tray with a first replenishment amount; when the image information indicates that the ground changes to the edge of at least one of a track, strip, step, or mat, or a ground that meets a preset gap, controlling the replenishment mechanism to replenish the mop tray with a second replenishment amount, and controlling the mop tray to rotate at a first rotation speed, controlling the side brush to rotate at a second rotation speed, and controlling the roller brush to rotate at a third rotation speed;Wherein, the first rotational speed is greater than or equal to 0 and less than 500 rpm, the second rotational speed is greater than or equal to 0 and less than 500 rpm, the third rotational speed is greater than or equal to 0 and less than 2000 rpm, and the second replenishment volume is less than the first replenishment volume. 2. The control method for a cleaning robot according to claim 1, wherein the method further comprises: when the image information indicates that the edge of at least one of the track, pressure strip, step, or floor mat changes to the ground, controlling the replenishment mechanism to replenish the wiping tray with a third replenishment volume; wherein the third replenishment volume is greater than the first replenishment volume. 3. The control method for a cleaning robot according to claim 1, wherein the preset gap floor is determined based on the gap width and / or gap length of the ground. 4. The control method for a cleaning robot according to claim 3, wherein the preset gap floor is determined based on the gap width and / or gap length of the ground, comprising: determining a ground with a gap width greater than a preset width and / or a gap length greater than a preset length as a preset gap floor. 5. The control method for a cleaning robot according to claim 3, characterized in that the method further comprises: during the process of controlling the replenishing mechanism to replenish the cleaning cloth tray with the second replenishing amount to clean the preset crevice floor, if the image information indicates that the preset crevice floor does not exist, controlling the replenishing mechanism to replenish the cleaning cloth tray with the 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 the second replenishing amount is zero. 7. A cleaning robot, characterized in that it comprises a cleaning component, a control device, and a sensor for acquiring ground image information, the cleaning component comprising a roller brush, a side brush, a cleaning cloth tray, and a replenishing mechanism for replenishing liquid to the cleaning cloth tray; the control device is used to execute the method according to any one of claims 1-6. 8. A cleaning system, characterized in that it comprises the cleaning robot according to claim 7. 9. 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 according to any one of claims 1-6. Claims 1 / 1 Page 2 CN 121512396 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 move automatically and clean the ground. 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, cleaning robots often encounter various ground obstacles or special terrains during the cleaning process, such as tracks, strips, steps, the edges of floor mats, and floors with gaps (such as wide-gap floors). Due to height differences, unevenness, or gaps, the mop tray of the cleaning robot may be subjected to uneven pressure when in contact with these areas, causing the cleaning liquid to be squeezed out.

[0005] When the cleaning robot cleans such obstacle areas (such as gaps, steps), the squeezed liquid may seep into the gaps or contaminate the surface of the obstacle, causing secondary pollution, bacterial growth, or even damage to the obstacle (such as floor mats getting wet or tracks corroding). For example, in crevices, liquid mixes with dust and hardens, increasing cleaning difficulty, and long-term dampness can breed mold. Furthermore, existing cleaning robots operate at high speeds, easily splashing out liquid at the edges of obstacles, further expanding the contamination area.

[0006] Therefore, existing technologies lack the ability to identify obstacles and cannot dynamically adjust the liquid replenishment during cleaning, resulting in poor cleaning performance in scenarios with changing ground obstacles, potentially causing maintenance problems and safety hazards, and lacking intelligence. Summary of the Invention

[0007] The purpose of this invention is to provide a cleaning robot and its control method, cleaning system, and storage medium to at least solve the problems of the existing technology lacking the ability to identify obstacles, being unable to dynamically adjust the liquid replenishment during cleaning, resulting in poor cleaning performance in scenarios with changing ground obstacles, potentially causing maintenance problems and safety hazards, and lacking intelligence.

[0008] To achieve the above objective, the 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 side brush, a roller brush, 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 that the ground changes to the edge of at least one of the following: track, strip, step, or mat, or a ground that meets a preset gap, controlling the replenishment mechanism to replenish the mop tray with a second replenishment amount, and controlling the mop tray to rotate at a first rotation speed, controlling the side brush to rotate at a second rotation speed, and controlling the roller brush to rotate at a third rotation speed;Wherein, the first rotational speed is greater than or equal to 0 and less than 500 rpm, the second rotational speed is greater than or equal to 0 and less than 500 rpm, the third rotational speed is greater than or equal to 0 and less than 2000 rpm, and the second replenishment amount is less than the first replenishment amount.

[0009] Optionally, the method further includes: when the image information indicates that the edge of at least one of the track, pressure strip, step, or floor mat changes to the ground, controlling the replenishment mechanism to replenish the wiping tray with a third replenishment amount; wherein, the third replenishment amount is greater than the first replenishment amount.

[0010] Optionally, the preset gap floor is determined based on the gap width and / or gap length of the ground.

[0011] Optionally, the preset gap floor is determined based on the gap width and / or gap length of the ground, including: determining the ground with a gap width greater than a preset width and / or a gap length greater than a preset length as the preset gap floor.

[0012] Optionally, the method further includes: during the process of controlling the replenishing mechanism to replenish the cleaning cloth tray with the second replenishing amount to clean the preset gap floor, if the image information indicates that the preset gap floor does not exist, controlling the replenishing mechanism to replenish the cleaning cloth tray with the third replenishing amount; wherein, the third replenishing amount is greater than the first replenishing amount.

[0013] Optionally, the second replenishing amount is zero.

[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 cleaning cloth tray, and a replenishing mechanism for replenishing liquid to the cleaning cloth 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 method.

[0017] The above technical solution provides a cleaning robot and its control method, cleaning system, and storage medium. During the cleaning process of the mop tray, a liquid replenishment mechanism is controlled to replenish the mop tray with a first liquid replenishment amount. When image information indicates that the ground has changed to the edge of at least one of the following: a track, a strip, a step, or a mat, or a ground surface that meets a preset gap, the liquid replenishment mechanism is controlled to replenish the mop tray with a second liquid replenishment amount. The mop tray is also controlled to rotate at a first rotation speed, the side brush at a second rotation speed, and the roller brush 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, the third rotation speed is greater than or equal to 0 and less than 2000 rpm, and the second liquid replenishment amount is less than the first liquid replenishment amount. During the wet cleaning process using the mop tray, sensors monitor the condition of the ground.The system monitors changes in the ground's state and uses image information acquired by sensors to identify special obstacles on the ground, such as tracks, molding strips, steps, and floor mats. When the mop tray is placed on these cleanable special obstacles, the uneven pressure may cause liquid on the mop to be squeezed out, thus requiring a reduction in the amount of liquid replenished to reduce secondary pollution of the obstacles caused by the squeezed-out liquid. During the wet cleaning process using the mop tray, the cleaning robot uses sensors to monitor changes in the ground's state and uses image information acquired by sensors to identify special terrain on the ground, such as ground with gaps, to prevent liquid on the mop from being squeezed out into the gaps during the cleaning process. This would cause the liquid to mix with the dirt in the gaps and harden, increasing the difficulty of cleaning. It may also cause the gaps to become damp and breed bacteria, reducing the cleaning effect of the cleaning robot on the ground. This makes the cleaning robot more intelligent and user-friendly. It improves the cleaning effect and enhances the intelligence level of the cleaning equipment.

[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 based on 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 of the cleaning robot provided in this application (Figure 13); Figure 17 is a schematic flowchart of the specific control method of the cleaning robot provided in this application (Figure 14); Figure 18 is a schematic flowchart of the specific control method of 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 (Figure 16); Figure 20 is a schematic flowchart of the specific control method of the cleaning robot provided in this application (Figure 17). Detailed Description

[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 components or not deliver liquid at all, and cannot adjust according to the actual ground conditions, which is not intelligent enough.

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

[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 an 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. The image sensor 201 and the light source 202 are both disposed on the circuit board 203.Image sensor 201 is used to acquire images of the clean surface, and the image sensor 201 can transmit the captured images to circuit board 203. Circuit board 203 is electrically connected to the control device and is used to convert the images acquired by image sensor 201 into image information and transmit it to the control device. The optical flow sensor may also include a protective cover 204. After the protective cover 204 is connected to circuit board 203, it covers image sensor 201 and light source 202 inside, thereby reducing the interference of splashed liquid and debris on the normal operation of image sensor 201 and light source 202. At the same time, it can also protect image sensor 201, light source 202 and circuit board 203, reducing the possibility of damage during collision.

[0029] During operation, the image sensor captures two images continuously within a certain period of time. By analyzing and processing the two images, the circuit board can obtain the movement direction and speed of the cleaning robot within a certain period of time. In addition, after analyzing the image features such as color features, texture features, and brightness features of the captured images, the circuit board can obtain the identification value of the working area, and then match the corresponding ground conditions according to 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, so that the image sensor can 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 realize the wet cleaning function of the ground below the body.

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

[0036] For example, the liquid replenishment mechanism includes a water tank for storing liquid, a pipeline for leading the liquid out of the water tank, and a valve for controlling the degree of closure of the pipeline. By controlling the degree of closure of the valve, the amount of liquid 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 be used to clean different ground conditions, thereby improving the cleaning effect of the ground.

[0037] It should be understood that cleaning robots can clean by sweeping in front and mopping behind, or by separating sweeping and mopping. The sweeping-before-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness. The accompanying drawings of this application use a sweeping robot with a fixed mop tray as an example to illustrate the functions and effects. Figure 1 only shows some components relevant to the solution in this application; it does not limit whether the cleaning robot includes other components or parts, which 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] A 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 the server corresponding to the cleaning robot. The server is located in the cloud and is connected to the cleaning robot through the network to issue control commands to the cleaning robot, or to forward the control commands sent by the user through the terminal device to the cleaning robot, etc.

[0043] The following uses the control device in the cleaning robot as the execution subject as an example to specifically describe 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 described again 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 an area to be cleaned, it detects the ground conditions in the area to be cleaned using sensors installed on its body.

[0046] The sensors can be installed 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 body in the direction of travel.

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

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

[0049] For example, since the collected image information is continuously updated as the cleaning robot moves, the collected image information can be processed in the following ways: Method 1: Perform image data analysis on each collected image information to determine the ground condition. Instruction manual, page 5 / 16, CN 121512396 A

[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 the classification model. When in use, the newly acquired image information is directly input into the pre-trained classification model to obtain the classification result corresponding to the image information and the 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 and processing each piece of image data will occupy a large amount of computing resources, which is not conducive to improving data processing efficiency, and may also affect the normal operation of the cleaning robot due to the large amount of processing resources.

[0053] Method 2: Preprocess and compare the newly acquired image information with the previously acquired image information. When the deviation is large after comparison, the newly acquired image information is then analyzed to determine the ground condition.

[0054] Since the cleaning robot is constantly moving, if it is in the same area of ​​ground cleaning task, the acquired images will be compared and processed.In most cases, the influencing information is consistent, such as when the ground is either a floor or tile, or when it is clean or has normal dust. The previous and next image information collected are almost identical in features, thus reducing the difficulty of comparison processing. When the ground condition changes, the changing image information can be quickly locked, and 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 condition based on the changing image information, it is also necessary to determine the cleaning method based on the ground condition.

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

[0057] For example, when the ground is tiled, due to the material characteristics of the tiles, the cleaning components will leave large water stains after wet cleaning, resulting in poor cleaning effect. Usually, a cleaning robot is needed to perform a re-cleaning process to eliminate the impact of water stains. However, when cleaning wooden floors with the same level of moisture, the amount of water stains remaining is much smaller.

[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 current 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 using sensors, and adjusts the amount of liquid replenished to the cleaning component by the replenishing mechanism according to the changed ground conditions when the ground changes, 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 rationally allocate the liquid carried in the cleaning robot body, improve the utilization rate of cleaning liquid, and reduce the frequency of replenishing the cleaning robot.

[0060] Meanwhile, when the cleaning robot is working in the preset cleaning mode, when the cleaning robot faces sudden stains, especially a puddle of water, soy sauce, vinegar, beverages, milk and other water-based liquids, oil stains, excrement, vomit, etc., the cleaning robot adjusts the cleaning method according to the current sudden stains, adjusts the amount of liquid replenished to the mop tray by the replenishing mechanism according to the type and specific situation of the sudden stains, and rotates the mop tray at a first speed according to the type and specific situation of the sudden stains.When the robot vacuum cleaner operates, the mop tray, side brushes, and roller brush are generally rotating. When encountering sudden stains, especially water stains, water-based liquids, oil stains, excrement, or vomit, the mop tray, side brushes, and roller brush will scatter these contaminants throughout the room, causing serious pollution to the floor. For example, if a pet urinates on the floor, the robot's side brushes, mop tray, and roller brush will sweep and drag the urine across the entire area, creating a very poor user experience.

[0061] To address sudden stains, especially water stains, soy sauce, vinegar, beverages, milk and other water-based liquids, oil stains, excrement, vomit, etc., an optical flow sensor is used to monitor changes in the ground condition in real time. When a sudden stain is detected, the water supply to the mop tray is adjusted through the water replenishment structure, enabling targeted cleaning of the sudden stain. Furthermore, the rotation speeds of the mop tray, side brush, and roller brush are adjusted to prevent water stains from being scattered and thrown out. Specifically, the mop tray rotates at a first rotation speed greater than or equal to 0 and less than 500 rpm, the side brush rotates at a second rotation speed 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, thus preventing the mop tray, side brush, and roller brush from scattering and throwing away water stains. If the rotation speed of the cleaning robot's mop tray, side brush, and roller brush is within the corresponding first, second, and third rotation speeds, then the rotation speed of the mop tray, side brush, and roller brush will not be changed. Of course, if the rotation speed of the cleaning robot's mop tray, side brush, and roller brush is not within the corresponding first, second, and third rotation speeds, then the rotation speed of the mop tray, side brush, and roller brush will be adjusted to the corresponding first, second, and third rotation speeds. By adjusting the water replenishment amount 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 perform targeted cleaning of specific stains in 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 reasonably distribute the liquid carried in the cleaning robot body, improve the utilization rate of cleaning liquid, and reduce 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 for 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...A liquid replenishment mechanism for replenishing cleaning fluid to a 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 obtained by the optical flow sensor indicates that there are water stains on the ground, the liquid replenishment mechanism is controlled to replenish the mop tray with a second liquid replenishment amount. The mop tray rotates at a first rotation speed, the side brush rotates at a second rotation speed, and the roller brush rotates at a third rotation speed. The first rotation speed is greater than or equal to 0 and less than 500 rpm, the second rotation speed is greater than or equal to 0 and less than 500 rpm, and the third rotation speed is greater than or equal to 0 and less than 2000 rpm.

[0066] 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, thereby reducing the humidity of the mop tray, so that the water stains on the mop 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 to the mop tray by the liquid replenishment mechanism, 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 clean water stains in a targeted manner, avoiding the spread of water stains. It realizes that the cleaning robot can intelligently clean specific stains in a targeted area, 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 cleaning the water stains on the ground, when the image information indicates that there are still water stains on the ground, the replenishment of liquid 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 tray is cleaned, the robot returns to the ground where the image information indicates that there are still water stains on the ground, and the replenishment mechanism is controlled to replenish the mop tray with a second 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 tray cleaning the ground, the replenishment mechanism of the cleaning robot replenishes the mop tray with a first 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. Simultaneously, the wiping disc rotates at a first rotational speed, which is greater than or equal to 0 and less than 500 rpm; the side brush rotates at a second rotational speed, which is greater than or equal to 0 and less than 500 rpm; and the roller brush rotates at a third rotational speed, which is greater than or equal to 0 and less than 2000 rpm. This prevents the wiping disc, side brush, and roller brush from scattering and 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. This enables the cleaning robot to intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and user-friendly.

[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 cleaning process of the mop tray, the cleaning robot's replenishment mechanism replenishes the mop tray with a first replenishment amount.

[0075] S602. When the image information obtained by the optical flow sensor indicates that there is a water-based liquid on the ground, and the area of ​​the water-based liquid is greater than the preset absorption area of ​​the mop tray, the replenishment of the mop tray is stopped, and the suction mechanism is controlled to suction the water-based liquid.

[0076] S603. 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.

[0077] Wherein, the second replenishment amount is less than the first replenishment amount, which reduces the replenishment amount of the replenishment mechanism, thereby reducing the humidity of the mop tray.

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

[0079] Optionally, since the rag's absorbency may reach saturation during the cleaning process, after the cleaning robot completes one cleaning of the water-based liquid on the ground, the image information indicates that there is still water-based liquid on the ground. At this time, 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 that the clean rag can continue to absorb and clean the water-based liquid, reducing the waste of ineffective cleaning resources due to the rag becoming saturated with water.

[0080] Among them, water-based liquids such as soy sauce, vinegar, beverages, and milk may also have color. Therefore, after the cleaning robot completes a cleaning of the floor with the water-based liquid, the image information indicates that there is color residue on the floor because the water-based liquid has color. At this time, the rag is also covered with the color of the water-based liquid, which cannot 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, it returns to the floor where the image information indicates that there is color residue on the floor, 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 on the floor and improve the cleaning effect. At the same time, the rag 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, and the roller brush is rotated at a third speed, which is greater than or equal to 0 and less than 2000 rpm.Rotation per minute avoids the scattering and splashing of water-based liquids such as soy sauce, vinegar, beverages, and milk by the rag tray, side brush, and roller brush, enabling the cleaning robot to perform targeted cleaning of water-based liquids, preventing the spread of water-based liquids, and realizing the intelligent targeted cleaning of specific stains by the cleaning robot, making the cleaning robot more intelligent and humanized.

[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 rag tray, the liquid replenishment mechanism of the cleaning robot replenishes the rag 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 rag tray is stopped, and the suction mechanism is controlled to suck up the solid particles.

[0083] S703. Control the replenishing mechanism to replenish the wiping tray with a third replenishing 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.

[0084] Wherein, the third replenishing amount is greater than the first replenishing amount, which increases the replenishing amount of the replenishing mechanism, thereby increasing the humidity of the wiping 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 the presence of 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 replenishing amount of the wiping 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 cleaning process of the mop tray, the liquid replenishment mechanism of the cleaning robot replenishes the mop tray with a first liquid replenishment amount.

[0087] S802, when the image information obtained by the optical flow sensor indicates that there is oily liquid on the ground, the liquid replenishment to the mop tray is stopped, and the suction mechanism is controlled to suck up the oily liquid.

[0088] S803, 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, wherein the first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0089] 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.

[0090] Since oily liquids and dirt require cleaning agents contained in the liquid of the cleaning components for assistance in cleaning, and the cleaning agent is evenly dispersed in the liquid, when it is necessary to increase the amount of cleaning agent used for oily liquids or dirt, it is only necessary to increase the liquid output to increase the amount of cleaning agent used, thereby achieving a better cleaning effect on the floor. At the same time, 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 avoids the mop tray, side brush and roller brush scattering and throwing the oil-water mixture, so that the cleaning robot can perform targeted cleaning of the oil-water mixture, avoiding the spread of the oil-water mixture. 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 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 wetness of the ground 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, stop replenishing the liquid to the rag tray and control the suction mechanism to suction the vomit or excrement.

[0094] S903. After suction is completed, control the liquid replenishment mechanism to replenish the rag tray with a third liquid replenishment amount. The rag 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 ground where there is vomit or excrement, stop replenishing the liquid to the rag tray and control the cleaning mechanism to suction the vomit or excrement.The cleaning robot returns to the base station to clean the suction mechanism and the cleaning cloth tray.

[0096] 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 cleaning cloth tray and improving 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 to achieve priority removal of dirt, and then replenishment after the dirt is removed. (See instruction manual 11 / 16)Page 13 CN 121512396 A The control logic considering water stain residue makes 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 replenishment amount is less than the first replenishment amount, thereby reducing the replenishment amount of the replenishment mechanism and thus 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 replenishment mechanism of the cleaning robot replenishes the mop tray with a first replenishment amount, and the mop 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 replenishment mechanism is controlled to replenish the mop tray with a third 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.

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

[0110] Due to its material characteristics, the floor itself has a certain liquid absorption capacity. When the cleaning robot maintains the first liquid output volume to clean the floor, and the water stains remaining on the floor after cleaning meet 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 volume to clean the tile, it will result in a large amount of water stains remaining on the tile after cleaning, affecting the cleaning effect, and the cleaning robot will need to re-clean to eliminate the impact of water stains on the cleaning effect. Therefore, when cleaning tiles, the liquid output volume can be adjusted to a second liquid output volume, the second liquid output volume is less than the first liquid output volume, and the second liquid output volume can meet the cleaning robot's requirements for water stains remaining on the floor after cleaning. At the same time,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. 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 stains, allowing the cleaning robot to perform targeted cleaning of water stains, preventing the water stains from spreading. This enables the cleaning robot to intelligently perform targeted cleaning of specific stains in specific areas, making the cleaning robot more intelligent and user-friendly.

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

[0112] Figure 13 is a schematic diagram of the specific control method flow of the cleaning robot provided in this application. Referring to Figure 13, the control method of the cleaning robot includes: (Instruction manual, pages 12 / 16, CN 121512396 A) 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. 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.

[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 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.

[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 replenishment mechanism of the cleaning robot replenishes the mop tray with the first 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 changes to a smooth floor, the replenishment mechanism is controlled to replenish the mop tray with the second 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 replenishment amount is less than the first replenishment amount, thereby reducing the replenishment amount of the replenishment mechanism and thus 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 replenishment mechanism of the cleaning robot replenishes the mop tray with a first replenishment amount, and the mop 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 replenishment mechanism is controlled to replenish the mop tray with a third 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.

[0123] 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.

[0124] In the above embodiments, matte tiles, glossy tiles, rough floors, and smooth floors are different floor types, while the floor type is a further detailed classification of the floor material. When the floor material is the same, due to different processing methods and effect requirements, the same material floor can be processed into different types, and thus it is necessary to further subdivide the corresponding liquid requirements for different types.

[0125] The brightness of the ground reflection can be obtained according to the image information, such as the FA value. Different brightness conditions can correspond to different floor types. Generally speaking, matte floors have weak light reflection, 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 the cleaning robot maintains cleaning a matte floor with the third liquid output, if the floor type changes to glossy floors, the liquid output needs to be reduced so that the water residue on the floor after cleaning meets the cleaning effect requirements.

[0126] The image quality of the floor can be obtained from the 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 to smooth floors, the liquid requirement for smooth floors is less than that for rough floors. That is, when the cleaning robot maintains cleaning a rough floor, if the floor type changes to smooth floors, the liquid output needs to be reduced so 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: Changes in 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 for cleaning, 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, breeding bacteria and causing secondary pollution to the covering and the ground below the covering.

[0137] By adjusting the liquid output in the above-mentioned way, the liquid output in the obstacle scene can be reasonably adjusted to reduce 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 acquired by the optical flow sensor indicates that the ground meets the preset gap ground condition, the liquid replenishment mechanism is controlled to replenish the wiping tray with a second liquid replenishment amount. The wiping tray cleans the ground. The wiping tray rotates at a first speed, the side brush rotates at a second speed, and the roller brush rotates at a third speed. The first speed is greater than or equal to 0 and less than 500 rpm, the second speed is greater than or equal to 0 and less than 500 rpm, and the third speed is greater than or equal to 0 and less than 2000 rpm.

[0140] Wherein, the second liquid replenishment amount is less than the first liquid replenishment amount; the preset gap ground condition 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 20...The 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. Instruction manual, pages 15 / 16, 17 CN 121512396 A

[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.

[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 effects 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 Page 16 / 16 18 CN 121512396 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 10 Page 19 CN 121512396 A Figure 3 Figure 4 Instruction Manual Appendix 2 / 10 Page 20 CN 121512396 A Figure 5 Figure 6 Instruction Manual Appendix 3 / 10 Page 21 CN 121512396 A Figure 7 Figure 8 Instruction Manual Appendix 4 / 10 Page 22 CN 121512396 A Figure 9 Figure 10 Instruction Manual Appendix 5 / 10 Page 23 CN 121512396 A Figure 11 Figure 12 Instruction Manual Appendix 6 / 10 Page 24 CN 121512396 A Figure 13 Figure 14 Instruction Manual Appendix 7 / 10 Page 25 CN 121512396 A Figure 15 Figure 16 Instruction Manual Appendix 8 / 10 Page 26 CN 121512396 A Figure 17 Figure 18 Instruction Manual, Figures 9 / 10, Page 27, CN 121512396 A, Figures 19 and 20; Instruction Manual, Figures 10 / 10, Page 28, CN 121512396 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, and belongs to the technical field of smart home. The methodincludes: during the process of cleaning the ground by the mop disc, controlling a liquid replenishing mechanism to replenish liquid to the mop disc at a first liquid replenishment amount; when image information indicates that the ground is changed to edges of at least one of a track, a pressure strip, a step or a floor mat, or a ground meeting a preset gap ground condition, controlling the liquid replenishing mechanism to replenish liquid to the mop disc at a second liquid replenishment amount, controlling the mop disc to rotate at a first rotational speed, controlling the side brush to rotate at a second rotational speed, and controlling the rolling brush to rotate at a third rotational speed, where the second liquid replenishment amount is less than the first liquid replenishment amount. In the wet cleaning process performed by the cleaning robot with the mop disc, sensors are used to monitor changes in ground conditions. Image information acquired by the sensors is adopted toidentify special ground obstacles, which makes the cleaning robot more intelligent and humanized, improves the cleaning effect, and enhances the intelligent level of cleaning equipment.

Claims

1. A control method of a cleaning robot, characterized by, The cleaning robot comprises a cleaning assembly and a sensor for acquiring ground image information, the cleaning assembly comprises a side brush, a roller brush, a cloth disc and a liquid supplementing mechanism for supplementing cleaning liquid to the cloth disc; the method comprises: In the process of cleaning the ground by the cloth disc, the liquid supplementing mechanism is controlled to supplement the cloth disc with a first liquid supplementing amount; When the image information indicates that the ground changes from an edge of at least one of a track, a baseboard, a step or a floor mat or the ground meets a preset gap ground, the liquid supplementing mechanism is controlled to supplement the cloth disc with a second liquid supplementing amount, the cloth disc is controlled to rotate at a first rotating speed, the side brush is controlled to rotate at a second rotating speed, and the roller brush is controlled to rotate at a third rotating speed; The first rotating speed is greater than or equal to 0 and less than 500 revolutions per minute, the second rotating speed is greater than or equal to 0 and less than 500 revolutions per minute, the third rotating speed is greater than or equal to 0 and less than 2000 revolutions per minute, and the second liquid supplementing amount is less than the first liquid supplementing amount. 2.The control method of the cleaning robot according to claim 1, characterized in that, The method further comprises: When the image information indicates that the ground changes from an edge of at least one of a track, a baseboard, a step or a floor mat, the liquid supplementing mechanism is controlled to supplement the cloth disc with a third liquid supplementing amount; The third liquid supplementing amount is greater than the first liquid supplementing amount. 3.The control method of the cleaning robot of claim 1, wherein, The preset gap ground is determined based on a gap width and / or a gap length of the ground. 4.The control method of the cleaning robot according to claim 3, characterized in that, The preset gap ground is determined based on a gap width and / or a gap length of the ground, comprising: The ground with a gap width greater than a preset width and / or a gap length greater than a preset length is determined as the preset gap ground. 5.The control method of the cleaning robot according to claim 3, characterized in that, The method further comprises: In the process of cleaning the preset gap ground by the liquid supplementing mechanism supplementing the cloth disc with the second liquid supplementing amount, if the image information indicates that the preset gap ground does not exist, the liquid supplementing mechanism is controlled to supplement the cloth disc with a third liquid supplementing amount; The third liquid supplementing amount is greater than the first liquid supplementing amount. 6.The control method of the cleaning robot according to claim 1, characterized in that, The second liquid supplementing amount is zero.

7. A cleaning robot, characterized in that, The cleaning robot comprises a cleaning assembly, a control device and a sensor for acquiring ground image information, the cleaning assembly comprises a roller brush, a side brush, a cloth disc and a liquid supplementing mechanism for supplementing liquid to the cloth disc; the control device is used to execute the method according to any one of claims 1-6.

8. A cleaning system characterized by, The cleaning robot according to claim 7 is provided.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the method according to any one of claims 1-6.

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