Methods, apparatus, robots, and storage media for recovering residual water

Abstract

This application relates to a method for recovering residual water, comprising the steps of: acquiring the work path of a robot when the robot completes a floor cleaning task; generating a residual water recovery path based on the work path; and controlling the robot to move along the residual water recovery path and recover the residual water.

Description

Technical Field

[0001] This application was filed with the China Patent Office on April 28, 2023, with the application number 2023104891023, and claims the priority of a Chinese patent application with the application title "Method, Device, Robot and Storage Medium for Recovering Residual Water", and all of its content is incorporated herein by reference.

[0002] This application relates to the technical field of cleaning robots, and particularly to a method, device, robot and storage medium for recovering residual water.

Background Art

[0003] With the development of automation technology, cleaning technology has gradually entered the era of intelligence and mechanization. Cleaning robots are born accordingly and, during operation, clean and wash the ground in the working area to achieve the cleaning effect.

[0004] In the prior art, during the process of performing floor washing operations, a cleaning robot realizes the recovery of water on the ground through the cooperation of a water absorption squeegee and a fan. However, in actual use, it is found that there is often residual water on the path near the end of the floor washing operation.

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to various embodiments of the present application, a method, device, robot and storage medium for recovering residual water are provided.

Means for Solving the Problems

[0006] A robot including a storage device, a processor, and computer-readable instructions stored in the storage device and operable on the processor, wherein when the processor executes the computer-readable instructions, when the robot completes a floor washing operation, a step of obtaining the working path of the robot; a step of generating a residual water recovery path based on the working path; The method is characterized by the implementation of the steps of controlling the robot to move along the residual water recovery path and recover the residual water.

[0007] A method for recovering residual water, When the robot completes the floor cleaning task, the steps include obtaining the robot's work path, The steps include generating a residual water recovery route based on the aforementioned work route, The method is characterized by including the step of controlling the robot to move along the residual water recovery path and recover the residual water.

[0008] A device for recovering residual water, When the robot completes the floor cleaning task, an acquisition module is used to acquire the robot's work path, A generation module for generating a residual water recovery route based on the aforementioned work route, A residual water recovery apparatus characterized by including a recovery module for controlling the robot to move along the residual water recovery path and recover the residual water.

[0009] A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps described in the method for recovering residual water are realized.

[0010] A computer program product including a computer program, wherein when the computer program is executed by a processor, the steps described in the method for recovering residual water are realized.

[0011] Details of one or more embodiments of this application are proposed in the following drawings and description. Other features and advantages of this application will become apparent from the specification, drawings and claims.

[0012] To more clearly illustrate the embodiments of this application or the technical concepts in the prior art, the drawings that may be used in the description of the embodiments or the prior art are briefly described below. Clearly, the drawings in the following description are only a few embodiments of this application, and those skilled in the art can obtain drawings of other embodiments based on these drawings without any creative effort. [Brief explanation of the drawing]

[0013] [Figure 1] This is a diagram illustrating the application environment for a method of recovering residual water in one embodiment. [Figure 2] This is a flowchart of a method for recovering residual water in one embodiment. [Figure 3] This is a flowchart of the residual water recovery step in one embodiment. [Figure 4] This is a schematic diagram comparing the situation before and after applying the method for recovering residual water in one embodiment. [Figure 5] This is a structural block diagram of a device for recovering residual water in one embodiment. [Figure 6] This is a diagram showing the internal structure of a robot in one embodiment. [Modes for carrying out the invention]

[0014] To facilitate understanding of this application, the application will be described in more detail below with reference to the relevant drawings. The drawings illustrate preferred embodiments of this application. However, this application is not limited to the embodiments described herein and can be carried out in many different forms. Rather, the purpose of providing these embodiments is to provide a more complete understanding of the disclosures of this application.

[0015] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. Terms used herein are for illustrative purposes only and are not intended to limit this application. The terms “and / or” as used herein include any and all combinations of one or more related enumerated items.

[0016] Conventional technology uses a cleaning robot and a fan to collect water from the ground during floor cleaning. However, in actual application, when the robot completes floor cleaning, if it stops immediately, the recovery rate of residual water in the final path is low due to the high content of soil and sand in that path, resulting in some residual water remaining on the ground. Furthermore, it has been found that after the robot stops, residual water from the robot's cleaning components flows onto the ground, leaving residual water where the robot stopped. Based on the above problems, this application provides a method, apparatus, robot, and storage medium for collecting residual water that can solve the problem of residual water in the nearby path after floor cleaning is completed.

[0017] The method for recovering residual water according to an embodiment of the present application can be used in the application environment shown in FIG. 1. The robot 102 communicates with the server 104 via a network. The server 104 may be implemented as an independent server or a server cluster composed of a plurality of servers. The data storage system may store data that needs to be processed by the server 104. The data storage system may be integrated with the server 104 or may be arranged on a cloud or other network server. Both the robot and the server may be for independently executing the method for recovering residual water according to the embodiment of the present application. The robot and the server may cooperate to execute the method for recovering residual water according to the embodiment of the present application. For example, when the robot completes the floor washing operation, the robot processor obtains the working path of the robot, generates a residual water recovery path based on the working path, moves on the residual water recovery path, and controls the robot to recover the residual water. The robot may be a cleaning robot or other type of service robot having a cleaning function.

[0018] In one embodiment, as shown in FIG. 2, a robot including a storage device, a processor, and computer-readable instructions stored in the storage device and executable by the processor is provided. When the processor executes the computer-readable instructions, the following steps are realized.

[0019] In step 202, when the robot completes the floor washing operation, obtain the working path of the robot.

[0020] Floor washing operation refers to the operation where the robot performs a cleaning job on the working surface. The working path is the movement route when the robot executes the floor washing operation. The working path may be an automatically generated path, and an automatically generated path is a path automatically generated based on the working area and an algorithm. The working path may also be a manually pushed path, and a manually pushed path is a path formed by pushing the robot so that the operator moves. In the process of the robot executing the floor washing operation, it moves on the working path, and during the movement, it controls the water purification pump to discharge the water in the clean water tank, controls the main brush to clean the ground, controls the cleaning components such as the side brush and the water absorption squeegee to collect the dirt and water on the ground, and the fan sucks the water on the ground into the sewage tank to achieve the cleaning effect.

[0021] Exemplarily, when the robot completes the floor washing operation, the robot processor acquires the working path corresponding to the floor washing operation.

[0022] In step 204, based on the working path, a residual water recovery path is generated.

[0023] The residual water recovery path is the residual water recovery path during the floor washing operation. The residual water recovery path may be provided according to actual needs. The residual water recovery path includes at least one of the first recovery path and the second recovery path described later, but is not limited thereto.

[0024] Exemplarily, the robot processor generates a residual water recovery path based on the working path and a preset distance.

[0025] In step 206, move on the residual water recovery path and control the robot to recover the residual water.

[0026] Residual water refers to the dirty water, dust, sand and other dirt remaining on the working surface of the robot or the cleaning components of the robot.

[0027] For example, the robot processor controls the robot to move along a residual water recovery path, and controls the suction squeegee and fan to recover residual water from the residual water recovery path as the robot moves along it.

[0028] In this embodiment, when the robot completes the floor cleaning task, a residual water recovery path is generated based on the work path, the robot is controlled to move along the residual water recovery path, and the residual water on the path can be reduced by recovering the residual water on the path as the robot moves along it. Alternatively, residual water on the robot's cleaning components can be recovered from the robot's cleaning components by allowing residual water to flow onto the ground during the robot's movement and recovering the residual water on the ground. After the robot stops moving, residual water does not flow from the robot's cleaning components onto the ground, further reducing the residual water on the ground.

[0029] In one embodiment, the residual water recovery path includes a first recovery path, and when the processor executes a computer-readable instruction, In the process of controlling the robot to move along the first retrieval path, the robot is controlled to move back a predetermined first distance from the work endpoint of the work path, to reach the predetermined first endpoint, and then to move from the predetermined first endpoint to the work endpoint, and then to reach a predetermined second endpoint which is a predetermined second distance less than or equal to the predetermined first distance from the predetermined first endpoint.

[0030] To make it easier to understand, the first recovery path is a path on the final path of the floor washing operation that involves reciprocating motion and recovering residual water. The first recovery path may be understood as comprising two paths, one of which moves back a predetermined first distance from the work endpoint of the work path to a predetermined first endpoint, and the other path moves back a predetermined second distance from the predetermined first endpoint to the work endpoint to a predetermined second endpoint. The work endpoint is the endpoint of the path corresponding to the work path when the robot performs the floor washing operation. The predetermined first distance is a predetermined distance the robot moves back from the work endpoint to the predetermined first endpoint, and the specific numerical value of the predetermined first distance may be obtained based on a simulation test or simulation test, for example, a preferred value obtained is 10 meters. The preset second distance is a predetermined distance over which the robot moves from a preset first endpoint to the work endpoint to reach the preset second endpoint. The specific value of the preset second distance may be obtained based on simulation tests or simulation trials; for example, a suitable value obtained is 9.5 meters. The preset second distance is set to be less than or equal to the preset first distance. If the preset second distance is equal to the preset first distance, the preset second endpoint and the work endpoint will overlap. In this case, the first recovery path is a recovery path in which the robot moves back a predetermined first distance from the work endpoint of the work path to reach the preset first endpoint, and then returns from the preset first endpoint to the work endpoint. To understand this, in this case, the robot can be controlled to move back and forth along the first recovery path multiple times and recover residual water until an ideal residual water recovery effect is achieved. If the pre-set second distance is smaller than the pre-set first distance, there is a distance difference (i.e., the difference between the pre-set first distance and the pre-set second distance) between the pre-set second endpoint and the work endpoint, and in this case, the aforementioned residual water recovery route may further include the second recovery route.

[0031] In this embodiment, the robot is controlled to move along the first recovery path, thereby recovering residual water along the path corresponding to the first recovery path.

[0032] In one embodiment, when the processor executes a computer-readable instruction, In the process of controlling the robot to move along the first recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to continue rotating while lifted, and the robot's suction squeegee is controlled to perform the recovery job at a first pressure and the fan at a first airflow, thereby realizing the step of recovering residual water.

[0033] The water purification pump is a component configured to control the release of a fixed amount of cleaning medium into the water purification tank. The water pressure flow rate of the water purification pump may be adjusted according to the actual demand, with a higher flow rate resulting in more water being released at once. The main brush is a brush configured to clean the ground, and may be specifically selected as a roll brush or disc brush, but is not limited thereto. The raising and lowering of the main brush is controlled by the main brush push rod motor. When the main brush does not need to perform cleaning work, the main brush push rod motor can drive the push rod to raise the main brush, without contacting the ground. When the main brush needs to perform cleaning work, the main brush push rod motor drives the push rod to lower the main brush, and contacts the ground. The rotation of the main brush when it is performing work or shaking off residual water can be driven by the main brush rotation motor. The suction squeegee is a component configured to collect and scrape up dirt such as water from the ground. The water squeegee can be controlled to move up and down by a water squeegee push rod motor. When the water squeegee does not need to perform cleaning work, the water squeegee push rod motor can drive the push rod upward to lift the water squeegee, without contact with the ground. When the water squeegee needs to perform cleaning work, the water squeegee push rod motor drives the push rod downward to lift the water squeegee, and without contact with the ground. The greater the pressure the water squeegee exerts on the ground, the more effective it is at collecting and scraping water. A fan is a component that generates suction force. The fan may be understood as generating suction force and drawing residual water through the dirt suction pipe into the wastewater tank. The first pressure is a preset pressure that controls the main brush during the robot's movement along the first collection path, and may be set according to actual demand. The first wind force is a preset wind force that controls the fan during the robot's movement along the first collection path, and the magnitude of the first wind force may be set according to actual demand.

[0034] For example, in the process by which the robot processor controls the robot to move along a first recovery path, the robot's water purification pump is controlled to stop pumping water, the robot's main brush is controlled to be lifted, the main brush is controlled to continue rotating in the lifted position, and the robot's suction squeegee and fan are controlled to recover residual water at a first pressure.

[0035] In this embodiment, in the process of controlling the robot to move along the first recovery path, the robot reciprocates along the final path, recovering residual water along the final path and reducing the amount of residual water along the final path. Furthermore, in the process of moving along the first recovery path, the water purification pump is controlled to stop water pumping, thus avoiding an increase in residual water along the final path. The raised main brush is controlled to continue rotating, and as the main brush rotates, it shakes the residual water on the main brush to the ground. The suction squeegee and fan then recover the residual water shaken to the ground, reducing the amount of residual water on the main brush.

[0036] In one embodiment, when the processor executes a computer-readable instruction, When controlling the robot to complete its movement along the first retrieval path, the robot is controlled to stop its movement, the main brush of the robot is controlled to stop its rotation, the airflow of the robot's fan is adjusted to a preset airflow, and the fan of the robot is controlled to continue operating for a preset first time.

[0037] The preset wind force is the pre-set fan wind force during the process of the robot stopping its movement. The preset wind force may be set based on the fan's performance. The preset first time is a pre-set short time, for example, 5 or 10 seconds, during which the robot stops moving and starts or stops the robot's cleaning components.

[0038] For example, when the robot processor controls the robot to complete its motion along a first retrieval path, it controls the robot to stop its motion, and in the process of stopping the motion, it controls the robot's main brush to stop its rotation, adjusts the airflow of the robot fan to a preset airflow, and controls the robot's fan to stop after continuing to operate for a preset first time.

[0039] In one embodiment, if a preset second distance is smaller than a preset first distance, the residual water recovery path further includes a second recovery path, and after controlling the robot to complete movement on the aforementioned first recovery path, the robot is controlled to move on the second recovery path and recover the residual water.

[0040] In one embodiment, when the processor executes a computer-readable instruction, In the process of controlling the robot to move along the second retrieval path, the robot is controlled to move from the aforementioned preset second endpoint to the work endpoint, and then controlled to move from the work endpoint back to the preset second endpoint, and the number of reciprocating movements is updated until the number of reciprocating movements equals a preset number.

[0041] The second recovery path is a short, reciprocating path along the final step of the floor cleaning operation that recovers residual water. The second recovery path may be understood as comprising two paths, one of which is the path from a predetermined second endpoint to the work endpoint, and the other path is the path from the work endpoint back to the predetermined second endpoint. The number of reciprocating motions is the number of times the robot moves from the predetermined second endpoint to the work endpoint and then back from the work endpoint to the predetermined second endpoint. The predetermined number of motions may be obtained based on means such as simulation tests or computer simulation tests, and should be such that an ideal water retention rate is achieved. For example, a suitable number of motions obtained is 3 or 4.

[0042] For example, in the process by which the robot processor controls the robot to move along a second retrieval path, the robot is controlled to move from a preset second endpoint to a preset work endpoint at a preset speed, and then controlled to move from the work endpoint to a preset second endpoint at a preset speed, updating the number of reciprocating movements, obtaining the updated number, comparing the updated number with the preset number, and if the updated number is smaller than the preset number, the above motion process is repeated until the updated number equals the preset number.

[0043] In one embodiment, when the processor executes a computer-readable instruction, In the process of controlling the robot to move along the second recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to lift, the robot's suction squeegee is controlled to perform the recovery job at a second pressure and the fan at a second airflow, thereby achieving the step of recovering residual water from the robot's cleaning components.

[0044] The robot's main brush may be configured to rotate or stop rotating as long as it is lifted without contacting the working surface. The second pressure is a pre-set pressure on the main brush in the process of controlling the robot to move along the second retrieval path. The second pressure may be the same as or different from the first pressure, and may be set according to the actual demand. The second airflow is a pre-set fan airflow in the process of controlling the robot to move along the second retrieval path. The second airflow may be the same as or different from the first airflow, and may be set according to the actual demand. Cleaning components are parts related to the robot performing floor cleaning tasks. Cleaning components include, but are not limited to, side brushes, water pumps, main brushes, dust boxes, suction squeegees, and dirt suction pipes.

[0045] For example, in the process of a robot processor controlling the robot to move along a second recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to lift, and the robot's suction squeegee is controlled to recover residual water that has flowed from the cleaning components onto the ground, particularly residual water that has flowed down from the dust box, using a second pressure and a second airflow, thereby achieving the recovery of residual water from the robot's cleaning components.

[0046] In this embodiment, during the process of controlling the robot to move along the second recovery path and repeatedly reciprocate, residual water in the robot's cleaning component flows onto the ground due to vibration, and the residual water on the ground is recovered, thereby further reducing the amount of residual water that needs to be recovered.

[0047] In one embodiment, in the process of controlling the robot to move along a second retrieval path, the robot is controlled to move from a preset second endpoint corresponding to the first retrieval path to a preset endpoint of the work path at a preset speed, and then the robot is controlled to move from the endpoint of the work path to a preset second endpoint at a preset speed, updating the number of reciprocating movements until the number of reciprocations equals a preset number.

[0048] To ensure understanding, in order to prevent accidents caused by sudden reciprocating motion of the robot on the second retrieval path, in one embodiment, during the process of controlling the robot to move along the second retrieval path, the robot is controlled to move at a preset speed and to emit an audio prompt. The preset speed is a slow speed, preferably, for example, 0.25 meters / second.

[0049] In one embodiment, when the processor executes a computer-readable instruction, When controlling the robot to complete the movement of the second recovery path, the robot's suction squeegee is controlled to lift, the robot's fan is controlled to continue operating for a preset second time, and the steps of recovering residual water in the robot's dirt suction pipe and suction squeegee are realized.

[0050] The dirt suction pipe is the pipe that connects the water suction squeegee to the wastewater tank. The pre-set second time is the predetermined time after the robot has completed its movement along the second collection path for the fan to continue operating.

[0051] For example, when the robot processor controls the robot to complete the second recovery path motion, it controls the robot's suction squeegee to lift and controls the robot's fan to continue operating for a preset second time, recovering residual water in the robot's dirt suction pipe and suction squeegee.

[0052] In this embodiment, when the robot completes its movement along the second recovery path, the robot stops moving, lifts the suction squeegee, and if residual water remains in the suction squeegee and dirt suction pipe, the fan continues to operate for a preset second time, collecting the residual water in the suction squeegee and dirt suction pipe into the wastewater tank, thereby preventing the residual water in the suction squeegee and dirt suction pipe from flowing onto the ground and further reducing the amount of residual water on the ground.

[0053] As shown in Figure 3, in one embodiment, when the robot's position does not change during the floor washing process, the processor executes a computer-readable instruction, thereby achieving the following steps.

[0054] In step 302, the robot's water purification pump is controlled to stop the water pumping.

[0055] For example, when an operator triggers a temporary stop button or a motion stop button, the robot processor receives the temporary stop command or motion stop command and controls the robot's water purification pump to immediately stop water pumping.

[0056] In step 304, the airflow of the robot's fan is adjusted to a preset airflow.

[0057] The preset fan speed refers to the fan speed that is set in advance when the robot temporarily stops or halts its movement. For example, the preset fan speed is 95% of the fan's maximum power.

[0058] In step 306, the robot's main brush is controlled to lift, and in the lifted position, the main brush continues to rotate for a predetermined 3-hour period.

[0059] The pre-set third time is a predetermined period of time from when the robot temporarily stops or stops its movement until it lifts the main brush and stops rotating, for example, 5 seconds.

[0060] In step 308, when the preset fourth time is reached, the robot's water-absorbing squeegee is controlled to lift.

[0061] The pre-set fourth time is a predetermined period of time, for example, 20 seconds, from when the robot temporarily stops or stops its movement until the main brush stops rotating and the water-absorbing squeegee is lifted.

[0062] In step 310, when the preset fifth hour is reached, the robot's fan is turned off.

[0063] The pre-set fifth time is a predetermined period of time from when the robot temporarily stops or stops its movement, from when it lifts the water-absorbing squeegee until it turns off the fan, for example, 20 seconds.

[0064] In this embodiment, if the robot does not move in place, the robot processor controls the water purification pump to immediately stop water pumping, thereby preventing an increase in residual water due to the robot stopping on the ground, and adjusts the fan's airflow to maximum, so that the fan collects residual water from the ground and lifts the main brush. The main brush continues to rotate for a preset third time after being lifted, shaking the residual water on the main brush to the ground, the suction squeegee collects residual water from the ground, and the fan collects the collected residual water, controls the suction squeegee to lift after operating for a preset fourth time, the fan continues to operate, and continues to collect residual water from the suction squeegee, dirt suction pipe and ground, and when a preset fifth time is reached, the robot's fan is turned off to reduce residual water due to the robot stopping on the ground.

[0065] In one embodiment, when the processor executes a computer-readable instruction, In the process of a robot moving along a work path, when the distance between the robot and the end point of the work path is equal to the water pressure adjustment distance, the robot's water purification pump adjusts the water pressure output to a preset water pressure output.

[0066] The water pressure adjustment distance is the distance between the robot and the work endpoint when it is necessary to adjust the water pressure flow rate of the water purification pump. The water pressure adjustment distance is a pre-set distance. To understand this, as the robot approaches the work endpoint, the amount of sediment in the residual water on the work surface increases, and when the distance between the robot and the work endpoint reaches the water pressure adjustment distance, increasing the water pressure flow rate improves the recovery rate of residual water. For example, the water pressure adjustment distance is 20 meters. The pre-set water pressure flow rate is the water pressure flow rate of the water purification pump that is pre-set when the distance between the robot and the work endpoint is equal to the water pressure adjustment distance. The pre-set water pressure flow rate may be set to the maximum water pressure flow rate.

[0067] For example, in the process of a robot processor controlling a robot to move along a work path, the distance between the robot and the work endpoint is calculated. The distance is compared with the water pressure adjustment distance, and if the distance is equal to the water pressure adjustment distance, the water pressure output of the robot water purification pump is adjusted to a preset water pressure output.

[0068] In one embodiment, during the process of the robot moving along a work path, the robot's current position is obtained based on a preset time interval, the distance between the robot and the work endpoint is calculated based on the robot's current position, and if the distance is less than or equal to the water pressure adjustment distance, the water pressure output of the robot's water purification pump is adjusted to a preset water pressure output.

[0069] In this embodiment, during the process in which the robot processor controls the robot to move along the work path, as the distance between the robot and the work endpoint decreases, the amount of sediment in the residual water on the ground increases, reducing the robot's recovery rate of residual water from the ground. When the distance between the robot and the work endpoint is equal to the water pressure adjustment distance, the amount of water supplied by the water purification pump is adjusted to dilute the residual water, improve the recovery rate of residual water, and reduce the amount of residual water along the path.

[0070] In one exemplary embodiment, during the process of a robot performing floor cleaning, if the operator triggers a temporary stop button or a motion stop button, the robot processor receives the temporary stop command or motion stop command and immediately controls the robot's water pump to stop water pumping, adjusts the airflow of the robot fan to 95%, controls the robot's main brush to lift, controls the main brush to stop rotating after it has continued rotating for 5 seconds, controls the robot's suction squeegee to lift 20 seconds after the main brush has stopped rotating, and turns off the robot's fan 20 seconds after the suction squeegee has been lifted.

[0071] In the process of controlling the robot to move along the work path, the robot processor calculates the distance between the robot and the work endpoint, and when the distance is equal to 20 meters, adjusts the water pressure flow rate of the robot water purification pump to the maximum flow rate. When the robot reaches the work endpoint of the work path, the robot processor controls the water purification pump to stop water flow, controls the main brush to lift, controls the main brush to rotate for 10 seconds and then stop rotating, and generates a first recovery path and a second recovery path based on the work path.

[0072] In one preferred embodiment, in the process of controlling the robot to move along a first recovery path, the robot processor controls the robot to move 10 meters back from the work endpoint of the work path to reach the first endpoint, and then controls the robot to move 9.5 meters from the first endpoint to the work endpoint to reach the second endpoint. In this process, the robot processor controls the robot's water purification pump to stop water pumping, controls the robot's main brush to lift, controls the main brush to continue rotating while lifted, and controls the robot's suction squeegee and fan to recover residual water on the path corresponding to the first recovery path. When the robot processor controls the robot to complete its movement along the first recovery path, it controls the robot to temporarily stop its movement, controls the robot's main brush to stop rotating, and adjusts the airflow of the robot fan to 95%. After the time during which the robot has temporarily stopped its movement reaches 5 seconds, the robot is controlled to move along the second recovery path. During the process of moving along the second recovery path, the robot processor controls the robot to move at a speed of 0.25 meters / second from the second endpoint of the first recovery path to the work endpoint of the work path, and then controls the robot to move from the work endpoint back to the second endpoint, repeating the above movement process four times. During this process, the robot controls the water purification pump to stop water pumping, the robot's main brush to lift, and the robot's suction squeegee and fan to collect residual water on the path, thereby achieving the collection of residual water in the robot's cleaning components. As shown in Figure 4, residual water is present on the ground before the robot moves along the first and second recovery paths, and there is no or virtually no residual water on the ground after the robot moves along the first and second recovery paths.

[0073] In the method for recovering residual water described above, when the robot completes the floor cleaning task, a first and second recovery path are generated based on the work path, and the robot is controlled to move along the first recovery path. The robot moves along the last short path a total of one round trip twice, recovering residual water on the last short path twice again during these two movements, and also recovering water from the main brush by shaking it onto the first recovery path, thereby reducing the amount of residual water on the last short path. The robot is then controlled to move along the second recovery path, and it moves along the last short path to the work endpoint multiple times, shaking any residual water from the robot's cleaning components onto the ground and recovering it along with the residual water on the second recovery path. As a result, there is no water residue on the path near the end of the floor cleaning task, and virtually no water remains on the ground at the robot's work endpoint, ultimately achieving the recovery of residual water.

[0074] The steps in the flowcharts for each embodiment described above are shown sequentially according to the arrows, but it should be understood that these steps are not necessarily performed sequentially in the order indicated by the arrows. Unless expressly stated herein, there are no strict order restrictions on the execution of these steps, and they may be performed in other orders. Furthermore, at least some of the steps in the flowcharts for each embodiment described above may include multiple steps or stages. These steps do not necessarily have to be performed at the same time, but may be performed at different times. The execution order of these steps or stages does not necessarily have to be sequential, and they may be performed alternately with other steps or at least some of the steps or stages in other steps.

[0075] Based on a similar inventive concept, embodiments of this application further provide a device for recovering residual water to realize the method for recovering residual water described above. Since the implementation of the problem by this device is similar to the implementation described in the method described above, specific limitations in the embodiments of one or more residual water recovery devices provided below should be referred to with respect to the limitations of the residual water recovery method described above, and will not be explained further here.

[0076] In one embodiment, as shown in Figure 5, an apparatus for recovering residual water is provided, which includes an acquisition module 502, a generation module 504, and a recovery module 506. The acquisition module 502 is used to acquire the robot's work path when the robot completes the floor washing task.

[0077] The generation module 504 is used to generate a residual water recovery route based on the work route.

[0078] The recovery module 506 controls the robot to move along the residual water recovery path and is used to recover residual water along the residual water recovery path.

[0079] In one embodiment, the retrieval module 506 is further used in the process of controlling the robot to move along a first retrieval path, by controlling the robot to move back a predetermined first distance from the work endpoint of the work path to reach a predetermined first endpoint, and then by controlling the robot to move from the predetermined first endpoint to the work endpoint, and then by controlling the robot to reach a predetermined second endpoint which is located a predetermined second distance smaller than the predetermined first distance from the work endpoint.

[0080] In one embodiment, the recovery module 506 is further used to control the robot's water purification pump to stop water pumping, to control the robot's main brush to continue rotating while lifted, and to recover residual water on the first recovery path so that the robot's suction squeegee performs the recovery job at a first pressure and the fan at a first airflow.

[0081] In one embodiment, the recovery module 506 is further used to control the robot to stop moving when controlling the robot to complete movement along a first recovery path, to control the robot's main brush to stop rotating, to adjust the airflow of the robot's fan to a preset airflow, and to control the robot's fan to continue operating for a preset first time.

[0082] In one embodiment, the retrieval module 506 is further used in the process of controlling the robot to move along a second retrieval path, by controlling the robot to move from a preset second endpoint to a preset work endpoint at a preset speed, and by controlling the robot to move from the work endpoint to a preset second endpoint at a preset speed, and by updating the number of reciprocating movements until the number of reciprocating movements equals a preset number.

[0083] In one embodiment, the recovery module 506 is further used to recover residual water in the robot's cleaning components by controlling the robot's water purification pump to stop water pumping, controlling the robot's main brush to lift, and controlling the robot's suction squeegee to perform the recovery job at a second pressure and the fan at a second airflow, in the process of controlling the robot to move along a second recovery path.

[0084] In one embodiment, the recovery module 506 is further used to recover residual water in the robot's dirt suction pipe and suction squeegee by controlling the robot to lift the robot's suction squeegee when controlling the robot to complete its movement along the residual water recovery path, and by controlling the robot's fan to continue operating for a preset second time.

[0085] In one embodiment, the residual water recovery device further includes a residual water recovery module that controls the robot's water purification pump to stop water pumping, adjusts the airflow of the robot's fan to a preset airflow, controls the robot's main brush to lift, continues rotating the lifted main brush for a preset third time, controls the robot's suction squeegee to lift when a preset fourth time is reached, and turns off the robot's fan when a preset fifth time is reached.

[0086] In one embodiment, the device for recovering residual water further includes a water pressure adjustment module for adjusting the water pressure output of the robot's water purification pump to a preset water pressure output when the distance between the robot and the work endpoint of the work path is equal to the water pressure adjustment distance as the robot moves along the work path.

[0087] Each module in the apparatus for recovering residual water described above may be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be incorporated into the robot's processor in hardware form or operate independently, or it may be stored in the robot's memory in software form, facilitating the processor to call and execute the operations corresponding to each module.

[0088] In one embodiment, a robot is provided, the internal structure of which may be shown in Figure 6. This robot includes a processor, storage device, communication interface, display, and input device connected via a system bus. The robot processor is used to provide computing and control capabilities. The robot's storage device includes a non-volatile storage medium and memory. An operating system and computer programs are stored in this non-volatile storage medium. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The robot's communication interface is used to communicate with an external robot by wired or wireless means, and the wireless means may be implemented by Wi-Fi, carrier network, NFC (near-field communication), or other technology. When this computer program is executed by the processor, it implements a method for recovering residual water. The robot's display may be a liquid crystal display or an electronic ink display, and the robot's input device may be a touch layer covered on the display, a button, trackball, or touch panel provided on the robot case, or an externally connected keyboard, touch panel, or mouse.

[0089] As those skilled in the art will understand, the structure shown in Figure 6 is merely a block diagram of some of the structures related to the present invention and does not constitute a limitation on the robots in which the present invention is used. Specifically, the robot may include more or fewer parts than shown, or may be a combination of several parts, or may have a different arrangement of parts.

[0090] In one embodiment, a robot is further provided which includes a storage device, a processor, and computer-readable instructions stored in the storage device and operable on the processor, and when the processor executes the computer instructions, the steps in each embodiment of the above method are realized.

[0091] In one embodiment, a computer-readable storage medium is provided in which a computer program is stored, and when this computer program is executed by a processor, the steps in each embodiment of the above method are realized.

[0092] In one embodiment, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A robot processor reads these computer instructions from the computer-readable storage medium, and the processor executes these computer instructions, thereby causing the robot to perform the steps in each embodiment of the above method.

[0093] It should be explained that the user information (including, but not limited to, user device information and user personal information) and data (including, but not limited to, data for analysis, data for storage, and data for presentation) relating to this application are all information and data authorized by the user or fully authorized by each party.

[0094] As those skilled in the art will understand, the implementation of all or part of the methods of the above embodiments may be carried out by instructing the relevant hardware with a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, at runtime, may include flows such as those of the embodiments of each of the above embodiments. Any use of a storage device, database, or other medium in each embodiment of this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external high-speed buffer memory, etc. As an explanation rather than an limitation, RAM may take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases in each embodiment of this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors in each embodiment of this application may include, but are not limited to, general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, and the like.

[0095] For the sake of brevity, the technical features of the embodiments described above do not describe all possible combinations of the technical features of the embodiments described above. However, as long as these combinations of technical features are inconsistent, they should be considered to fall within the scope described herein.

[0096] The embodiments described above are merely examples of some embodiments of this application, and while the description is more specific and detailed, it cannot be understood as limiting the scope of the patent application. Those skilled in the art should point out that several modifications and improvements can be made without departing from the spirit of this application, and these fall within the scope of protection. Therefore, the scope of protection of the patent in this application must be in accordance with the attached claims.

Claims

1. A robot comprising a memory device, a processor, and computer-readable instructions stored in the memory device and operable on the processor, wherein when the processor executes the computer-readable instructions, When the robot completes the floor cleaning task, the steps include obtaining the robot's work path, The steps include generating a residual water recovery route based on the aforementioned work route, A robot that moves along the residual water recovery path and is controlled to recover the residual water.

2. The residual water recovery path includes a first recovery path, and when the processor executes the computer-readable instruction, The robot according to claim 1, characterized in that, in the process of controlling the robot to move along the first recovery path, the robot is controlled to move back a predetermined first distance from the work end point of the work path and reach a predetermined first end point, and then the robot is controlled to move from the predetermined first end point to the work end point and reach a predetermined second end point that is a predetermined second distance less than or equal to the predetermined first distance from the predetermined first end point.

3. When the processor executes the computer-readable instruction, The robot according to claim 2, characterized in that, in the process of controlling the robot to move along the first recovery path, the steps of controlling the robot's water purification pump to stop water pumping, controlling the robot's main brush to continue rotating while lifted, and controlling the robot's suction squeegee to perform a recovery job at a first pressure and the fan at a first airflow to recover the residual water.

4. When the processor executes the computer-readable instruction, The robot according to claim 3, characterized in that when controlling the robot to complete movement along the first recovery path, the robot is controlled to stop movement, the main brush of the robot is controlled to stop rotation, the airflow of the robot's fan is adjusted to a preset airflow, and the fan of the robot is controlled to continue operation for a preset first time.

5. If the preset second distance is smaller than the preset first distance, the residual water recovery path further includes the second recovery path, and when the processor executes the computer-readable instruction, The robot according to claim 2, characterized in that, in the process of controlling the robot to move along the second retrieval path, the robot is controlled to move from the preset second endpoint to the work endpoint, and the robot is controlled to move from the work endpoint to the preset second endpoint, and the number of reciprocating movements is updated until the number of reciprocating movements is equal to the preset number of reciprocating movements.

6. When the processor executes the computer-readable instruction, The robot according to claim 5, characterized in that, in the process of controlling the robot to move along the second recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to lift, the robot's suction squeegee is controlled to perform the recovery job at a second pressure and the fan at a second airflow, thereby achieving the step of recovering residual water in the robot's cleaning components.

7. When the processor executes the computer-readable instruction, The robot according to claim 1, characterized in that when controlling the robot to complete movement along the residual water recovery path, the robot's suction squeegee is controlled to lift, the robot's fan is controlled to continue operating for a preset second time, and the robot recovers residual water in the robot's dirt suction pipe and suction squeegee.

8. When the robot's position does not change during the floor washing process, the processor executes the computer-readable instruction. The steps include controlling the water purification pump of the robot to stop the water pumping, The steps include adjusting the airflow of the robot's fan to a preset airflow, A step of lifting and controlling the main brush of the robot to continue rotating for a predetermined third time, The steps include controlling the robot's water-absorbing squeegee to lift it when a preset fourth time has been reached, The robot according to claim 1, characterized in that it performs the step of turning off the robot's fan when a preset fifth time is reached.

9. When the processor executes the computer-readable instruction, The robot according to claim 1, characterized in that, in the process of the robot moving based on the work path, when the distance between the robot and the work endpoint of the work path is equal to the water pressure supply adjustment distance, the robot adjusts the water pressure supply amount of the water purification pump to a preset water pressure supply amount.

10. A method for recovering residual water, When the robot completes the floor cleaning task, the steps include obtaining the robot's work path, The steps include generating a residual water recovery route based on the aforementioned work route, A method for recovering residual water, comprising the step of controlling the robot to move along the residual water recovery path and recover the residual water.

11. A device for recovering residual water, When the robot completes the floor cleaning task, an acquisition module is used to acquire the robot's work path, A generation module for generating a residual water recovery route based on the aforementioned work route, A residual water recovery apparatus characterized by including a recovery module for controlling the robot to move along the residual water recovery path and recover the residual water.

12. The aforementioned recovery module further, The apparatus according to claim 11, characterized in that, in the process of controlling the robot to move along the first recovery path, the robot is controlled to move back a predetermined first distance from the work end point of the work path to reach a predetermined first end point, and then the robot is controlled to move from the predetermined first end point to the work end point, and then the robot is controlled to reach a predetermined second end point that is a predetermined second distance less than or equal to the predetermined first distance from the predetermined first end point.

13. The aforementioned recovery module further, The apparatus according to claim 12, characterized in that, in the process of controlling the robot to move along the first recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to continue rotating while lifted, and the robot's suction squeegee is used to control the recovery job at a first pressure and the fan at a first airflow to recover the residual water.

14. The aforementioned recovery module further, The apparatus according to claim 13, characterized in that it is used to control the robot to stop its movement when controlling the robot to complete its movement along the first recovery path, to control the main brush of the robot to stop its rotation, to adjust the airflow of the robot's fan to a preset airflow, and to control the robot's fan to continue operating for a preset first time.

15. The aforementioned recovery module further, The apparatus according to claim 12, characterized in that, in the process of controlling the robot to move along the second recovery path, the robot is controlled to move from the preset second endpoint to the work endpoint, and the robot is controlled to move from the work endpoint to the preset second endpoint, and the number of reciprocating movements is updated until the number of reciprocating movements is equal to the preset number of reciprocating movements.

16. The aforementioned recovery module further, The apparatus according to claim 15, characterized in that, in the process of controlling the robot to move along the second recovery path, the robot's water purification pump is controlled to stop water pumping, the robot's main brush is controlled to lift, the robot's suction squeegee is controlled to perform the recovery job at a second pressure and the fan at a second airflow, and is used to recover residual water in the robot's cleaning components.

17. The aforementioned recovery module further, The apparatus according to claim 11, characterized in that when controlling the robot to complete movement along the residual water recovery path, the robot's suction squeegee is controlled to lift, the robot's fan is controlled to continue operating for a preset second time, and is used to recover residual water in the robot's dirt suction pipe and suction squeegee.

18. The apparatus for recovering the residual water is, The robot's water purification pump is controlled to stop the water pumping. The airflow of the robot's fan is adjusted to a preset airflow, The robot's main brush is controlled to lift and continue rotating for a predetermined third time. When the preset fourth time is reached, the robot's water-absorbing squeegee is controlled to lift, and The apparatus according to claim 11, further comprising a residual water recovery module for turning off the robot's fan when a preset fifth time is reached.

19. The apparatus for recovering the residual water is, The apparatus according to claim 11, further comprising a water pressure adjustment module for adjusting the amount of water supplied by the robot's water purification pump to a preset amount of water when the distance between the robot and the end point of the work path is equal to the water pressure adjustment distance during the process of the robot moving based on the work path.

20. A computer-readable storage medium in which computer programs are stored, A computer-readable storage medium that, when the computer program is executed by the processor, realizes the steps performed by the robot according to any one of claims 1 to 9.

21. Computer program products, including computer programs, A computer program product characterized in that, when executed by a processor, it realizes the steps of the method according to any one of claims 1 to 9.

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