Mop cleaning method and cleaning system

Abstract

The present application relates to a mop cleaning method and cleaning system. The method is applied to a cleaning robot, and specifically comprises: determining a task state corresponding to a mop cleaning task of a cleaning robot; and if the task state changes from a non-executable state to an executable state, triggering a mop cleaning step, which comprises: on the basis of a mop state of the cleaning robot, controlling the cleaning robot to perform mop cleaning, wherein the mop cleaning at least comprises one of mop washing and mop drying. The use of the present method can improve the user convenience when a cleaning robot performs mop cleaning.

Description

Mop cleaning method and cleaning system

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 2023115250085, filed on November 15, 2023, entitled “Mop Cleaning Method and Cleaning System,” the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of smart home devices, and in particular to a mop cleaning method and a cleaning system. Background Art

[0004] With the development of smart home device technology, cleaning robots have emerged, which can automatically perform household tasks such as sweeping and mopping the floor.

[0005] In traditional technology, the user usually sends a mopping command through the terminal. After receiving the mopping command, the cleaning robot will automatically mop the floor in the room. After mopping is completed, the cleaning robot returns to the base station and cleans the mop at the base station.

[0006] However, if the cleaning robot is in a state where it cannot perform the mop cleaning task due to external reasons, for example, the cleaning robot is disconnected from the base station and cannot perform the mop cleaning task, or the cleaning robot enters the do not disturb mode and cannot perform the mop cleaning task, etc., then the user needs to manually issue instructions after the state of the cleaning robot changes to being able to perform the mop cleaning task, to control the cleaning robot to re-execute the mop cleaning task, so that the cleaning robot will continue to perform the mop cleaning task, which will result in lower user convenience when the cleaning robot performs mop cleaning.

[0007] Summary of the Invention

[0008] Based on this, it is necessary to provide a mop cleaning method and a cleaning system that can improve the user convenience when a cleaning robot performs mop cleaning in response to the above technical problems.

[0009] In a first aspect, the present application provides a mop cleaning method. The method comprises:

[0010] Determining a task state corresponding to a mopping cleaning task of the cleaning robot;

[0011] If the task status changes from an unexecutable state to an executable state, the mop cleaning step is triggered: according to the mopping state of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0012] In one embodiment, controlling the cleaning robot to perform mopping cleaning according to the mopping state of the cleaning robot includes:

[0013] If the mop status is to be cleaned or the cleaning is not completed, the cleaning robot is controlled to clean the mop and dry the entire mop; if the mop status is cleaned but not dried, the cleaning robot is controlled to dry the entire mop; if the mop status is the drying is not completed, the cleaning robot is controlled to clean the mop according to the time information associated with the mop cleaning task.

[0014] In one embodiment, the duration of time the cleaning robot is in the unexecutable state is included; and controlling the cleaning robot to perform mopping cleaning according to the time information associated with the mopping cleaning task includes:

[0015] If the duration is longer than the preset duration, the cleaning robot is controlled to clean the mop and dry the entire mop; if the duration is less than or equal to the preset duration, the cleaning robot is controlled to re-dry the mop.

[0016] In one embodiment, the time information includes a duration that the cleaning robot is in the unexecutable state and a drying time of the mop; and controlling the cleaning robot to perform mop cleaning based on the time information associated with the mop cleaning task includes:

[0017] According to the duration and the drying time of the mop, determine whether the mop needs to be cleaned again; if so, control the cleaning robot to clean the mop and dry the entire mop; if not, control the cleaning robot to re-dry the mop.

[0018] In one embodiment, the step of determining whether the mop needs to be cleaned again based on the duration and the drying time of the mop includes:

[0019] A first evaluation value is generated based on the duration and the drying time, wherein the first evaluation value is used to evaluate the odor size of the mop after the task status changes from the non-executable state to the executable state; if the first evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be re-cleaned; if the first evaluation value is less than or equal to the preset evaluation value, it is determined that the mop does not need to be re-cleaned.

[0020] In one embodiment, the method further comprises:

[0021] If the interval between the current time point and the start time point when the cleaning robot is in an unexecutable state is greater than the preset interval, the cleaning robot is controlled to perform mop cleaning; if the interval is less than or equal to the preset interval, the cleaning robot is prohibited from mopping cleaning.

[0022] In one embodiment, the mop of the cleaning robot includes multiple mop areas to be dried, and the time information includes the duration of the cleaning robot being in the unexecutable state and the drying time of each of the mop areas to be dried; controlling the cleaning robot to perform mop cleaning based on the time information associated with the mop cleaning task includes:

[0023] According to the duration and the drying time of each mop area to be dried, determine whether the mop needs to be cleaned again; if so, control the cleaning robot to clean the mop and dry the entire mop; if not, control the cleaning robot to re-dry the mop.

[0024] In one embodiment, determining whether the mop needs to be cleaned again based on the duration and the drying time of each mop area to be dried includes:

[0025] Based on the duration and the drying time of each area, a second evaluation value corresponding to each mop area to be dried is generated respectively, wherein the second evaluation value is used to evaluate the odor level of the mop area to be dried after the task status changes from the non-executable state to the executable state; if the maximum value of each second evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be re-cleaned; if the maximum value of the second evaluation values ​​is less than or equal to the preset evaluation value, it is determined that the mop does not need to be re-cleaned.

[0026] In one embodiment, before determining whether the mop needs to be cleaned again based on the duration and the drying time of each of the mop areas to be dried, the method further includes:

[0027] The number of rotations of the mop during the drying process is obtained; and the drying time of each area of ​​the mop to be dried is determined according to the number of rotations and the total drying time of the mop.

[0028] In one embodiment, the method further comprises:

[0029] If the current time point is in the preset do not disturb period, the task status of the mop cleaning task is set to an unexecutable state; if the current time point is not in the preset do not disturb period, the task status of the mop cleaning task is set to an executable state.

[0030] In one embodiment, the method further comprises:

[0031] If the connection between the cleaning robot and the base station is disconnected, the task state of the mop cleaning task is set to an unexecutable state; if the connection between the cleaning robot and the base station is connected, the task state of the mop cleaning task is set to an executable state.

[0032] In a second aspect, the present application also provides a mop cleaning device. The device comprises:

[0033] A task status determination module, configured to determine a task status corresponding to a mopping cleaning task of the cleaning robot;

[0034] The mop cleaning module is used to trigger the mop cleaning step if the task status changes from an unexecutable state to an executable state: according to the mop state of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0035] In a third aspect, the present application further provides a cleaning system comprising a cleaning robot and a base station, wherein the cleaning robot comprises a body and a mop disposed on the body, and the base station comprises a washing tank for washing the mop and a drying module for drying the mop. The cleaning robot comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0036] Determine the task status corresponding to the mop cleaning task of the cleaning robot; if the task status changes from an unexecutable state to an executable state, trigger the mop cleaning step: according to the mop state of the cleaning robot, control the cleaning robot to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0038] Determine the task status corresponding to the mop cleaning task of the cleaning robot; if the task status changes from an unexecutable state to an executable state, trigger the mop cleaning step: according to the mop state of the cleaning robot, control the cleaning robot to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0039] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0040] Determine the task status corresponding to the mop cleaning task of the cleaning robot; if the task status changes from an unexecutable state to an executable state, trigger the mop cleaning step: according to the mop state of the cleaning robot, control the cleaning robot to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0041] The above-mentioned mop cleaning method and cleaning system first determine the task status corresponding to the mop cleaning task of the cleaning robot, and when the task status changes from an unexecutable state to an executable state, the cleaning robot is triggered to automatically execute the mop cleaning step: according to the mop status of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying. In this way, even if the cleaning robot is in a state where the mop cleaning task cannot be executed due to reasons such as the do not disturb time period, the cleaning robot will automatically perform mop cleaning according to the mop status of the cleaning robot, and the user does not need to manually issue instructions to control the cleaning robot to continue to perform the mop cleaning work, thereby improving the user convenience when the cleaning robot performs mop cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0043] FIG1 is a schematic flow chart of a mop cleaning method according to one embodiment;

[0044] FIG2 is a schematic diagram of a process of drying a mop by a cleaning robot according to an embodiment;

[0045] FIG3 is a schematic diagram of a process of drying a mop by a cleaning robot according to another embodiment;

[0046] FIG4 is a schematic diagram of a process of drying a mop by a cleaning robot in another embodiment;

[0047] FIG5 is a block diagram of a mop cleaning device according to an embodiment;

[0048] FIG6 is a diagram showing the internal structure of a cleaning robot in one embodiment. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] In one embodiment, as shown in FIG1 , a mop cleaning method is provided, which is described by taking the application of the method to a cleaning robot as an example, including the following steps:

[0051] Step 202: Determine the task status corresponding to the mopping cleaning task of the cleaning robot.

[0052] Among them, the cleaning robot can be a sweeper, a mop machine, an automatic floor scrubber, etc. After the cleaning robot completes the sweeping or mopping task, the mop of the cleaning robot is in a dirty state. The cleaning robot will return to the base station to perform the mop cleaning task. The process of the cleaning robot's mop cleaning task includes two processes: mop cleaning and mop drying. Among them, the time spent on mop cleaning is usually shorter, and the time spent on mop drying is usually longer.

[0053] As an example, the task status may be an executable state and a non-executable state. The executable state indicates that the cleaning robot can currently execute the mop cleaning task, and the non-executable state indicates that the cleaning robot cannot currently execute the mop cleaning task.

[0054] As an example, when the task status of the cleaning robot is not executable, the "button" of the mop cleaning mode of the cleaning robot can be displayed in gray (low brightness) to indicate that the cleaning robot is currently unable to perform the mop cleaning task; when the task status of the cleaning robot is executable, the "button" of the mop cleaning mode of the cleaning robot can be displayed in normal screen color (high brightness) to indicate that the cleaning robot can currently perform the mop cleaning task.

[0055] In one embodiment, if the current time point is in the preset do not disturb period, it means that the task status of the mop cleaning task is not executable; if the current time point is not in the preset do not disturb period, it means that the task status of the mop cleaning task is executable.

[0056] In one embodiment, if the connection between the cleaning robot and the base station is disconnected, it means that the task status of the mop cleaning task is not executable; if the connection between the cleaning robot and the base station is connected, it means that the task status of the mop cleaning task is executable.

[0057] Step 204: If the task status changes from an unexecutable state to an executable state, a mop cleaning step is triggered: according to the mopping state of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0058] The mop status represents the degree of cleaning of the mop. For example, the mop status may be a to-be-cleaned state, an unfinished cleaning state, a cleaned but not dried state, or an unfinished drying state.

[0059] As an example, step 204 includes: if the task status changes from an unexecutable state to an executable state, determining the mopping state of the cleaning robot according to the previous cleaning mode of the cleaning robot, for example, if the previous cleaning mode is a mop cleaning mode, then it can be determined that the mopping state is an unfinished cleaning state; if the previous cleaning mode is a mop drying mode that has not started, but the mop cleaning mode has ended, then it can be determined that the mopping state is a cleaned but not dried state; according to the mop state, determining the current cleaning mode of the cleaning robot, and controlling the cleaning robot to perform mop cleaning in the current cleaning mode, wherein mop cleaning includes at least one of mop cleaning and mop drying.

[0060] As an example, the current cleaning mode may be a re-cleaning mode or a re-drying mode, wherein re-cleaning refers to re-cleaning the mop and fully drying it, full drying refers to a complete drying process of the mop, and re-drying refers to continuing to dry the mop based on the drying time of the mop, wherein the re-drying time may be a drying time determined according to the difference between a preset full drying time and the drying time; for example, full drying may be a process of continuously drying the mop for 3 hours, and re-drying may be a process of continuously drying the mop for less than 3 hours.

[0061] In one embodiment, controlling the cleaning robot to perform mopping cleaning according to the mopping state of the cleaning robot includes:

[0062] If the mop status is to be cleaned or the cleaning is not completed, the cleaning robot is controlled to clean the mop and dry the mop completely; if the mop status is cleaned but not dried, the cleaning robot is controlled to clean the mop according to the time information associated with the mop cleaning task.

[0063] Specifically, if the mop status is to be cleaned or the cleaning is not completed, the cleaning robot is controlled to clean the mop, and after cleaning is completed, the cleaning robot is controlled to dry the entire mop; if the mop status is cleaned but not dried, the cleaning robot is controlled to clean the mop according to the time information associated with the mop cleaning task, wherein the mop cleaning includes at least one of mop cleaning and mop drying.

[0064] As an example, the washing and drying incomplete state may be a state where washing is completed but drying is not performed, or a state where washing is completed and drying is performed but drying is not completed.

[0065] As an example, the time information includes the drying time of the mop. Controlling the cleaning robot to perform mop cleaning according to the time information associated with the mop cleaning task includes:

[0066] The re-drying time is determined according to the drying time of the mop, and the cleaning robot is controlled to re-dry the mop according to the re-drying time.

[0067] As an example, the time information includes the duration of time the cleaning robot is in an unavailable state. Controlling the cleaning robot to perform mopping cleaning based on the time information associated with the mopping cleaning task includes:

[0068] According to the duration of time that the cleaning robot is in the inoperable state, the cleaning robot is controlled to perform mopping cleaning.

[0069] As an example, the time information includes the duration of the cleaning robot being in an inoperable state and the drying time of the mop. Controlling the cleaning robot to perform mop cleaning based on the time information associated with the mop cleaning task includes:

[0070] The cleaning robot is controlled to perform mopping cleaning according to a duration in which the cleaning robot is in an inoperable state and a drying duration of the mop.

[0071] As an example, the mop may include multiple mop areas to be dried, and the drying time includes the drying time of each mop area to be dried. The above-mentioned controlling the cleaning robot to perform mop cleaning based on the duration of the cleaning robot being in the unexecutable state and the drying time of the mop includes:

[0072] Based on the duration and the drying time of each area, determine whether it is necessary to control the cleaning robot to clean the mop again; if so, control the cleaning robot to clean the mop and dry the entire mop; if not, determine the re-drying time based on the drying time of each area, and control the cleaning robot to re-dry the mop based on the re-drying time.

[0073] The additional drying time is determined based on the drying time of each area, including:

[0074] Determine the minimum drying time for each area and calculate the re-drying time based on the minimum drying time. For example, if the full drying time for each mop area is 1.5 hours and the minimum drying time for each area is 30 minutes, the re-drying time for each mop area is 1 hour.

[0075] In the above-mentioned mop cleaning method, the task status corresponding to the mop cleaning task of the cleaning robot is first determined. When the task status changes from an unexecutable state to an executable state, the cleaning robot is triggered to automatically execute the mop cleaning step: according to the mop status of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying. In this way, even if the cleaning robot is in a state where the mop cleaning task cannot be executed due to reasons such as the do not disturb time period, the cleaning robot will automatically perform mop cleaning according to the mop status of the cleaning robot. There is no need for the user to manually issue instructions to control the cleaning robot to continue to perform the mop cleaning work, thereby improving the user convenience when the cleaning robot performs mop cleaning.

[0076] As an example, when the cleaning robot is in a preset do not disturb period, the task status of the cleaning robot is in an unexecutable state; when the preset do not disturb period is entered at the current time point, the cleaning robot can be controlled to be in silent mode, and the task status of the mop cleaning task is set to an unexecutable state. At this time, it is determined that the mop cleaning task of the cleaning robot has changed from an executable state to an unexecutable state; at the end of the preset do not disturb period, the task status of the mop cleaning task is set to an unexecutable state. At this time, it is determined that the mop cleaning task of the cleaning robot has changed from an unexecutable state to an executable state, and according to the mop status of the cleaning robot, the cleaning robot is controlled to perform mop cleaning. In this way, on the one hand, the cleaning robot can be controlled to handle the silent state during the preset do not disturb period, avoiding the preset do not disturb period for mopping cleaning. On the other hand, after the preset do not disturb period ends, the cleaning robot can be controlled to clean the mop according to the mop status to ensure that the mop can be cleaned sufficiently. Therefore, it is possible to take into account both reducing the noise interference of the cleaning robot when cleaning the mop and ensuring the cleanliness of the mop.

[0077] As an example, when the cleaning robot is disconnected from the base station, the task status of the cleaning robot is set to a non-executable state. In this way, when the cleaning robot is disconnected from the base station, the task status of the mop cleaning task can be set to a non-executable state, and at this time, it is determined that the mop cleaning task of the cleaning robot has changed from an executable state to an non-executable state; when the cleaning robot is reconnected to the base station, the task status of the mop cleaning task can be set to an executable state, and at this time, it is determined that the mop cleaning task of the cleaning robot has changed from a non-executable state to an executable state, and according to the mop state of the cleaning robot, the cleaning robot is controlled to perform mop cleaning. In this way, after the cleaning robot is disconnected from the base station, resulting in an interruption in the mop cleaning work, if it is determined that the cleaning robot is reconnected to the base station, the cleaning robot will automatically control the cleaning robot to resume mopping cleaning according to the mop state, without the need for manual control of the cleaning robot to resume mopping cleaning, thereby improving user convenience.

[0078] It should be noted that if the mop is in a relatively wet state for a long time, it is easy to produce odor, affecting the user experience.

[0079] In one embodiment, as shown in FIG2 , the time information includes a duration during which the cleaning robot is in an inoperable state; and controlling the cleaning robot to perform mopping cleaning according to the time information associated with the mopping cleaning task includes:

[0080] Step 302: If the duration is longer than the preset duration, the cleaning robot is controlled to clean the mop and dry the entire mop.

[0081] Step 304: If the duration is less than or equal to the preset duration, the cleaning robot is controlled to perform mopping and drying.

[0082] Among them, when the cleaning robot is in the preset do not disturb period or the cleaning robot is disconnected from the base station, the cleaning robot task status is an unexecutable state; the preset do not disturb period can be set by the user, for example, the preset do not disturb period can be the time when the user sleeps at night, or the time when the user takes a lunch break, so the length of the preset do not disturb period can be set by the user according to his or her own needs.

[0083] As an example, steps 302 to 304 include: if the duration is greater than the preset duration, it means that the cleaning robot has been in an unexecutable state for too long, which may easily cause the undried mop to be in a wet state for too long and produce odor, so it is necessary to first control the cleaning robot to clean the mop, and then control the cleaning robot to fully dry the mop after the mop is cleaned; if the duration is equal to or less than the preset duration, it means that the cleaning robot has been in an unexecutable state for a short time, which may not easily cause the undried mop to be in a wet state for too long and produce odor, so the cleaning robot can be controlled to re-dry the mop according to the drying time of the mop.

[0084] In this embodiment, when the mop is in an unfinished drying state, it can be judged whether the mop is prone to odor after the unexecutable state is changed to the executable state based on the duration of the cleaning robot being in the unexecutable state. If it is prone to odor, the cleaning robot is controlled to clean and fully dry the mop; if it is not easy to produce odor, the re-drying time of the mop is determined based on the drying time, and the cleaning robot is controlled to re-dry the mop based on the re-drying time. In this way, when the mop is prone to odor, the odor of the mop can be removed by cleaning the mop and fully drying the mop, thereby ensuring the cleanliness of the mop. When the mop is not easy to produce odor, the mop is directly re-dried to make the mop become dry as soon as possible, thereby ensuring the efficiency of mop cleaning.

[0085] In one embodiment, as shown in FIG3 , the time information includes the duration of the cleaning robot being in an inoperable state and the drying time of the mop. Controlling the cleaning robot to perform mop cleaning based on the time information associated with the mop cleaning task includes:

[0086] Step 402: Determine whether the mop needs to be cleaned again based on the duration and the drying time of the mop.

[0087] Among them, there are usually two key factors that determine whether the mop will produce odor. One is the humidity of the mop, and the other is the length of time the mop is in a wet state. The humidity of the mop is usually related to the drying time of the mop. The longer the drying time, the lower the humidity of the mop. The length of time the mop is in a wet state is usually related to the duration of the cleaning robot being in an inoperable state. For example, the duration of the cleaning robot being in an inoperable state can be equal to the length of time the mop is in a wet state.

[0088] As an example, step 402 includes: predicting the probability of the mop generating an odor based on the duration and the drying time of the mop; if the probability of the mop generating an odor is greater than a preset probability threshold, determining that the mop needs to be re-cleaned; if the probability of the mop generating an odor is less than or equal to the preset probability threshold, determining that the mop does not need to be re-mopped.

[0089] As an example, the probability of the mop producing an odor is proportional to the length of the preset do not disturb period and inversely proportional to the drying time.

[0090] As an example, step 402 includes: if the duration is greater than a preset duration threshold, and the drying time of the mop is less than the preset drying time threshold, it is determined that the mop needs to be cleaned again; if the duration is not greater than the preset duration threshold, or the drying time of the mop is not less than the preset drying time threshold, it is determined that the mop does not need to be cleaned again.

[0091] Step 404: If yes, control the cleaning robot to clean the mop and dry the mop completely.

[0092] Step 406: If not, control the cleaning robot to perform mop drying.

[0093] As an example, steps 404 to 406 include: if the mop needs to be cleaned again, the cleaning robot is controlled to clean the mop, and after the mop is cleaned, the cleaning robot is controlled to dry the entire mop; if the mop does not need to be cleaned again, the cleaning robot is controlled to re-dry the mop according to the drying time.

[0094] In one embodiment, determining whether the mop needs to be cleaned again based on the duration and the drying time of the mop includes:

[0095] A first evaluation value is generated based on the duration and the drying time, wherein the first evaluation value is used to evaluate the odor size of the mop after the task status changes from an unexecutable state to an executable state; if the first evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be re-cleaned; if the first evaluation value is less than or equal to the preset evaluation value, it is determined that the mop does not need to be re-cleaned.

[0096] Among them, the first evaluation value is used to evaluate the odor size of the mop after the preset do not disturb period ends. The larger the first evaluation value, the greater the odor of the mop after the task status changes from an unexecutable state to an executable state. The smaller the first evaluation value, the smaller the odor of the mop after the task status changes from an unexecutable state to an executable state. The size of the first evaluation value is directly proportional to the duration that the cleaning robot is in the unexecutable state, and inversely proportional to the drying time of the mop.

[0097] Specifically, preset weight information is obtained, and according to the preset weight information, the inverse of the duration and the drying time are weightedly aggregated to obtain a first evaluation value, wherein the weighted aggregation method can be weighted average or weighted sum, etc.; if the first evaluation value is greater than the preset evaluation value, it means that after the task state changes from an unexecutable state to an executable state, the odor of the mop will be too strong, which will affect the user experience, and thus it is necessary to first control the cleaning robot to re-mop the mop, and then control the cleaning robot to fully dry the mop after the mop is re-cleaned; if the first evaluation value is less than or equal to the preset evaluation value, it means that after the task state changes from an unexecutable state to an executable state, the odor of the mop will be smaller, which will not affect the user experience, and thus the cleaning robot is controlled to re-dry the mop according to the drying time of the mop.

[0098] In this embodiment, when the mop is in an unfinished drying state, a first evaluation value can be generated according to the duration of time the cleaning robot is in an unavailable state and the drying time of the mop. The first evaluation value can be used to quantitatively analyze the odor size of the mop after the task state changes from an unexecutable state to an executable state, thereby improving the accuracy of judging the odor size of the mop after the task state changes from an unexecutable state to an executable state. Therefore, when the first evaluation value is greater than a preset evaluation value, it is determined that the odor of the mop will be too strong after the task state changes from an unexecutable state to an executable state, which will affect the user experience. Therefore, the mop is re-washed and fully dried to remove the odor of the mop and ensure the cleanliness of the mop. When the first evaluation value is less than or equal to the preset evaluation value, it is determined that the odor of the mop will be small after the task state changes from an unexecutable state to an executable state, which will not affect the user experience. Therefore, the mop is directly re-dried to make the mop become dry as soon as possible, thereby ensuring the cleaning efficiency of the mop.

[0099] It should be noted that when the cleaning robot is in an unavailable state for a long time, if the task state of the cleaning robot is only dried for a short time or not dried at all before changing to an unexecutable state, the mop will inevitably produce an odor after the task state changes from an unexecutable state to an executable state, and the mop needs to be rewashed and fully dried. At this time, the cleaning process of the cleaning robot before the task state changes to an unexecutable state is a completely ineffective cleaning process, which causes a waste of electricity resources.

[0100] In one embodiment, the mop cleaning method includes:

[0101] If the interval between the current time point and the start time point when the cleaning robot is in an unexecutable state is greater than the preset interval, the cleaning robot is controlled to perform mopping cleaning; if the interval is less than or equal to the preset interval, the cleaning robot is prohibited from mopping cleaning.

[0102] Among them, when the cleaning robot is in the preset do not disturb period, the task status of the cleaning robot is an unexecutable state. When the cleaning robot is not in the preset do not disturb period, the task status of the cleaning robot is an executable state. Since the preset do not disturb period is pre-set, the starting time point of the cleaning robot in the unexecutable state can be predicted in advance.

[0103] Specifically, before responding to the mop cleaning instruction, the current time point and the start time point when the cleaning robot is about to be in an unexecutable state are obtained, and the time interval between the current time point and the start time point is calculated to obtain the interval duration; if the interval duration is greater than the preset interval duration, the cleaning robot is controlled to perform mop cleaning; if the interval duration is less than or equal to the preset interval duration, the cleaning robot is prohibited from mopping cleaning until the preset do not disturb period ends.

[0104] In this embodiment, before responding to the mop cleaning instruction, the cleaning robot will first detect the time interval between the current time point and the start time point when the cleaning robot is in an unexecutable state; if the time interval is greater than the preset time interval, it means that if mop cleaning is started at this time, the mop will most likely not produce odor after the task state changes from an unexecutable state to an executable state, so the cleaning robot is directly controlled to mop cleaning to ensure that the mop can be cleaned as soon as possible; if the time interval is less than or equal to the preset time interval, it means that if mop cleaning is started at this time, the mop will most likely produce odor after the task state changes from an unexecutable state to an executable state, so the cleaning robot is prohibited from being controlled to mop cleaning, so as to reduce the ineffective mop cleaning process of the cleaning robot and reduce the waste of power resources.

[0105] It should be noted that mops can be divided into ordinary mops, drum mops or flat rotary mops. For ordinary mops, the mop is usually dried as a whole and is in a static state during the drying process. For drum mops or flat rotary mops, when drying such mops, due to certain limitations on the angle of the air outlet for drying the mop, the mop needs to be rotated during drying and the mop is dried gradually in different areas. That is, the mop area facing the air outlet is dried for a period of time, and then the mop is rotated so that the other mop area facing the air outlet is dried, until all the mop areas to be dried are dried.

[0106] In one embodiment, as shown in FIG4 , the mop of the cleaning robot includes multiple mop areas to be dried, and the time information includes the duration of the cleaning robot being in an inoperable state and the drying time of each mop area to be dried. Controlling the cleaning robot to perform mop cleaning based on the time information associated with the mop cleaning task includes:

[0107] Step 502 : Determine whether the mop needs to be cleaned again based on the duration and the drying time of each mop area to be dried.

[0108] The area drying time refers to the drying time of the mop area to be dried. The mop can be a drum mop or a flat rotating mop. This type of mop needs to be rotated during drying. The drying time of different mop areas to be dried of the mop is different, which will lead to different humidity levels in the different mop areas to be dried, thereby affecting the final judgment result of whether the mop has an odor after the task status changes from the unexecutable state to the executable state. For example, since different mop areas to be dried need to be rotated to face the air outlet for drying, there may be a situation where the drying time of mop area A to be dried is longer, while the drying time of mop area B to be dried is shorter. In this case, the humidity of mop area A to be dried is lower and is less likely to produce an odor after the task status changes from the unexecutable state to the executable state. However, the humidity of mop area B to be dried is higher and is more likely to produce an odor after the task status changes from the unexecutable state to the executable state.

[0109] As an example, step 502 includes: selecting the drying time with the smallest value from the drying time of each area as the target drying time; predicting the probability of the mop generating odor based on the target drying time and the duration that the cleaning robot is in an unexecutable state; if the probability of the mop generating odor is greater than a preset probability threshold, determining that the mop needs to be re-mopped and cleaned; if the probability of the mop generating odor is less than or equal to the preset probability threshold, determining that the mop does not need to be re-mopped and cleaned.

[0110] As an example, step 502 includes: according to the weighted weights of each mop area to be dried, weighted aggregation of the drying time of each area is performed to obtain a target drying time; according to the target drying time and the duration that the cleaning robot is in an unexecutable state, predicting the probability that the mop will produce an odor; if the probability that the mop will produce an odor is greater than a preset probability threshold, determining that the mop needs to be re-mopped and cleaned; if the probability that the mop will produce an odor is less than or equal to the preset probability threshold, determining that the mop does not need to be re-mopped and cleaned.

[0111] As an example, the probability of the mop producing odor is inversely proportional to the target drying time and directly proportional to the length of the preset do not disturb period.

[0112] As an example, step 502 includes: generating a target drying time based on the drying time of each area, wherein the minimum drying time of the area can be selected as the target drying time, or the drying time of each area can be weighted and aggregated into the target drying time; if the duration is greater than a preset duration threshold, and the target drying time is less than the preset drying time threshold, it is determined that the mop needs to be cleaned again; if the duration is not greater than the preset duration threshold, or the target drying time is not less than the preset drying time threshold, it is determined that the mop does not need to be cleaned again.

[0113] Step 504: If yes, control the cleaning robot to clean the mop and dry the mop completely.

[0114] Step 506: If not, control the cleaning robot to perform mop and dry again.

[0115] As an example, steps 504 to 506 include: if the mop needs to be cleaned again, the cleaning robot is controlled to clean the mop again, and after the mop is cleaned again, the cleaning robot is controlled to dry the entire mop; if the mop does not need to be cleaned again, the cleaning robot is controlled to re-dry the mop according to the drying time of each area.

[0116] In one embodiment, determining whether the mop needs to be cleaned again based on the duration and the drying time of each mop area to be dried includes:

[0117] Based on the duration and the drying time of each area, a second evaluation value corresponding to each mop area to be dried is generated respectively, wherein the second evaluation value is used to evaluate the odor size of the mop area to be dried after the task status changes from an unexecutable state to an executable state; if the maximum value of each second evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be re-cleaned; if the maximum value of the first evaluation values ​​is less than or equal to the preset evaluation value, it is determined that the mop does not need to be re-cleaned.

[0118] Among them, the second evaluation value is used to evaluate the odor size of the mop area to be dried after the task state changes from the unexecutable state to the executable state. The larger the second evaluation value, the greater the odor of the mop area to be dried after the task state changes from the unexecutable state to the executable state. The smaller the second evaluation value, the smaller the odor of the mop area to be dried after the task state changes from the unexecutable state to the executable state. The size of the second evaluation value is proportional to the duration of the cleaning robot in the unexecutable state and inversely proportional to the length of time the area has been dried.

[0119] Specifically, preset weight information is obtained, and according to the preset weight information, the drying time and the continuous drying time of each mop area to be dried are weightedly aggregated to obtain a second evaluation value of each mop area to be dried, wherein the weighted aggregation method can be weighted average or weighted sum, etc.; if the maximum value of each second evaluation value is greater than the preset evaluation value, it means that after the task state changes from an unexecutable state to an executable state, the odor of the mop will be too strong, which will affect the user experience, and thus the mop needs to be cleaned first, and then the cleaning robot is controlled to fully dry the mop after the mop is cleaned; if the maximum value of each second evaluation value is less than or equal to the preset evaluation value, it means that after the task state changes from an unexecutable state to an executable state, the odor of the mop will be small and will not affect the user experience, and thus the cleaning robot is controlled to re-dry the mop according to the drying time of the mop.

[0120] In this embodiment, when the mop is in an undried state, a second evaluation value of each mop area to be dried can be generated according to the duration of the cleaning robot being in an unexecutable state and the drying time of each mop area to be dried. The second evaluation value can be used to quantitatively analyze the odor of the mop after the task state is changed from an unexecutable state to an executable state. Taking into account the uneven drying of each mop area due to the need to rotate the mop for drying, the influence of the determination of whether the mop will produce odor after the preset do not disturb period ends can be improved. The accuracy of judging the size of the odor; when the maximum value of each second evaluation value is greater than the preset evaluation value, it is determined that the odor of the mop will be too strong after the task state changes from the unexecutable state to the executable state, which will affect the user experience, so the mop is rewashed and fully dried to remove the odor of the mop and ensure the cleanliness of the mop; when the maximum value of each second evaluation value is less than or equal to the preset evaluation value, it is determined that the odor of the mop will be small after the task state changes from the unexecutable state to the executable state, which will not affect the user experience, so the mop is directly re-dried to make the mop dry as soon as possible, thereby ensuring the efficiency of mop cleaning.

[0121] In one embodiment, before determining whether the mop needs to be cleaned again based on the duration and the drying time of each mop area to be dried, the mop cleaning method further includes:

[0122] Obtain the number of rotations of the mop during the drying process; determine the drying time of each mop area to be dried based on the number of rotations and the total drying time of the mop.

[0123] Among them, for a mop with multiple mop areas to be dried, when the mop is drying, the cleaning robot usually controls the mop to rotate once every time period so that a new mop area to be dried is facing the air outlet for drying.

[0124] Specifically, the number of rotations of the mop during the drying process is obtained; and the drying time of each area of ​​the mop to be dried is calculated according to the preset rotation angle, the number of rotations and the total drying time of the mop.

[0125] As an example, assuming that the preset rotation angle is 180 degrees, it means that the mop includes two mop areas to be dried. If the number of rotations is 1 and the total drying time is 40 minutes, it means that the drying time of one mop area to be dried is 30 minutes, and the drying time of the other mop area to be dried is 10 minutes.

[0126] In this embodiment, by obtaining the number of times the mop has rotated during the drying process, the regional drying time of each mop area to be dried in the mop can be accurately calculated based on the number of rotations and the total drying time of the mop, thereby laying the foundation for determining whether the mop needs to be cleaned again based on the duration and the regional drying time of each mop area to be dried.

[0127] In one embodiment, the task status corresponding to the mop cleaning task of the cleaning robot is determined; if the task status changes from an unexecutable state to an executable state, when the mop state is in a to-be-cleaned state or an unfinished cleaning state, the cleaning robot is controlled to perform mop cleaning, and after cleaning is completed, the cleaning robot is controlled to perform full drying.

[0128] Furthermore, if the mop state is in the cleaned but not dried state, the duration of the cleaning robot being in the inoperable state is obtained; if the duration is greater than the preset time, it means that the cleaning robot has been in the inoperable state for too long, which may easily cause the undried mop to be in a wet state for too long and produce odor, and thus it is necessary to clean the mop again first, and then control the cleaning robot to fully dry the mop after the mop is re-cleaned; if the duration is equal to or less than the preset time, it means that the cleaning robot has been in the inoperable state for a short time, which may not easily cause the undried mop to be in a wet state for too long and produce odor, and thus the cleaning robot can be controlled to re-dry the mop according to the drying time of the mop. In this way, when the mop is prone to odor, the odor of the mop can be removed by cleaning the mop and fully drying the mop, thereby ensuring the cleanliness of the mop. When the mop is not prone to odor, the mop is directly re-dried so that the mop is dried as soon as possible to ensure the efficiency of mop cleaning.

[0129] In addition, during the mop cleaning process in this embodiment, even if the cleaning robot is in a state where it cannot perform the mop cleaning task due to reasons such as the do not disturb period, the cleaning robot will automatically perform mop cleaning according to the mop status of the cleaning robot. The user does not need to manually issue instructions to control the cleaning robot to continue to perform the mop cleaning work, thereby improving the user convenience when the cleaning robot performs mop cleaning.

[0130] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0131] Based on the same inventive concept, the present application also provides a mop cleaning device for implementing the aforementioned mop cleaning method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more mop cleaning device embodiments provided below can be found in the above-mentioned limitations of the mop cleaning method and will not be repeated here.

[0132] In one embodiment, as shown in FIG5 , a mop cleaning device is provided, comprising: a task state determination module 602 and a mop cleaning module 604 , wherein:

[0133] The task state determination module is used to determine the task state corresponding to the mopping cleaning task of the cleaning robot.

[0134] The mop cleaning module is used to trigger the mop cleaning step if the task status changes from an unexecutable state to an executable state: according to the mop state of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

[0135] In one embodiment, the mop cleaning module is further configured to:

[0136] If the mop status is to be cleaned or the cleaning is not completed, the cleaning robot is controlled to clean the mop and dry the entire mop; if the mop status is cleaned but not dried, the cleaning robot is controlled to clean the mop according to the time information associated with the mop cleaning task.

[0137] In one embodiment, the time information includes the duration of time that the cleaning robot is in the non-executable state; the mop cleaning module is configured to:

[0138] If the duration is longer than the preset duration, the cleaning robot is controlled to clean the mop and dry the entire mop; if the duration is less than or equal to the preset duration, the cleaning robot is controlled to re-dry the mop.

[0139] In one embodiment, the time information includes the duration of the cleaning robot being in the non-executable state and the drying time of the mop; the mop cleaning module is configured to:

[0140] According to the duration and the drying time of the mop, determine whether the mop needs to be cleaned again; if so, control the cleaning robot to clean the mop and dry the entire mop; if not, control the cleaning robot to re-dry the mop.

[0141] In one embodiment, the mop cleaning module is used to:

[0142] A first evaluation value is generated based on the duration and the drying time, wherein the first evaluation value is used to evaluate the odor size of the mop after the task state changes from the non-executable state to the executable state; if the first evaluation value is greater than a preset evaluation value, it is determined that the cleaning robot needs to be controlled to mop and clean again; if the first evaluation value is less than or equal to the preset evaluation value, it is determined that the cleaning robot does not need to be controlled to mop and clean again.

[0143] In one embodiment, the mop cleaning device further comprises:

[0144] The mop cleaning switch module is used to control the cleaning robot to perform mop cleaning if the interval between the current time point and the start time point when the cleaning robot is in an inexecutable state is greater than the preset interval; if the interval is less than or equal to the preset interval, the cleaning robot is prohibited from performing mop cleaning.

[0145] In one embodiment, the mop of the cleaning robot includes multiple mop areas to be dried, and the time information includes the duration of the cleaning robot being in the inoperable state and the drying time of each of the mop areas to be dried; the mop cleaning module is further configured to:

[0146] According to the duration and the drying time of each mop area to be dried, determine whether it is necessary to control the cleaning robot to clean the mop again; if so, control the cleaning robot to clean the mop and dry the entire mop; if not, control the cleaning robot to re-dry the mop.

[0147] In one embodiment, the mop cleaning module is further configured to:

[0148] According to the duration and the drying time of each area, a second evaluation value corresponding to each mop area to be dried is generated respectively, wherein the second evaluation value is used to evaluate the odor size of the mop area to be dried after the task state changes from the non-executable state to the executable state; if the maximum value of each second evaluation value is greater than the preset evaluation value, it is determined that the cleaning robot needs to be controlled to re-mop and clean; if the maximum value of the second evaluation values ​​is less than or equal to the preset evaluation value, it is determined that the cleaning robot does not need to be controlled to re-mop and clean.

[0149] In one embodiment, the mop cleaning device further comprises:

[0150] The regional drying time determination module is used to obtain the number of rotations of the mop during the drying process; and determine the regional drying time of each mop area to be dried based on the number of rotations and the total drying time of the mop.

[0151] In one embodiment, the mop cleaning device further comprises:

[0152] The first task status determination module is used to set the task status of the mop cleaning task to an unexecutable state if the current time point is in the preset do not disturb period; if the current time point is not in the preset do not disturb period, the task status of the mop cleaning task is set to an executable state.

[0153] In one embodiment, the mop cleaning device further comprises:

[0154] The second task status determination module is used to set the task status of the mop cleaning task to an unexecutable state if the connection between the cleaning robot and the base station is disconnected; and to set the task status of the mop cleaning task to an executable state if the connection between the cleaning robot and the base station is connected.

[0155] Each module in the above-mentioned mop cleaning device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor of the cleaning robot in hardware form, or can be stored in the memory of the cleaning robot in software form, so that the processor can call and execute the corresponding operations of each module.

[0156] In one embodiment, a cleaning system is provided, comprising a cleaning robot and a base station; the cleaning robot comprises a body and a mop mounted on the body, the base station comprises a washing tank for washing the mop and a drying module for drying the mop, and the internal structure of the cleaning robot may be shown in FIG6 . The cleaning robot comprises a processor, a memory, a communication interface, and an input device connected via a system bus. The processor of the cleaning robot is used to provide computing and control capabilities. The memory of the cleaning robot comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the cleaning robot is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a mop cleaning method is implemented.

[0157] Those skilled in the art will understand that the structure shown in Figure 6 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the cleaning robot to which the scheme of the present application is applied. The specific cleaning robot may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0158] In one embodiment, a cleaning system is also provided, comprising a cleaning robot and a base station for docking with the cleaning robot, wherein the cleaning robot comprises a body and a mop mounted on the body, and the base station comprises a cleaning tank for cleaning the mop and a drying module for drying the mop. After the cleaning robot completes a cleaning task including mopping, it returns to the base station for charging and mopping. If the cleaning robot is offline, loses communication with the base station, or enters the user-set Do Not Disturb mode, it will be unable to perform mopping. In other words, at this time, the cleaning robot is in a state where the mopping cleaning task cannot be executed. When the cleaning robot reconnects to the network, establishes a connection with the base station, ends the Do Not Disturb mode, etc., it will automatically perform mopping based on the method described above. At this time, the cleaning robot is in a state where the mopping cleaning task can be executed.

[0159] The cleaning robot includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0160] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0161] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0162] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in 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 random access memory (ReRAM), magnetic 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 cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0163] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A mop cleaning method, characterized in that: Applied to a cleaning robot, the method comprises: Determining a task state corresponding to a mopping cleaning task of the cleaning robot; If the task status changes from an unexecutable status to an executable status, the mop cleaning step is triggered: according to the mop status of the cleaning robot, the cleaning robot is controlled to perform mop cleaning, wherein the mop cleaning includes at least one of mop washing and mop drying.

2. The method according to claim 1, characterized in that The step of controlling the cleaning robot to perform mopping cleaning according to the mopping state of the cleaning robot comprises: If the mop state is a to-be-cleaned state or an unfinished cleaning state, controlling the cleaning robot to clean the mop and fully dry the mop; If the mop status is a state where washing has been completed but drying has not been completed, the cleaning robot is controlled to perform mop cleaning according to time information associated with the mop cleaning task.

3. The method according to claim 2, characterized in that The time information includes the duration of time that the cleaning robot is in the unexecutable state; The controlling the cleaning robot to perform mop cleaning according to the time information associated with the mop cleaning task includes: If the duration is longer than the preset duration, the cleaning robot is controlled to clean the mop and dry the mop completely; If the duration is less than or equal to the preset duration, the cleaning robot is controlled to perform mop and dry again.

4. The method according to claim 2, characterized in that: The time information includes the duration of the cleaning robot being in the unexecutable state and the drying time of the mop; The controlling the cleaning robot to perform mop cleaning according to the time information associated with the mop cleaning task includes: Determining whether the mop needs to be cleaned again according to the duration and the drying time of the mop; If yes, the cleaning robot is controlled to clean the mop and dry the mop completely; If not, the cleaning robot is controlled to perform mop drying again.

5. The method according to claim 4, characterized in that The step of determining whether the mop needs to be cleaned again according to the duration and the drying time of the mop comprises: Generate a first evaluation value according to the duration and the drying time, wherein the first evaluation value is used to evaluate the odor of the mop after the task state changes from the unexecutable state to the executable state; If the first evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be cleaned again; If the first evaluation value is less than or equal to the preset evaluation value, it is determined that there is no need to re-mop and clean the cloth.

6. The method according to claim 1, characterized in that The method further comprises: If the interval between the current time point and the start time point when the cleaning robot is in the non-executable state is longer than the preset interval, controlling the cleaning robot to perform mopping cleaning; If the interval time is less than or equal to the preset interval time, the cleaning robot is prohibited from performing mopping cleaning.

7. The method according to claim 2, characterized in that: The mop of the cleaning robot includes a plurality of mop areas to be dried, and the time information includes the duration of the cleaning robot being in the non-executable state and the drying time of each of the mop areas to be dried; The controlling the cleaning robot to perform mop cleaning according to the time information associated with the mop cleaning task includes: Determining whether the mop needs to be cleaned again according to the duration and the drying time of each mop area to be dried; If yes, the cleaning robot is controlled to clean the mop and dry the mop completely; If not, the cleaning robot is controlled to perform mop drying again.

8. The method according to claim 7, characterized in that The determining whether the mop needs to be cleaned again according to the duration and the drying time of each mop area to be dried includes: According to the duration and the drying time of each area, a second evaluation value corresponding to each mop area to be dried is generated respectively, wherein the second evaluation value is used to evaluate the odor level of the mop area to be dried after the task state changes from the unexecutable state to the executable state; If the maximum value of the second evaluation values ​​is greater than the preset evaluation value, it is determined that the mop cleaning needs to be performed again; If the maximum value of the second evaluation values ​​is less than or equal to the preset evaluation value, it is determined that there is no need to re-mop and clean the mop.

9. The method according to claim 7, characterized in that: Before determining whether it is necessary to re-clean the mop according to the duration and the drying time of each mop area to be dried, the method further includes: Obtaining the number of times the mop has rotated during the drying process; The drying time of each of the mop areas to be dried is determined according to the number of rotations and the total drying time of the mop.

10. The method according to claim 1, characterized in that The method further comprises: If the current time point is in the preset do not disturb period, the task status of the mop cleaning task is unexecutable; If the current time point is not in the preset do not disturb period, the task status of the mop cleaning task is executable.

11. The method according to claim 1, characterized in that: The method further comprises: If the connection between the cleaning robot and the base station is disconnected, the task status of the mop cleaning task is an unexecutable state; If the cleaning robot is connected to the base station, the task state of the mop cleaning task is executable.

12. A cleaning system, comprising a cleaning robot and a base station, characterized in that: The cleaning robot includes a body and a mop arranged on the body, the base station includes a cleaning tank for cleaning the mop and a drying module for drying the mop, and the cleaning robot is used to implement the steps of the method as described in any one of claims 1 to 11.

13. The system according to claim 12, characterized in that The cleaning robot is also configured as: If the mop is in the waiting state or the cleaning is not completed state, the mop is cleaned and the mop is fully dried; If the mop status is a state where washing has been completed but drying has not been completed, mop cleaning is performed according to time information associated with the mop cleaning task.

14. The system according to claim 13, characterized in that The time information includes the duration of the cleaning robot being in an unexecutable state; the cleaning robot is further configured to: If the duration is longer than the preset duration, the mop is cleaned and the mop is fully dried; If the duration is less than or equal to the preset duration, the mop is dried again.

15. The system according to claim 13, characterized in that The time information includes the duration of the cleaning robot being in an unexecutable state and the drying time of the mop; the cleaning robot is further configured to: Determining whether the mop needs to be cleaned again according to the duration and the drying time of the mop; If yes, then clean the mop and dry the mop completely; If not, then perform mop drying.

16. The system according to claim 15, characterized in that The cleaning robot is also configured as: Generate a first evaluation value according to the duration and the drying time, wherein the first evaluation value is used to evaluate the odor of the mop after the task status changes from an unexecutable state to an executable state; If the first evaluation value is greater than a preset evaluation value, it is determined that the mop needs to be cleaned again; If the first evaluation value is less than or equal to the preset evaluation value, it is determined that there is no need to re-mop and clean the cloth.

17. The system according to claim 12, characterized in that The cleaning robot is also configured as: If the interval between the current time point and the start time point when the cleaning robot is in an unexecutable state is longer than the preset interval, mopping cleaning is performed; If the interval time is less than or equal to the preset interval time, mopping cleaning is prohibited.

18. The system according to claim 13, characterized in that The mop of the cleaning robot includes a plurality of mop areas to be dried, and the time information includes the duration of the cleaning robot being in an unexecutable state and the drying time of each of the mop areas to be dried; the cleaning robot is further configured as follows: Determining whether the mop needs to be cleaned again according to the duration and the drying time of each mop area to be dried; If yes, then clean the mop and dry the mop completely; If not, then perform mop drying.

19. The system according to claim 18, characterized in that The cleaning robot is also configured as: According to the duration and the drying time of each area, a second evaluation value corresponding to each mop area to be dried is generated respectively, wherein the second evaluation value is used to evaluate the odor level of the mop area to be dried after the task status changes from an unexecutable state to an executable state; If the maximum value of the second evaluation values ​​is greater than the preset evaluation value, it is determined that the mop cleaning needs to be performed again; If the maximum value of the second evaluation values ​​is less than or equal to the preset evaluation value, it is determined that there is no need to re-mop and clean the mop.

20. The system according to claim 18, characterized in that The cleaning robot is also configured as: Obtaining the number of times the mop has rotated during the drying process; The drying time of each of the mop areas to be dried is determined according to the number of rotations and the total drying time of the mop.

Images