Method for controlling cleaning robot, cleaning robot and storage medium

Abstract

The present application provides a method for controlling a cleaning robot, a cleaning robot, and a storage medium, the cleaning robot comprising a dry cleaning assembly and a wet cleaning assembly, and the control method comprising: in response to a current lifting of the wet cleaning assembly by a cleaning robot, acquiring characterization information that characterizes a degree of dirtiness of the wet cleaning assembly; on the basis of the characterization information, determining whether a target area needs to be cleaned, and if so, controlling the cleaning robot to clean the target area by means of the dry cleaning assembly, the target area comprising at least an area corresponding to the wet cleaning assembly at the time of the current lifting of the wet cleaning assembly. By means of the present application, the technical problem of secondary dirtying of an operating surface caused by lifting of a wet cleaning assembly of a cleaning robot is solved, at least to some extent, so as to improve the cleaning effect of the cleaning robot.

Description

Control method of cleaning robot, cleaning robot, and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese Patent Application No. 2024111320134, filed on August 16, 2024, entitled “Control method of cleaning robot, cleaning robot, and storage medium”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of robots, and in particular to a control method of a cleaning robot, a cleaning robot, and a storage medium. BACKGROUND

[0004] A cleaning robot is capable of automatically completing the work of cleaning the floor in a room by means of certain artificial intelligence. The cleaning robot can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, or the like. The sweeping and mopping integrated robot has a dry cleaning assembly and a wet cleaning assembly. The dry cleaning assembly is used for sweeping the floor to remove the garbage on the floor, and the wet cleaning assembly is used for mopping the floor to further clean the floor. SUMMARY

[0005] According to embodiments of the present application, a control method of a cleaning robot, a cleaning robot, and a storage medium are provided.

[0006] In a first aspect of the present application, a control method of a cleaning robot is provided. The cleaning robot includes a dry cleaning assembly and a wet cleaning assembly. The method includes: in response to the current time of lifting the wet cleaning assembly by the cleaning robot, obtaining representation information representing the degree of dirtiness of the wet cleaning assembly; determining whether the target area needs to be cleaned according to the representation information, and if so, controlling the cleaning robot to clean the target area by the dry cleaning assembly, the target area at least including an area opposite to the wet cleaning assembly when the wet cleaning assembly is lifted at the current time.

[0007] According to the first aspect, in some embodiments, the representation information at least includes a cleaning area cleaned by the wet cleaning assembly or a cleaning time of cleaning by the wet cleaning assembly after the last time of backwashing the wet cleaning assembly and before the current time of lifting the wet cleaning assembly.

[0008] According to the first aspect, in some embodiments, the determining whether the target area needs to be cleaned according to the characterization information comprises: if a cleaning area cleaned by the wet cleaning assembly after the last backwashing of the wet cleaning assembly and before the current lifting of the wet cleaning assembly is greater than a preset area threshold or a cleaning time cleaned by the wet cleaning assembly is greater than a preset time threshold, it is determined that the target area needs to be cleaned.

[0009] According to the first aspect, in some embodiments, the controlling the cleaning robot to clean the target area by the dry cleaning assembly comprises: controlling the cleaning robot to move towards the target area; and controlling the cleaning robot to move in a “bow” shape in the target area, and controlling the fan of the dry cleaning assembly to operate at a target gear during the cleaning robot moving in the “bow” shape in the target area, the target gear being a gear at which the suction generated by the operation of the fan is greater than a preset suction threshold.

[0010] According to the first aspect, in some embodiments, the rotating speed of the fan when operating at the target gear is 18000-23000 r / min.

[0011] According to the first aspect, in some embodiments, the controlling the cleaning robot to move in the “bow” shape in the target area comprises: controlling the cleaning robot to move in the “bow” shape in the target area according to a “bow” shape operation route towards a first advancing direction until completing a cleaning of the target area.

[0012] According to the first aspect, in some embodiments, the controlling the cleaning robot to move in the “bow” shape in the target area according to the “bow” shape operation route towards the first advancing direction comprises: controlling the cleaning robot to move in a straight line from outside a first side boundary of the target area to outside a second side boundary opposite to the first side boundary; controlling the cleaning robot to turn at outside the second side boundary, and after turning to make the head opposite to the second side boundary, controlling the cleaning robot to move in a straight line from outside the second side boundary to outside the first side boundary; controlling the cleaning robot to turn at outside the first side boundary, and after turning to make the head opposite to the first side boundary, controlling the cleaning robot to move in a straight line from outside the first side boundary to outside the second side boundary again.

[0013] According to the first aspect, in some embodiments, the controlling the cleaning robot to walk in the target area in a "bow" shape further includes: after completing a first cleaning of the target area, controlling the cleaning robot to walk in the target area in a "bow" shape according to a "bow" shape working route towards a second advancing direction until completing a second cleaning of the target area; and the first advancing direction intersects the second advancing direction.

[0014] According to the first aspect, in some embodiments, the controlling the cleaning robot to advance towards the target area includes: in a state where the cleaning robot's head is away from the target area, walking straight after turning by a first preset angle according to a preset turning direction; in response to the cleaning robot walking straight for a first preset distance, controlling the cleaning robot to walk straight after turning by a first preset angle according to the preset turning direction; and in response to the cleaning robot walking straight for a second preset distance, controlling the cleaning robot to turn towards the target area with the head.

[0015] According to the first aspect, in some embodiments, before acquiring the representation information representing the dirt level of the wet cleaning assembly, the method further includes: triggering the current lifting of the wet cleaning assembly if the wet cleaning assembly is in a flow condition; and triggering the current lifting of the wet cleaning assembly before the cleaning robot performs a target action, wherein the target action is any one of the following actions: an action of crossing an obstacle, an action of backwashing the wet cleaning assembly, a back-charging action, an action of escaping from a trap, and an action of entering an area where the wet cleaning assembly is not suitable for use.

[0016] According to the first aspect, in some embodiments, the controlling the cleaning robot to clean the target area by the dry cleaning assembly includes: if the cleaning robot is triggered to perform a target action before the current lifting of the wet cleaning assembly, performing the step of controlling the cleaning robot to clean the target area by the dry cleaning assembly after the current lifting of the wet cleaning assembly and before the performance of the target action.

[0017] According to the first aspect, in some embodiments, the method further includes: if the cleaning robot is triggered to perform a back-charging action or a backwashing action of the wet cleaning assembly before the current lifting of the wet cleaning assembly, acquiring an actual rotating speed of the fan when the fan is running at a target gear during the "bow" shape walking of the cleaning robot in the target area; and if the actual rotating speed is greater than a preset rotating speed threshold, controlling the cleaning robot to discharge the cleaned garbage into the cleaning base station when the cleaning robot returns to the cleaning base station for charging or washing the wet cleaning assembly.

[0018] According to the first aspect, in some embodiments, the acquiring the representation information representing the dirtiness of the wet cleaning assembly comprises: if the current cleaning is the first cleaning, or the time interval between the current cleaning and the last cleaning exceeds a preset interval threshold, performing the step of acquiring the representation information representing the dirtiness of the wet cleaning assembly.

[0019] According to the first aspect, in some embodiments, before the controlling the cleaning robot to clean the target area by the dry cleaning assembly, the method further comprises: determining an outer rectangle of a normal projection of a mop of the wet cleaning assembly on an operation surface when the wet cleaning assembly is lifted in the current time;

[0020] determining an area containing at least the outer rectangle as the target area.

[0021] In a second aspect of the present application, a cleaning robot is provided, comprising: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the control method of the cleaning robot according to any of the embodiments of the first aspect.

[0022] In a third aspect of the present application, a computer readable storage medium is provided, which stores a computer program executable by a processor to implement the control method of the cleaning robot according to any of the embodiments of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate one or more embodiments of the present application, the drawings required to be used in the embodiments description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0024] FIG. 1 shows a structural schematic diagram of a cleaning robot according to some embodiments of the present application;

[0025] FIG. 2 shows a flowchart of a control method of a cleaning robot according to some embodiments of the present application;

[0026] FIG. 3 shows multiple scenarios in which the cleaning robot needs to lift the wet cleaning assembly according to some embodiments of the present application;

[0027] FIG. 4a shows a schematic diagram of a target area according to some embodiments of the present application;

[0028] FIG. 4b shows a schematic diagram of a target area according to some other embodiments of the present application;

[0029] Fig. 5 shows a schematic view of a cleaning robot turning towards a target area, with the head opposite a first side boundary of the target area, according to some embodiments of the present application;

[0030] Fig. 6a shows a cleaning path for a single pass of a target area, according to some embodiments of the present application;

[0031] Fig. 6b shows a cleaning path for a single pass of a target area, according to some other embodiments of the present application;

[0032] Fig. 6c shows a cleaning path for a double pass of a target area, according to some embodiments of the present application;

[0033] Fig. 7 shows a schematic view of an electrical structure of a cleaning robot, according to some embodiments of the present application.

[0034] Legend: 110 - body; 120 - main brush; 130 - first driving wheel; 140 - second driving wheel; 150 - guide wheel; 160 - mop. Embodiments of the present application

[0035] For better understanding of the above technical solutions, the technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present application and the specific embodiments are detailed descriptions of the technical solutions in the embodiments of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the specific embodiments can be combined with each other.

[0036] First of all, the term "and / or" appearing in this paper is only to describe the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0037] According to a control method of a cleaning robot of the present application, as shown in Fig. 1, the cleaning robot includes a body 110 and a walking assembly, a dry cleaning assembly 1, a wet cleaning assembly 2, a sensing assembly, a guide assembly, etc. mounted on the body 110. The body 110 forms the shell of the cleaning robot and accommodates other components. In some embodiments, the body 110 can be a flat cylinder.

[0038] In some embodiments, the dry cleaning assembly 1 includes a main brush 120 having a certain interference with the operating surface, a fan and a dust box. The main brush 120 sweeps up the garbage on the operating surface and carries it to the front of the suction port. The fan can suck the gas outside the suction port into the dust box, and the filtered air enters the fan through the air outlet.

[0039] In some embodiments, the wet cleaning assembly 2 comprises a rotating disc, a motor connected with the rotating disc for driving the rotating disc to rotate, and a mop 160 mounted on the rotating disc.

[0040] The perception assembly is configured to collect perception data of the cleaning robot in the traveling area, the perception data comprising data related to the cleaning robot itself and data related to the surrounding environment objects during the traveling. The data related to the cleaning robot itself comprises but not limited to the traveling position, the traveling speed and the traveling distance of the cleaning robot. The data related to the surrounding environment objects comprises but not limited to the distance between the cleaning robot and the wall, the step, the threshold and the electric wire.

[0041] In some embodiments, the perception assembly comprises at least one or more of a camera, a three-axis accelerometer, a gyroscope, an odometer, an LDS (Laser Distance Sensor), an ultrasonic sensor and a cliff sensor. Exemplarily, the camera is configured to measure the traveling position of the cleaning robot, the three-axis accelerometer is configured to obtain the acceleration and / or the tilt angle of the cleaning robot, the gyroscope is configured to obtain the angular velocity and / or the tilt angle of the cleaning robot, and the odometer is configured to obtain the traveling distance of the cleaning robot. The LDS is usually arranged on the top of the cleaning robot and configured to measure the distance between the cleaning robot and the surrounding environment objects by laser. The ultrasonic sensor is usually arranged on the side of the cleaning robot and configured to measure the distance between the cleaning robot and the surrounding environment objects by ultrasonic wave. The cliff sensor is usually arranged on the bottom of the cleaning robot and configured to measure the distance between the cleaning robot and the surrounding environment objects by infrared ray. The number and the position of the perception assembly are not limited in the present application.

[0042] The traveling assembly comprises a first driving wheel 130 and a second driving wheel 140 arranged on one side of the body 110. In some embodiments, the guiding assembly of the cleaning robot further comprises a guiding wheel 150 arranged on the front of the body 110, the guiding wheel 150 being configured to change the direction of the cleaning robot during the traveling, and a steering engine connected with the guiding wheel 150 being configured to lift the guiding wheel 150 relative to the body 110, so that the head part of the body 110 can be lifted relative to the operation surface in the using posture of the self-moving device.

[0043] It should be noted that the cleaning robot can further comprise other modules or assemblies, or only comprise part of the above-mentioned modules or assemblies, and the present embodiment does not limit the same, and only takes the above-mentioned cleaning robot as an example for description.

[0044] As shown in FIG. 2, the control method of the cleaning robot according to the present application comprises the following steps S101-S102.

[0045] Step S101: In response to the current time of lifting the wet cleaning assembly 2, the representation information representing the dirtiness degree of the wet cleaning assembly 2 is acquired.

[0046] It can be understood that there are various situations in which the wet cleaning assembly 2 needs to be lifted relative to the operation surface during the working process of the cleaning robot. By lifting the wet cleaning assembly 2 relative to the operation surface, the mop of the wet cleaning assembly 2 can be separated from the operation surface.

[0047] As shown in FIG. 3, in order to improve the success rate of the cleaning robot crossing obstacles, the cleaning robot needs to lift the wet cleaning assembly 2 relative to the operation surface after identifying obstacles such as thresholds and steps, and then perform obstacle crossing on the identified obstacles. When the cleaning robot encounters a carpet or other situations in which the wet cleaning assembly 2 is not suitable, the wet cleaning assembly 2 can be lifted before entering the area in which the wet cleaning assembly 2 is not suitable, so as to avoid wetting the carpet and affecting the user experience. For example, in the case that the cleaning robot is trapped in a small enclosed area, the cleaning robot needs to be lifted relative to the operation surface before escaping. The small enclosed area can be the lower part of a U-shaped chair or a similar area. For example, when the wet cleaning assembly 2 of the cleaning robot has an overcurrent condition (the actual current of the wet cleaning assembly 2 exceeds the rated value), the wet cleaning assembly 2 needs to be lifted. For example, before backwashing the wet cleaning assembly 2, the wet cleaning assembly 2 needs to be lifted. Backwashing the wet cleaning assembly 2 means returning to the cleaning base station after lifting the wet cleaning assembly 2 to clean the mop of the wet cleaning assembly 2. Before the cleaning robot is recharged, the wet cleaning assembly 2 also needs to be lifted. Recharging means returning to the cleaning base station for charging after lifting the wet cleaning assembly 2.

[0048] In some embodiments, the current time of lifting the wet cleaning assembly 2 is triggered when the wet cleaning assembly 2 of the cleaning robot has an overcurrent condition. In other embodiments, the current time of lifting the wet cleaning assembly 2 is triggered before the cleaning robot performs a target action. In some embodiments, the target action is any one of the following: an action of crossing an obstacle, an action of backwashing the wet cleaning assembly 2, a recharging action, an escape action, or an action of entering an area in which the wet cleaning assembly 2 is not suitable.

[0049] In some embodiments, the representation information representing the dirtiness degree of the wet cleaning assembly 2 includes: a cleaning area of the operation surface cleaned by the wet cleaning assembly 2 or a cleaning time of the operation surface cleaned by the wet cleaning assembly 2 after the last time of backwashing the wet cleaning assembly 2 and before the current time of lifting the wet cleaning assembly 2.

[0050] Step S102: determining whether the target area needs to be cleaned according to the characterization information, and if so, controlling the cleaning robot to clean the target area by the dry cleaning assembly 1, the target area at least including an area opposite to the wet cleaning assembly 2 when the wet cleaning assembly 2 is lifted in the current time.

[0051] In some embodiments, the circumscribed rectangle of the projection of the mop of the wet cleaning assembly 2 on the operation surface is determined when the wet cleaning assembly 2 is lifted in the current time. An area containing the circumscribed rectangle is determined as the target area, so that the area of the target area is greater than the area of the circumscribed rectangle of the projection of the mop of the wet cleaning assembly 2 on the operation surface.

[0052] It should be noted that the cleaning robot can lift the wet cleaning assembly 2 in a stationary state or a moving state. As shown in FIG. 4a, in order to balance the cleaning effect and work efficiency of the cleaning robot, in some embodiments, the wet cleaning assembly 2 is lifted in a stationary state, and the target area can be the circumscribed rectangle of the projection of the mop of the wet cleaning assembly 2 on the operation surface of the cleaning robot when the wet cleaning assembly 2 is lifted in the current time. As shown in FIG. 4b, in other embodiments, in order to improve the cleaning effect, the target area is the circumscribed rectangle of the projection of the mop of the wet cleaning assembly 2 on the operation surface generated by the movement of the cleaning robot within a delay time period calculated from the time when the wet cleaning assembly 2 is lifted in the current time.

[0053] In some embodiments, determining whether the target area needs to be cleaned according to the characterization information includes: if the cleaning area by the wet cleaning assembly 2 after the last backwashing of the wet cleaning assembly 2 and before the current lifting of the wet cleaning assembly 2 is greater than a preset area threshold or the cleaning time by the wet cleaning assembly 2 is greater than a preset time threshold, it is determined that the target area needs to be cleaned, otherwise, it is determined that the target area does not need to be cleaned.

[0054] In some embodiments, the preset time threshold is set according to actual needs and is less than the backwashing time interval, and the preset time threshold can be in the range of 10-20 min. For example, the preset time threshold is 10 min, 12 min, 15 min, 18 min or 20 min. The preset area threshold is set according to actual needs, and the cleaning robot can clean 1 m 2 2 per minute. For example, the preset area threshold can be in the range of 10-20 m 2 2. In some embodiments, the preset time threshold is 10 m 2 2, 12 m 2 2, 15 m 2 2, 18 m 2 2 or 20 m 2 2.

[0055] In some embodiments, the control of the cleaning robot to clean the target area by the dry cleaning assembly 1 comprises: controlling the cleaning robot to travel towards the target area; controlling the cleaning robot to "bow" in the target area, and during the "bow" of the cleaning robot in the target area, controlling the fan of the dry cleaning assembly 1 to operate at a target gear, the target gear being a gear at which the suction generated by the operation of the fan is greater than a preset suction threshold, so as to provide sufficient suction to suck the wet garbage falling from the mop of the wet cleaning assembly 2. For example, there are multiple gears such as quiet, standard, strong, Max, Max+ gears, and the target gear can be the strong gear and above.

[0056] In some embodiments, the speed of the fan when operating at the target gear is 18000-23000 r / min, so as to provide sufficient suction to suck the wet garbage.

[0057] Since the garbage falling from the mop is at the tail of the cleaning robot when the wet cleaning assembly 2 is lifted by the cleaning robot, the head of the cleaning robot is away from the target area. In order to achieve cleaning of the target area, the cleaning robot needs to turn around to travel towards the target area, so that the cleaning robot changes from the state of the head away from the target area to the state of the head towards the target area.

[0058] It can be understood that there are multiple implementations of controlling the cleaning robot to travel towards the target area.

[0059] In some embodiments, the cleaning robot can be controlled to turn at a preset turning radius, so that the cleaning robot changes from the state of the head away from the target area to the state of the head towards the target area. It should be noted that the first side boundary is the side boundary closest to the head of the cleaning robot when the wet cleaning assembly 2 is lifted this time.

[0060] In other embodiments, in the state of the head of the cleaning robot away from the target area, after turning at a preset turning direction by a third preset angle, the cleaning robot travels in a straight line by a first preset distance. After the cleaning robot is controlled to turn at the preset turning direction by the third preset angle, the cleaning robot travels in a straight line by a second preset distance. The cleaning robot is controlled to turn at the preset turning direction to the state of the head towards the target area.

[0061] It can be understood that the third preset angle can be set as 45°, the preset turning direction can be clockwise or counterclockwise, and the head of the cleaning robot is opposite to the first side boundary of the target area when turning to face the target area. For example, after the cleaning robot is controlled to turn right by 45° for the first time and then walk forward for a first preset distance, the cleaning robot is controlled to turn right by 45° for the second time and then walk forward for a second preset distance, and the cleaning robot is controlled to turn right by 90° for the third time so that the head of the cleaning robot faces the target area and is opposite to the first side boundary of the target area. The first preset distance and the second preset distance are both predetermined values and are positively correlated with the size of the body of the cleaning robot and the size of the mop.

[0062] In some embodiments, the target area can be cleaned only once, and the step of controlling the cleaning robot to walk in the target area in the “arch” shape includes: controlling the cleaning robot to walk in the target area in the “arch” shape according to the “arch” shape work route facing the first advancing direction until the cleaning of the target area is completed.

[0063] In some embodiments, the step of controlling the cleaning robot to walk in the target area in the “arch” shape includes: controlling the cleaning robot to walk straight from the outside of the first side boundary of the target area to the outside of the second side boundary opposite to the first side boundary; controlling the cleaning robot to turn at the outside of the second side boundary, and after the head of the cleaning robot is opposite to the second side boundary, controlling the cleaning robot to walk straight from the outside of the second side boundary to the outside of the first side boundary; controlling the cleaning robot to turn at the outside of the first side boundary, and after the head of the cleaning robot is opposite to the first side boundary, controlling the cleaning robot to walk straight from the outside of the first side boundary to the outside of the second side boundary again to complete the cleaning of the target area once.

[0064] In some embodiments, the first advancing direction is a direction of advancing from a third side boundary of the target area to a fourth side boundary opposite to the third side boundary, and the third side boundary and the fourth side boundary of the target area are both connected to the first side boundary and the second side boundary.

[0065] It can be understood that, as shown in FIGS. 6a and 6b, the path segment of walking straight from the outside of the first side boundary to the outside of the second side boundary is parallel to the path segment of walking straight from the outside of the second side boundary to the outside of the first side boundary.

[0066] As shown in FIG. 6a, in some embodiments, the step of controlling the cleaning robot to turn at the outside of the second side boundary includes: controlling the cleaning robot to turn at the outside of the second side boundary according to a preset turning radius so that the cleaning robot turns to have the head opposite to the second side boundary.

[0067] As shown in FIG. 6a, in some embodiments, the control of the cleaning robot to turn outside the first side boundary comprises: controlling the cleaning robot to turn outside the first side boundary according to a preset turning radius, so as to turn the cleaning robot to the head opposite to the first side boundary.

[0068] According to the embodiment shown in FIG. 6a, the cleaning robot turns according to the preset turning radius r during the cleaning of the target area, and the turning of the cleaning robot by 180° is realized through the U-shaped turning, so as to realize the U-turn of the cleaning robot. Taking the mop of the wet cleaning assembly 2 as a circular mop, the preset turning radius r is less than or equal to the radius of the circular mop, so as to improve the cleaning effect on the target area.

[0069] As shown in FIG. 6b, in another embodiment, the control of the cleaning robot to turn outside the second side boundary comprises: controlling the cleaning robot to sequentially perform, outside the second side boundary: turning in place by a first preset angle according to a preset turning direction, walking in a straight line by a preset distance, and turning in place by a second preset angle according to the preset turning direction, so that the head is opposite to the second side boundary.

[0070] As shown in FIG. 6b, the control of the cleaning robot to turn outside the first side boundary comprises: controlling the cleaning robot to sequentially perform, outside the first side boundary: turning in place by a second preset angle according to a preset turning direction, walking in a straight line by a preset distance, and turning in place by a first preset angle according to the preset turning direction, so that the head is opposite to the first side boundary.

[0071] According to the embodiment shown in FIG. 6b, the cleaning robot performs the Z-shaped cleaning path during the cleaning of the target area. It can be understood that the first preset angle and the second preset angle are two complementary angles, and in some embodiments, the first preset angle is 45° and the second preset angle is 135°. Taking the mop of the wet cleaning assembly 2 as a circular mop, the preset distance is less than or equal to R, R is the diameter of the circular mop, so as to improve the cleaning effect on the target area. In another embodiment, the first preset angle and the second preset angle are both 90°.

[0072] ​In some embodiments, the step of controlling the cleaning robot to walk in the target area in the "arch" shape includes: controlling the cleaning robot to walk in the target area in the "arch" shape according to the "arch" shape work route with the first advancing direction, until the first cleaning of the target area is completed; after the first cleaning of the target area is completed, controlling the cleaning robot to walk in the target area in the "arch" shape according to the "arch" shape work route with the second advancing direction, until the second cleaning of the target area is completed.

[0073] In some embodiments, the "arch" shape work route with the second advancing direction and the "arch" shape work route with the first advancing direction are two "arch" shape work routes with different advancing directions.

[0074] As shown in FIG. 6c, in some embodiments, in order to realize the first and second cleanings of the target area, after the first cleaning of the target area is completed, the cleaning robot is controlled to turn and walk from the outside of the second side boundary L2 to the position outside the fourth side boundary L4 and opposite to the fourth side boundary L4, so as to facilitate the start of the second cleaning of the target area.

[0075] In some embodiments, the step of controlling the cleaning robot to walk in the target area in the "arch" shape according to the "arch" shape work route with the second advancing direction, until the second cleaning of the target area is completed includes: controlling the cleaning robot to walk straight from the outside of the fourth side boundary of the target area to the outside of the third side boundary opposite to the fourth side boundary, controlling the cleaning robot to turn at the outside of the third side boundary according to a preset turning radius; turning to the position where the head of the cleaning robot is opposite to the third side boundary, controlling the cleaning robot to walk straight from the outside of the third side boundary to the outside of the fourth side boundary, controlling the cleaning robot to turn at the outside of the fourth side boundary according to a preset turning radius; turning to the position where the head of the cleaning robot is opposite to the fourth side boundary, and controlling the cleaning robot to walk straight from the outside of the fourth side boundary to the outside of the third side boundary again, so as to complete the second cleaning of the target area.

[0076] In some embodiments, the second advancing direction is perpendicular to the first advancing direction, and the second advancing direction can be the direction of advancing from the second side boundary of the target area to the first side boundary.

[0077] In some embodiments, the step of controlling the cleaning robot to clean the target area by the dry cleaning assembly 1 includes: if the cleaning robot triggers the current time of lifting the wet cleaning assembly 2 before performing the target action, after the current time of lifting the wet cleaning assembly 2 and before performing the target action, controlling the cleaning robot to clean the target area by the dry cleaning assembly 1, and performing the target action after the target area is cleaned.

[0078] For example, in order to clean the carpet, the cleaning robot walks to the position of the carpet, lifts the wet cleaning assembly 2 when the cleaning robot walks to the outer edge of the carpet, then cleans the target area on the operating surface opposite to the mop when the wet cleaning assembly 2 is lifted for the current time, and enters the carpet again after the target area is cleaned, and the carpet is cleaned by the dry cleaning assembly 1.

[0079] In some embodiments, if the current time of lifting the wet cleaning assembly 2 is triggered before the cleaning robot performs the recharging action or the wet cleaning assembly 2 is washed, the actual rotating speed of the fan when the fan runs at the target gear is obtained during the process that the cleaning robot walks in the target area in the shape of an arch, and if the actual rotating speed is greater than the preset rotating speed threshold, it indicates that the dust box of the cleaning robot is full of garbage, which will affect the cleaning performance. In order to not affect the cleaning performance, if the actual rotating speed of the fan when the fan runs at the target gear is greater than the preset rotating speed threshold, the cleaning robot is controlled to discharge the garbage cleaned into the cleaning base station when the cleaning robot returns to the cleaning base station for charging or washing the wet cleaning assembly 2. Since the target area is cleaned by using a gear with a large suction force, the rotating speed of the fan can be used to determine whether the dust box of the cleaning robot is full of garbage, which facilitates the use of the time of washing the wet cleaning assembly 2 for dust collection when the dust box is full of garbage, and does not need to separately occupy time to return to the cleaning base station for dust collection, thereby improving the performance of the dry cleaning assembly 1 and the dust collection efficiency is higher.

[0080] In some embodiments, if the current cleaning is the first cleaning, or the time interval between the current cleaning and the last cleaning exceeds the preset interval threshold, the representation information representing the dirt degree of the wet cleaning assembly 2 is obtained to determine whether the target area needs to be cleaned, and if the current cleaning is not the first cleaning, and the time interval between the current cleaning and the last cleaning also does not exceed the preset time threshold, it is determined that the target area does not need to be cleaned. Thus, the dirt degree of the mop on the wet cleaning assembly 2 can be more accurately determined, and the accuracy of the cleaning judgment of the target area can be improved.

[0081] Based on the same inventive concept, according to some embodiments of the present application, a cleaning robot is also provided, as shown in FIG. 7, which is a schematic diagram of an electrical structure of a cleaning robot according to some embodiments of the present application. The cleaning robot further comprises: a processor 701; and a memory 702 for storing instructions executable by the processor 701. In some embodiments, the processor 701 is configured to execute the instructions to implement the control method of the cleaning robot according to any of the above embodiments.

[0082] Based on the same inventive concept, according to some embodiments of the present application, a computer readable storage medium having a computer program stored thereon is also provided. The program, when executed by a processor, implements the control method of the cleaning robot according to any of the above embodiments.

[0083] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0084] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0086] According to one or more embodiments of the present application, at least the following technical effects or advantages are achieved:

[0087] According to one or more embodiments of the present application, at the time when the cleaning robot lifts the wet cleaning assembly, it is determined whether the area opposite to the wet cleaning assembly needs to be cleaned according to the representation information representing the dirt level of the wet cleaning assembly, and if so, the cleaning robot is controlled to clean the target area by the dry cleaning assembly, so as to clean the area on the operation surface where garbage may fall after the wet cleaning assembly is lifted, and thus the secondary pollution caused by the lifting of the wet cleaning assembly is solved, the cleaning effect is improved, and the impact of the secondary pollution on the cleaning efficiency is reduced.

[0088] Although the preferred embodiments of the present application have been described, those skilled in the art who understand the basic inventive concept can make additional changes and modifications to the embodiments once they get the concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

[0089] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the application can be practiced otherwise than as specifically described herein.

[0090] The above description is intended to enable any person skilled in the art to make and use the present application. The modifications various in the above-described embodiments can be made by those skilled in the art without departing from the spirit of the application. The scope of the application is thus defined as the scope of the appended claims.

Claims

A control method of a cleaning robot, the cleaning robot comprising a dry cleaning assembly and a wet cleaning assembly, the method comprising: in response to the current time of lifting the wet cleaning assembly of the cleaning robot, obtaining representation information representing a degree of dirtiness of the wet cleaning assembly; determining whether a target area needs to be cleaned according to the representation information, and if so, controlling the cleaning robot to clean the target area by the dry cleaning assembly, the target area at least including an area opposite to the wet cleaning assembly when the wet cleaning assembly is lifted at the current time. The control method of the cleaning robot of claim 1, wherein, The representation information at least includes a cleaning area cleaned by the wet cleaning assembly or a cleaning time of cleaning by the wet cleaning assembly after the last time of backwashing the wet cleaning assembly and before the current time of lifting the wet cleaning assembly. The control method of the cleaning robot according to claim 2, wherein, The determination whether the target area needs to be cleaned according to the representation information comprises: if the cleaning area cleaned by the wet cleaning assembly or the cleaning time of cleaning by the wet cleaning assembly after the last time of backwashing the wet cleaning assembly and before the current time of lifting the wet cleaning assembly is greater than a preset area threshold or a preset time threshold, it is determined that the target area needs to be cleaned. The control method of the cleaning robot of claim 1, wherein, The control of the cleaning robot to clean the target area by the dry cleaning assembly comprises: controlling the cleaning robot to move towards the target area; controlling the cleaning robot to walk in an "arch” shape in the target area, and controlling a fan of the dry cleaning assembly to operate at a target gear during the walking of the cleaning robot in the "arch” shape in the target area, the target gear being a gear at which a suction force generated by the operation of the fan is greater than a preset suction force threshold. The control method of the cleaning robot according to claim 4, wherein, The rotating speed of the fan when operating at the target gear is 18000-23000r / min. The control method of the cleaning robot according to claim 4, wherein, The control of the cleaning robot to walk in the "arch” shape in the target area comprises: controlling the cleaning robot to walk in the "arch” shape in the target area according to an "arch” shape operation route towards a first advancing direction until a cleaning of the target area is completed. The control method of the cleaning robot of claim 6, wherein, The control of the cleaning robot to walk in the "arch” shape in the target area according to an "arch” shape operation route towards a first advancing direction comprises: controlling the cleaning robot to walk straight from an outer side of a first side boundary of the target area to an outer side of a second side boundary opposite to the first side boundary; controlling the cleaning robot to turn at the outer side of the second side boundary, and after the turning of the head opposite to the second side boundary, controlling the cleaning robot to walk straight from the outer side of the second side boundary to the outer side of the first side boundary; controlling the cleaning robot to turn at the outer side of the first side boundary, and after the turning of the head opposite to the first side boundary, controlling the cleaning robot to walk straight from the outer side of the first side boundary to the outer side of the second side boundary. The control method of the cleaning robot according to claim 6, wherein, The control of the cleaning robot to walk in the "arch” shape in the target area further comprises: After completing the first cleaning of the target area, the cleaning robot is controlled to walk in a "bow" shape in the target area along a "bow" shape operation route towards a second advancing direction until completing the second cleaning of the target area. The first advancing direction intersects with the second advancing direction. The control method of the cleaning robot according to claim 4, wherein, The control of the cleaning robot to advance towards the target area comprises: In a state that the head of the cleaning robot faces away from the target area, the cleaning robot is controlled to walk in a straight line after turning by a first preset angle along a preset turning direction; In response to the cleaning robot walking in a straight line for a first preset distance, the cleaning robot is controlled to walk in a straight line after turning by a first preset angle along the preset turning direction; In response to the cleaning robot walking in a straight line for a second preset distance, the cleaning robot is controlled to walk in a straight line after turning towards the target area. The control method of the cleaning robot according to claim 4, wherein, Before the information representing the dirt level of the wet cleaning assembly is acquired, the method further comprises: When the wet cleaning assembly is in an over-flowing state, triggering the current lifting of the wet cleaning assembly; Before the cleaning robot performs a target action, triggering the current lifting of the wet cleaning assembly, wherein the target action is any one of the following actions: an action of crossing an obstacle, an action of back-washing the wet cleaning assembly, a back-charging action, an action of escaping from a trap, and an action of entering an area where the wet cleaning assembly is not suitable to be used. The control method of the cleaning robot of claim 10, wherein, The control of the cleaning robot to clean the target area by the dry cleaning assembly comprises: If the cleaning robot triggers the current lifting of the wet cleaning assembly before performing a target action, the step of controlling the cleaning robot to clean the target area by the dry cleaning assembly is performed after the current lifting of the wet cleaning assembly and before performing the target action. The method of controlling the cleaning robot according to claim 4, further comprising: If the cleaning robot triggers the current lifting of the wet cleaning assembly before performing a back-charging action or a back-washing action of the wet cleaning assembly, the cleaning robot acquires an actual rotating speed of the fan when the fan is running at a target gear during the "bow" shape walking of the cleaning robot in the target area; If the actual rotating speed is greater than a preset rotating speed threshold, the cleaning robot is controlled to discharge the garbage cleaned into the cleaning base station when the cleaning robot returns to the cleaning base station to charge or to clean the wet cleaning assembly. The control method of the cleaning robot according to any one of claims 1-12, wherein, The acquisition of the information representing the dirt level of the wet cleaning assembly comprises: If the current cleaning is the first cleaning or the time interval between the current cleaning and the last cleaning exceeds a preset interval threshold, the step of acquiring the information representing the dirt level of the wet cleaning assembly is performed. The method of any one of claims 1-12, wherein, Before the control of the cleaning robot to clean the target area by the dry cleaning assembly, the method further comprises: Determining an outer rectangle of a normal projection of a mop of the wet cleaning assembly on an operating surface when the wet cleaning assembly is lifted in the current lifting; Determining an area containing at least the outer rectangle as the target area. A cleaning robot comprising: a processor; A memory for storing the processor-executable instructions, wherein the processor is configured to execute the instructions to implement the control method of the cleaning robot according to any one of claims 1-14. A computer readable storage medium comprising a computer program stored thereon, the computer program, when executed by a processor, implements the control method of the cleaning robot according to any one of claims 1-14.

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