Control method and apparatus for cleaning robot, and cleaning robot

Abstract

Provided are a control method and apparatus for a cleaning robot, and a cleaning robot. The method comprises: acquiring a first duration that is set for a target area to be cleaned, wherein the first duration is used for controlling the time interval between two consecutive times of washing a mop performed by a cleaning robot during the cleaning of the target area (401); acquiring a first cleaning parameter that is set for a first sub-area in the target area, wherein the first cleaning parameter indicates washing the mop after cleaning the sub-area (402); and in the process of controlling the cleaning robot to clean the first sub-area, if it is determined that the duration within which the cleaning robot moves from the last position at which the mop was washed to the current position is less than the first duration, and that the cleaning of the first sub-area has been completed at the time the cleaning robot arrives at the current position, controlling the cleaning robot to wash the mop before cleaning the next sub-area in the target area (403).

Description

Control methods and devices for cleaning robots, cleaning robots Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202411613370.2, filed on November 12, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of automated cleaning equipment, including but not limited to control methods and devices for cleaning robots, and cleaning robots themselves. Background Technology

[0003] Cleaning robots (such as floor scrubbers and sweepers) are specialized robots that perform cleaning and rinsing tasks, primarily serving residential, commercial, medical, and industrial applications. In recent years, with the growing popularity of smart home concepts and continuous technological advancements, the cleaning robot market has experienced rapid growth. Cleaning robots are also supporting increasingly comprehensive functions, with some even featuring automatic mop cleaning capabilities, such as returning to a base station to wash the mop. Understanding how to control the mop-washing process is crucial for enhancing the robot's cleaning capabilities. Summary of the Invention

[0004] In a first aspect, embodiments of this disclosure provide a control method for a cleaning robot, the method comprising: acquiring a first duration set for a target area to be cleaned; the first duration being used to control the time interval between two adjacent mop cleaning operations of the cleaning robot during the cleaning of the target area; acquiring a first cleaning parameter set for a first partition in the target area; the first cleaning parameter indicating that the mop should be cleaned after the partition is cleaned; and during the process of controlling the cleaning robot to clean the first partition, if it is determined that the travel time from the last mop cleaning position to the current position is less than the first duration and the cleaning of the first partition has been completed at the current position, controlling the cleaning robot to clean the mop before cleaning the next partition in the target area.

[0005] Secondly, embodiments of this disclosure provide a control device for a cleaning robot, the device including an acquisition module and a control module; wherein: the acquisition module is configured to: acquire a first duration set for a target area to be cleaned; the first duration is used to control the time interval between two adjacent mop cleaning operations of the cleaning robot during the cleaning of the target area; the acquisition module is further configured to: acquire a first cleaning parameter set for a first partition in the target area; the first cleaning parameter indicates that the mop should be cleaned after the partition is cleaned; the control module is configured to: during the process of controlling the cleaning robot to clean the first partition, if it is determined that the walking time from the last mop cleaning position to the current position is less than the first duration and the cleaning of the first partition has been completed at the current position, control the cleaning robot to clean the mop before cleaning the next partition in the target area.

[0006] Thirdly, embodiments of this disclosure provide a cleaning robot, which includes: a body, a mop, and a control unit; the control unit is configured to: acquire a first duration set for a target area to be cleaned; the first duration is used to control the time interval between two adjacent mop cleaning operations during the cleaning of the target area; acquire a first cleaning parameter set for a first partition in the target area; the first cleaning parameter indicates that the mop should be cleaned after the partition is cleaned; during the process of controlling the cleaning robot to clean the first partition, if it is determined that the walking time from the last mop cleaning position to the current position is less than the first duration and the cleaning of the first partition has been completed at the current position, the cleaning robot is controlled to clean the mop before cleaning the next partition in the target area.

[0007] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in embodiments of this disclosure.

[0008] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the method described in embodiments of this disclosure.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0010] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to illustrate the technical solutions of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0011] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0012] Figure 1 is a top view of a cleaning robot that may be applicable to an embodiment of this disclosure;

[0013] Figure 2 is a bottom view of a cleaning robot that may be applicable to an embodiment of this disclosure;

[0014] Figure 3 is a schematic diagram of the cleaning robot and base station provided in an embodiment of this disclosure;

[0015] Figure 4 is a schematic diagram of the implementation process of the control method for the cleaning robot provided in this embodiment of the present disclosure;

[0016] Figure 5 is a schematic diagram of the implementation process of the control method for the cleaning robot provided in this embodiment of the present disclosure;

[0017] Figure 6 is a schematic diagram of the control device for the cleaning robot provided in an embodiment of this disclosure;

[0018] Figure 7 is a structural schematic diagram of the cleaning robot provided in an embodiment of this disclosure. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings of the embodiments of this disclosure. The following embodiments are used to illustrate this disclosure, but are not intended to limit the scope of this disclosure.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of this disclosure only and is not intended to be limiting of this disclosure.

[0021] In the following description, references to "some embodiments," "this embodiment," "this disclosure embodiment," and examples, etc., describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0022] To facilitate understanding of the technical solutions of the embodiments of this disclosure, the relevant technologies or terms of the embodiments of this disclosure are described below. The following related technologies or related terms are optional solutions and can be combined with the technical solutions of the embodiments of this disclosure in any way, and all of them fall within the protection scope of the embodiments of this disclosure.

[0023] A cleaning robot is an intelligent robotic device capable of moving autonomously and completing cleaning tasks within a work area. The work area can be indoors or outdoors. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0024] In this embodiment, the cleaning robot can be any type of intelligent device with autonomous cleaning capabilities, such as a sweeping robot, a floor scrubbing robot, a sweeping and mopping robot, a lawnmower robot, or a snow removal robot. The cleaning robot can perform cleaning through a front-sweeping-then-mopping method or a separate sweeping and mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping and mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0025] Figure 1 is a top view of a cleaning robot that may be applicable to an embodiment of this disclosure. Figure 2 is a bottom view of a cleaning robot that may be applicable to an embodiment of this disclosure. As shown in Figures 1 and 2, the cleaning robot 100 includes: a body 101; the cleaning robot 100 also includes a first cleaning component 102 and / or a second cleaning component 103; the robot 100 also includes a moving component 104, a control unit (not shown), and a sensor assembly (not shown); wherein:

[0026] The body 101 forms the outer shell of the cleaning robot 100 and houses other components such as the control unit, sensor assembly, and memory.

[0027] The moving component 104 enables the cleaning robot 100 to move forward, backward, rotate, or rise and fall.

[0028] In some embodiments, the first cleaning component 102 may include an edge-cleaning component such as a side mop or a side brush; in some embodiments, the first cleaning component 102 is telescopic; in some embodiments, the second cleaning component 103 may include an edge-cleaning component such as a side mop or a side brush; in some embodiments, the second cleaning component 103 is telescopic.

[0029] In some embodiments, as shown in FIG2, the bottom of the cleaning robot 100 also includes a roller brush 105. The aforementioned side brush can gather foreign objects and cause them to gather towards the roller brush 105 at the bottom of the cleaning robot 100. The roller brush 105 can sweep up the foreign objects at the bottom of the cleaning robot 100 to collect dust from the foreign objects, allowing the foreign objects to enter the dust collection box through the suction port.

[0030] In one possible implementation, the cleaning robot 100 is equipped with a water tank, and the water in the water tank flows through a hole to the side mop, wetting the mop cloth. The wet mop cloth is then used for mopping, wiping, etc.

[0031] In addition, to enhance the cleanliness of the target area by the cleaning robot 100, the robot supports an automatic mop cleaning function. In one possible implementation, the cleaning robot 100 can automatically clean the mop using its own water tank; in another possible implementation, the cleaning robot 100 can also return to the base station and cooperate with the base station to clean the mop. For example, as shown in Figure 3, the cleaning robot 100 automatically returns to the base station 300 when the set return washing time interval is reached, and uses the cleaning device of the base station 300 to clean the mop. During the cleaning process, clean water flows from the clean water tank of the base station 300 to clean the mop, while the wastewater after cleaning is recycled through the wastewater tank of the base station 300.

[0032] In one possible implementation, the cleaning robot 100 automatically returns to the base station 300 when the set rewash interval expires. For example, it may include: the cleaning robot 100 automatically returns to the base station 300 when the walking time from the last mop cleaning position to the current position reaches the rewash interval.

[0033] It should be noted that the cleaning robot in this disclosure is not limited to the cleaning robot 100 shown in Figures 1 and 2. The cleaning robot 100 shown in Figures 1 and 2 is merely for the purpose of helping to better understand the technical solutions provided in this disclosure and does not constitute a limitation on the technical solutions provided in this disclosure. The cleaning robot in this disclosure can be a variety of intelligent devices with autonomous cleaning capabilities.

[0034] The body shape of the cleaning robot in this embodiment can be various shapes, such as a circle, a square, a circle with one part of the body being a square or other shapes, etc.

[0035] In this embodiment of the disclosure, the cleaning robot supports users in setting and modifying cleaning parameters for different zones (e.g., different rooms or different zones of the same room), thereby making the cleaning parameters more detailed. Furthermore, if the cleaning robot receives cleaning parameters set or modified by the user during the execution of a task, the set or modified cleaning parameters can take effect in real time during the cleaning task. That is, the cleaning robot does not interrupt the current cleaning task, but continues to perform subsequent unfinished cleaning tasks, thereby making the task settings more flexible.

[0036] In this embodiment, there are no limitations on how the cleaning robot supports setting or modifying cleaning parameters. In one possible implementation, the cleaning robot displays a user interface (UI) that provides entry points for setting or modifying one or more cleaning parameters. These entry points allow for flexible settings of one or more of the following: whether to clean the mop after zone cleaning, the mop cleaning mode, whether to collect dust after zone cleaning, walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume. Of course, the entry points for setting or modifying the above-mentioned cleaning parameters can be displayed on one user interface or on different user interfaces.

[0037] In another possible implementation, the cleaning robot also supports remote setting or modification of one or more cleaning parameters. For example, the cleaning robot can receive setting or modification instructions sent by another device, which instructs the setting or modification of one or more cleaning parameters of any one or more zones of the target area. The cleaning robot can then update the corresponding cleaning parameters based on the setting or modification instructions.

[0038] In this paper, the cleaning parameters used to control the behavior of the cleaning robot after zone cleaning are all classified into one category, referred to as the first cleaning parameter. For example, the first cleaning parameter indicates one or more of the following behaviors: whether to clean the mop after zone cleaning, the mop washing mode when cleaning the mop, and whether to collect dust after zone cleaning. The remaining cleaning parameters are classified into another category, referred to as the second cleaning parameter. For example, the second cleaning parameter indicates one or more of the following parameters: walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume.

[0039] This disclosure provides a control method for a cleaning robot. Figure 4 is a schematic flowchart illustrating the implementation of the control method for the cleaning robot provided in this disclosure. As shown in Figure 4, the method may include the following steps 401 to 403:

[0040] Step 401: Obtain the first duration set for the target area to be cleaned; the first duration is used to control the time interval between two adjacent mop cleaning operations of the cleaning robot during the cleaning of the target area.

[0041] Step 402: Obtain the first cleaning parameters set for the first zone in the target area; the first cleaning parameters indicate that the mop should be washed after the zone is cleaned.

[0042] Step 403: During the process of controlling the cleaning robot to clean the first zone, if it is determined that the walking time from the last mop cleaning position to the current position is less than the first time and the cleaning of the first zone has been completed at the current position, control the cleaning robot to clean the mop before cleaning the next zone in the target area.

[0043] As can be seen from the above solution, this embodiment supports both setting a timed mop cleaning schedule for the target area and setting cleaning strategies for specific zones within the target area (such as setting whether to clean the mop after cleaning a specific zone). This allows the cleaning robot to clean a zone within the target area if a strategy for cleaning the mop after zone cleaning is pre-set for that zone. In this scenario where both a global timed mop cleaning strategy and a zone-specific mop cleaning strategy are set, even if the cleaning robot's travel time from the last mop cleaning position to its current position is less than a first time interval (i.e., the timed mop cleaning period has not yet arrived), if the cleaning robot has already completed cleaning that zone at the current position, it is forced to clean the mop before cleaning the next zone. This avoids cross-contamination of the next zone, making the timing of the cleaning robot's mop cleaning more flexible, thus meeting the user's customized needs and enhancing the cleaning performance of the cleaning robot.

[0044] It should be understood that in the embodiments of this disclosure, the target area is a global concept, that is, the target area includes multiple partitions, and the first partition refers to any partition in the target area. The "first" in "first partition" mentioned herein has no specific meaning and is only for the convenience of clear description and reference. For example, the target area includes multiple rooms, and one room is one partition. Of course, a room can also be divided into multiple partitions. The first partition is any room or any partition in any room that needs to be cleaned.

[0045] It is understandable that the first duration set for the target area to be cleaned in step 401 is a global setting. This first duration can be understood as the time interval between each mop cleaning, i.e., the mop cleaning cycle. The cleaning robot cleans the mop every first duration while cleaning the target area. For example, if the global setting is 10 minutes, the cleaning robot needs to clean the mop every 10 minutes while cleaning the target area. However, for smaller rooms such as bathrooms or kitchens, the cleaning robot may only use 5-6 minutes to clean that area, which is not yet the set cleaning interval (i.e., the first duration). If the cleaning robot then moves on to the next area (such as a bedroom or living room), it will cause cross-contamination of that next area.

[0046] With this in mind, this embodiment of the present disclosure provides a cleaning robot that supports both a global, timed mop cleaning function and a function to specify whether to clean the mop after cleaning a specific area. Users can customize whether to clean the mop on a timed basis or to specify whether to clean the mop after cleaning a particular area. This way, even if the cleaning robot needs to clean the mop on a timed basis during actual cleaning, it will not cause cross-contamination. Even if the timed mop cleaning time has not yet arrived (for example, even if the travel time from the last mop cleaning position to the current position is less than a first time interval), if the cleaning robot has already completed cleaning the first area at the current position, and the setting for the first area is "clean the mop after cleaning the area," then the cleaning robot is forced to immediately clean the mop (e.g., re-wash the mop) before proceeding to the next area. This avoids the situation where cleaning the first area is completed but the timed mop cleaning time has not yet arrived, which could cause cross-contamination.

[0047] In some embodiments, the control method of the cleaning robot further includes: during the cleaning process of the cleaning robot cleaning the first zone, if it is determined that the walking time from the last mop cleaning position to the current position has reached a first time and the cleaning of the first zone has not been completed at the current position, the cleaning robot is controlled to clean the mop and then continue cleaning the area to be cleaned in the first zone.

[0048] It is understandable that, compared to cleaning robots that only support cleaning the mop after cleaning a section but not timed mop cleaning, this embodiment supports both global timed mop cleaning and the setting of whether to clean the mop after cleaning a section. Thus, even if the cleaning robot has not finished cleaning the first section at the current position, but the walking time from the last mop cleaning position to the current position has reached the first time, that is, the timing for timed mop cleaning has been met, the cleaning robot is controlled to clean the mop and then continue cleaning the uncleaned area (i.e., the area to be cleaned) in the first section, thereby enhancing the cleanliness of the first section.

[0049] In this embodiment of the disclosure, the cleaning robot supports setting or modifying whether to clean the mop after cleaning any partition of the target area. In some embodiments, the cleaning robot also supports setting or modifying the following first cleaning parameters for any partition (i.e., the first partition) of the target area: the mop washing mode when cleaning the mop and / or whether to collect dust after partition cleaning. For example, the first cleaning parameter may also indicate the mop washing mode when cleaning the mop and / or dust collection after partition cleaning. Of course, whether the first cleaning parameter indicates dust collection after partition cleaning or mop cleaning after partition cleaning is related to the user's settings for the corresponding partition. That is, the first cleaning parameter may indicate dust collection after partition cleaning or no dust collection after partition cleaning; the first cleaning parameter may indicate mop cleaning after partition cleaning or no mop cleaning after partition cleaning. The scheme shown in Figure 3 describes the case where the first cleaning parameter indicates mop cleaning after partition cleaning.

[0050] In addition, for the first cleaning parameter set for the first zone, which also indicates the mop washing mode and / or dust collection after zone cleaning, after the cleaning robot completes the cleaning of the first zone, it is necessary to collect dust or control the cleaning robot to clean the mop according to the mop washing mode indicated by the first cleaning parameter.

[0051] For the first cleaning parameter indicating: cleaning the mop after partition cleaning, the mop washing mode during cleaning, and / or dust collection after partition cleaning, in one possible implementation, controlling the cleaning robot to clean the mop before cleaning the next partition in the target area as described in step 403 includes: controlling the cleaning robot to collect dust in the first partition before cleaning the next partition in the target area, and then cleaning the mop according to the mop washing mode after dust collection. Of course, in another possible implementation, the cleaning robot may clean the mop first and then collect dust. In this embodiment of the disclosure, there is no restriction on the order of execution of mop cleaning and dust collection.

[0052] As mentioned earlier, the cleaning robot also supports setting or modifying a second cleaning parameter, meaning users can freely set or modify the second cleaning parameter. In some embodiments, as shown in Figure 5, controlling the cleaning robot to clean the first zone includes the following steps 501 and 502:

[0053] Step 501: Obtain the second cleaning parameters set for the first zone; the second cleaning parameters indicate one or more of the following: walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume;

[0054] Step 502: Control the cleaning robot to clean the first zone according to the second cleaning parameters.

[0055] In some embodiments, the control method of the cleaning robot further includes: receiving setting information during the process of controlling the cleaning robot to clean a target area, the setting information including modification information of a first cleaning parameter and / or a second cleaning parameter for any one or more partitions of the target area, and updating the corresponding cleaning parameters according to the setting information.

[0056] In some embodiments, upon receiving setting information, the cleaning robot is controlled to continue cleaning the uncleaned area from its current position according to the currently set first cleaning parameters and / or second cleaning parameters.

[0057] It is understood that, in the embodiments of this disclosure, the cleaning robot supports users in setting and modifying cleaning parameters (such as first cleaning parameters and / or second cleaning parameters) for different zones (e.g., different rooms or different zones of the same room), thereby making the cleaning parameters more detailed. Furthermore, if the cleaning robot receives cleaning parameters set or modified by the user during the cleaning task, the set or modified cleaning parameters can take effect in real time during the cleaning task. That is, the cleaning robot does not interrupt the current cleaning task, but continues to perform subsequent unfinished cleaning tasks, thereby making the task settings more flexible.

[0058] The term "not interrupting the current cleaning task" means that while the cleaning robot is performing its current cleaning task, any settings or modifications made by the user to the cleaning parameters will not affect the robot's ability to continue performing the current task. Instead, the robot will continue to clean the uncleaned areas in the target area based on the latest cleaning parameters. Here, "cleaning task" refers to the cleaning task for the target area.

[0059] For example, in related technologies, if a cleaning robot receives setting / modification information for cleaning parameters while cleaning a target area, the robot needs to interrupt the current cleaning task and restart from the starting point of the target area (this is one manifestation of task interruption), or, to avoid repeatedly cleaning already cleaned areas, the user needs to re-specify the areas that need cleaning (this is another manifestation of task interruption). However, in this embodiment, even if the cleaning robot receives setting / modification information for cleaning parameters while cleaning the target area, it does not interrupt the current cleaning task. Instead, it continues cleaning the uncleaned areas from the current position based on the latest cleaning parameters, achieving dynamic task execution.

[0060] In step 402, obtaining the first cleaning parameter set for the first partition in the target area; the first cleaning parameter indicates that the mop should be washed after the partition is cleaned, further, in some embodiments, may include: obtaining the first cleaning parameter currently set for the first partition when the cleaning of the first partition is completed according to the set number of cleaning cycles. That is, the timing for obtaining / reading the setting item of whether to wash the mop after partition cleaning can be when the cleaning of the first partition is completed; in this way, it can be ensured that the value of the first cleaning parameter obtained / read is the latest setting by the user, and the behavior of the cleaning robot at the next moment can be controlled based on the latest setting. In this way, real-time dynamic response to the setting item can be realized, thereby ensuring that the behavior of the cleaning robot meets the user's current needs.

[0061] In some embodiments, the second cleaning parameter includes the number of cleaning cycles set for the first partition. Therefore, in step 501, obtaining the second cleaning parameter set for the first partition can further, in some embodiments, include: obtaining the first cleaning cycle currently set for the first partition upon completion of the current cleaning of the first partition. Based on this, in step 502, controlling the cleaning robot to clean the first partition according to the second cleaning parameter can further, in some embodiments, include: if the number of times the first partition has been cleaned is less than the first cleaning cycle, controlling the cleaning robot to clean the first partition according to the second cleaning cycle; the second cleaning cycle is equal to the difference between the first cleaning cycle and the number of times the first partition has been cleaned.

[0062] It is understandable that the timing for obtaining / reading the first cleaning count set for the first partition can be when the current cleaning of the first partition is completed, and the behavior of the cleaning robot at the next moment can be controlled based on this; in this way, the real-time dynamic response of the cleaning count can be achieved, thereby ensuring that the behavior of the cleaning robot meets the user's current needs.

[0063] In some embodiments, the second cleaning parameter includes a route preference set for the first partition; therefore, in step 501, obtaining the second cleaning parameter set for the first partition includes: obtaining the currently set route preference for the first partition (e.g., the route preference includes the next row cutting spacing) before (i.e., when the current need to switch to the next row) in the first partition. Based on this, in step 502, controlling the cleaning robot to clean the first partition according to the second cleaning parameter, further, in some embodiments, may include: controlling the cleaning robot to switch to the next row according to the currently set route preference after completing the current row's movement.

[0064] It's understandable that the timing for acquiring / reading the route preference set for the first partition can be before (i.e., when) the user needs to switch to the next row within the first partition. This information is then used to control the subsequent behavior of the cleaning robot. This allows for real-time dynamic response to route preferences, ensuring that the cleaning robot's behavior meets the user's current needs. Furthermore, the cleaning robot allows users to set or modify route preferences at any time during its journey, and the robot will proceed according to the latest route preference without interrupting the current cleaning task.

[0065] In some embodiments, the second cleaning parameter includes a route preference set for the first partition; therefore, in step 501, obtaining the second cleaning parameter set for the first partition includes: obtaining the currently set route preference for the first partition before switching to the next target location in the first partition. Based on this, in step 502, controlling the cleaning robot to clean the first partition according to the second cleaning parameter, further, in some embodiments, may include: controlling the cleaning robot to switch to the next target location according to the currently set route preference after controlling the cleaning robot to complete the current movement.

[0066] In some embodiments, the second cleaning parameters include suction power, water volume, or walking speed for the first zone. Therefore, in step 501, obtaining the second cleaning parameters set for the first zone includes: obtaining the setting or modification information when a setting or modification instruction for the suction power, water volume, or walking speed for the first zone is received. Based on this, in step 502, controlling the cleaning robot to clean the first zone according to the second cleaning parameters can be further, in some embodiments, included: upon receiving a setting or modification instruction for the suction power, water volume, or walking speed for the first zone, controlling the corresponding suction power, water volume, or walking speed based on the setting or modification information, thereby achieving real-time dynamic response.

[0067] It is understood that in the embodiments of this disclosure, the cleaning robot supports custom settings or modifications of cleaning parameters for a specific area. To ensure that these parameter settings for a specific area do not override the global function settings, in some embodiments, the control method of the cleaning robot further includes: obtaining a third cleaning parameter set for a target area; the third cleaning parameter indicates one or more of the following: whether to collect dust, whether to clean the mop, whether to clean and dry the mop; and after completing the cleaning of the target area, controlling the cleaning robot according to the third cleaning parameter.

[0068] As we can understand, the third cleaning parameter is a global parameter, meaning it's set for the target area, not just a specific section within it. This means that users can not only customize or modify the cleaning parameters for any section of the target area, but also choose whether to activate dust collection, wash the mop, and / or dry the mop after washing it after completing the cleaning task for the target area. This ensures that the settings for the cleaning parameters of each section do not override the global function settings, further enhancing the flexibility of the cleaning robot.

[0069] It should be noted that the control method for the cleaning robot provided in this embodiment is also applicable to scenarios where multiple zones of the target area are carpeted, such as a single carpet spanning multiple zones. In such cases, the cleaning robot still supports different settings for the cleaning parameters of these multiple zones. A possible use case is multiple adjacent rooms that are carpeted.

[0070] The following are examples illustrating possible implementation schemes of the control method for the cleaning robot described in one or more of the above embodiments.

[0071] Robotic vacuum cleaners typically operate with fixed settings, which may not be suitable for cleaning different zones. Users need to flexibly adjust cleaning parameters, such as suction power, water volume, and cleaning mode, to meet the specific needs of each zone. This disclosure provides a more flexible cleaning method that allows for real-time adjustments and task-specific configurations.

[0072] This disclosure provides a cleaning logic for a robot vacuum cleaner, enabling users to set and modify cleaning parameters for different zones within a room. This allows for more detailed cleaning parameters that take effect in real-time during cleaning tasks, making task settings more flexible. Possible implementation methods are described below.

[0073] 1. Partition-specific task configuration:

[0074] Users can define cleaning tasks for each zone, including cleaning order, suction power, water volume, route preference, walking speed, number of cleaning cycles, whether to rewash immediately after zone cleaning, whether to collect dust immediately after zone cleaning, and the corresponding cloth washing mode for each zone.

[0075] 2. Dynamic task execution:

[0076] During task execution, users can modify parameters such as suction power, water volume, route preference, walking speed, and cleaning frequency without interrupting the task. The underlying logic is as follows (response methods for different states at different times):

[0077] (1) Suction, water volume, and walking speed: After receiving the user's gear switching command, the fan, water pump, walking wheel motor and other devices are controlled in real time to achieve real-time dynamic response;

[0078] (2) Route preference: When the robot vacuum is making zigzag cuts, it reads the current route preference settings and determines the spacing of the next cut based on the settings, thereby realizing real-time dynamic response of route preference;

[0079] (3) Number of cleaning cycles: When cleaning a partition is completed, the current number of cleaning cycles is read and compared with the set number of cycles. If the number of cycles is less than the set number of cycles, the partition is cleaned again, thereby realizing real-time dynamic response of the number of cleaning cycles.

[0080] (4) Whether to immediately rewash / collect dust / wash cloth mode after cleaning in a partition: After all cleaning cycles are completed in a partition, the current settings are read, and the rewash / collect dust operation is determined based on the current settings, so as to realize the real-time dynamic response of these settings.

[0081] 3. Configuration after task completion:

[0082] In addition to setting specific modes for each zone, the cleaning robot also allows users to enable or disable dust collection and drying functions after a task is completed, ensuring that task-specific configurations do not override global function settings. For example, users can specify that dust collection or cloth washing should not be performed after a task is completed.

[0083] 4. Applicable to timed, customized, and other modes:

[0084] This feature allows users to configure the cleaning robot's behavior after a task is completed via an app, including setting scheduled tasks, custom modes, and shortcuts for each zone (such as the cleaning parameters mentioned above).

[0085] 5. Carpet cleaning related design:

[0086] As mentioned earlier, different modes can be set for different zones, and the cleaning parameter values ​​for different modes are different. Therefore, special treatment is needed for a carpet that spans multiple zones to perform cleaning in different modes. When a carpet spans multiple zones, the carpet is divided into multiple zones according to the zone boundaries, and different suction power, route preference, and cleaning frequency are applied to each zone to ensure effective cleaning.

[0087] This disclosure implements a feedback mechanism that integrates the robot with an app, allowing for real-time adjustments to cleaning parameters. This feature ensures the robot can implement different cleaning strategies for different zones and adapt to unexpected changes in the environment or user preferences.

[0088] The embodiments disclosed herein can achieve the effect of enhanced customization: allowing for highly customized cleaning operations, improving efficiency and effectiveness.

[0089] The embodiments disclosed herein can achieve the effect of improving flexibility: users can adjust cleaning parameters in real time, providing responsive cleaning solutions.

[0090] The embodiments disclosed herein can achieve the effect of improving efficiency by adapting to different floor types and user preferences, while maintaining optimal performance.

[0091] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps; or steps from different embodiments may be combined into a new technical solution.

[0092] Based on the foregoing embodiments, this disclosure provides a control device for a cleaning robot. The modules and units included in the device can be implemented by a processor; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be an AI acceleration engine (such as an NPU), GPU, central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP), or field programmable gate array (FPGA), etc.

[0093] Figure 6 is a schematic diagram of the structure of the control device for the cleaning robot provided in an embodiment of this disclosure. As shown in Figure 6, the control device 600 for the cleaning robot includes:

[0094] The acquisition module 601 is configured to: acquire a first duration set for the target area to be cleaned; the first duration is used to control the time interval between two adjacent mop washing operations of the cleaning robot during the cleaning of the target area;

[0095] The acquisition module 601 is also configured to: acquire a first cleaning parameter set for a first partition in the target area; the first cleaning parameter indicates that the mop should be washed after the partition is cleaned;

[0096] The control module 602 is configured to: during the process of controlling the cleaning robot to clean the first zone, if it is determined that the walking time from the last mop cleaning position to the current position is less than a first time and the cleaning of the first zone has been completed at the current position, control the cleaning robot to clean the mop before cleaning the next zone in the target area.

[0097] In some embodiments, the control module 602 is further configured to: during the cleaning process of the cleaning robot cleaning the first zone, if it is determined that the walking time from the last mop cleaning position to the current position has reached a first time and the cleaning of the first zone has not been completed at the current position, control the cleaning robot to clean the mop and then continue cleaning the area to be cleaned in the first zone.

[0098] In some embodiments, the first cleaning parameter also indicates the mop washing mode and / or dust collection after partition cleaning.

[0099] In some embodiments, the acquisition module 601 is configured to: acquire second cleaning parameters set for the first partition; the second cleaning parameters indicate one or more of the following: walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume; the control module 602 is configured to: control the cleaning robot to clean the first partition according to the second cleaning parameters.

[0100] In some embodiments, the control module 602 is further configured to: receive setting information during the process of controlling the cleaning robot to clean the target area, the setting information including modification information of a first cleaning parameter and / or a second cleaning parameter for any one or more partitions of the target area, and update the corresponding cleaning parameters according to the setting information.

[0101] In some embodiments, the acquisition module 601 is configured to: acquire the first cleaning parameters currently set for the first partition when cleaning of the first partition is completed according to the set number of cleaning cycles.

[0102] In some embodiments, the second cleaning parameter includes the number of cleaning cycles set for the first partition; the acquisition module 601 is configured to acquire the first number of cleaning cycles currently set for the first partition when the current cleaning of the first partition is completed; the control module 602 is configured to control the cleaning robot to clean the first partition according to the second number of cleaning cycles when the number of cleaning cycles of the first partition is less than the first number of cleaning cycles; the second number of cleaning cycles is equal to the difference between the first number of cleaning cycles and the number of cleaning cycles.

[0103] In some embodiments, the second cleaning parameter includes a route preference set for the first partition; the acquisition module 601 is configured to acquire the route preference currently set for the first partition before switching to the next row or the next target position in the first partition; the control module 602 is configured to control the cleaning robot to switch to the next row or the next target position according to the currently set route preference after controlling the cleaning robot to complete the current row.

[0104] In some embodiments, the acquisition module 601 is further configured to: acquire a third cleaning parameter set for the target area; the third cleaning parameter indicates one or more of the following: whether to collect dust, whether to clean the mop, whether to clean and dry the mop; the control module 602 is further configured to: control the cleaning robot according to the third cleaning parameter after the cleaning of the target area is completed.

[0105] The description of the above apparatus embodiments is similar to that of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the apparatus embodiments of this disclosure, please refer to the description of the method embodiments of this disclosure for understanding.

[0106] It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, exist as separate physical units, or be integrated into one unit by two or more units. The integrated units described above can be implemented in hardware, as software functional units, or as a combination of software and hardware.

[0107] It should be noted that, in the embodiments of this disclosure, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the cleaning robot to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0108] This disclosure provides a cleaning robot, and Figure 7 is a structural schematic diagram of the cleaning robot provided in this disclosure. As shown in Figure 7, the cleaning robot 700 includes: a body 701, a mop 702, and a control unit 703; wherein, the control unit 703 is used for:

[0109] Obtain the first duration set for the target area to be cleaned; the first duration is used to control the time interval between two consecutive cleaning of the mop 702 by the cleaning robot 700 during the cleaning of the target area;

[0110] Obtain the first cleaning parameter set for the first zone in the target area; the first cleaning parameter indicates that the mop 702 should be washed after the zone is cleaned;

[0111] During the process of controlling the cleaning robot 700 to clean the first zone, if it is determined that the travel time from the last cleaning position of the mop 702 to the current position is less than a first time and the cleaning of the first zone has been completed at the current position, the cleaning robot 700 is controlled to clean the mop 702 before cleaning the next zone in the target area.

[0112] In Figure 7, the body 701 is similar to the body 101 in Figure 1. The body 701 forms the shell of the cleaning robot 700 and houses other components such as the control unit, sensor assembly, and memory.

[0113] In some embodiments, the control unit 703 is configured to: during the cleaning process of the cleaning robot 700 cleaning the first partition, if it is determined that the walking time from the last position of the mop 702 to the current position has reached a first time and the cleaning of the first partition has not been completed at the current position, control the cleaning robot 700 to continue cleaning the area to be cleaned in the first partition after cleaning the mop 702.

[0114] In some embodiments, the first cleaning parameter also indicates the washing mode and / or dust collection after partition cleaning when washing the mop 702.

[0115] In some embodiments, the control unit 703 is configured to: acquire a second cleaning parameter set for the first partition; the second cleaning parameter indicates one or more of the following: walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume; and control the cleaning robot 700 to clean the first partition according to the second cleaning parameter.

[0116] In some embodiments, the control unit 703 is configured to: receive setting information during the process of controlling the cleaning robot 700 to clean a target area, the setting information including modification information of a first cleaning parameter and / or a second cleaning parameter for any one or more partitions of the target area, and update the corresponding cleaning parameters according to the setting information.

[0117] In some embodiments, the control unit 703 is configured to: acquire a first cleaning parameter currently set for the first partition when cleaning of the first partition is completed according to a set number of cleaning cycles.

[0118] In some embodiments, the second cleaning parameter includes the number of cleaning cycles set for the first partition; the control unit 703 is configured to: obtain the first number of cleaning cycles currently set for the first partition when the current cleaning of the first partition is completed; and control the cleaning robot 700 to clean the first partition according to the second number of cleaning cycles if the number of cleaning cycles already performed on the first partition is less than the first number of cleaning cycles; the second number of cleaning cycles is equal to the difference between the first number of cleaning cycles and the number of cleaning cycles already performed.

[0119] In some embodiments, the second cleaning parameter includes a route preference set for the first partition; the control unit 703 is configured to: obtain the route preference currently set for the first partition before switching to the next row or the next target position in the first partition; and control the cleaning robot 700 to switch to the next row or the next target position according to the currently set route preference after controlling the cleaning robot 700 to complete the current row.

[0120] In some embodiments, the control unit 703 is configured to: acquire a third cleaning parameter set for a target area; the third cleaning parameter indicates one or more of the following: whether to collect dust, whether to clean the mop, whether to clean and dry the mop; and control the cleaning robot 700 according to the third cleaning parameter after cleaning the target area is completed.

[0121] In some embodiments, the cleaning robot 700 also includes a memory configured to store instructions and applications executable by the control unit 703, and may also cache data to be processed or already processed (e.g., image data, point cloud data, etc.) in the control unit 703 and various modules in the cleaning robot 700, which may be implemented by flash memory or random access memory (RAM).

[0122] This disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the above embodiments.

[0123] This disclosure provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0124] It should be noted that the descriptions of the cleaning robot, storage medium, and computer program product embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the cleaning robot, storage medium, and computer program product embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0125] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0126] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0127] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0128] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0129] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0130] In addition, each functional module in the various embodiments of this disclosure can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0131] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0132] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the cleaning robot to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0133] The methods disclosed in the several method embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method embodiments.

[0134] The features disclosed in the several product embodiments provided in this disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0135] The features disclosed in the several method or device embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0136] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A control method of a cleaning robot, characterized by, The method includes: A first duration is set for the target area to be cleaned; the first duration is used to control the time interval between two adjacent mop washing operations by the cleaning robot during the cleaning of the target area; Obtain a first cleaning parameter set for a first zone within the target area; the first cleaning parameter indicates that the mop should be washed after the zone is cleaned. During the process of controlling the cleaning robot to clean the first zone, if it is determined that the walking time from the last mop cleaning position to the current position is less than the first time and the cleaning of the first zone has been completed at the current position, the cleaning robot is controlled to clean the mop before cleaning the next zone in the target area.

2. The method of claim 1, wherein, The method further includes: During the cleaning process of the cleaning robot cleaning the first zone, if it is determined that the walking time from the last mop cleaning position to the current position has reached the first time and the cleaning of the first zone has not been completed at the current position, the cleaning robot is controlled to clean the mop and then continue cleaning the area to be cleaned in the first zone.

3. The method according to claim 1 or 2, characterized in that, The first cleaning parameter also indicates the mop washing mode and / or dust collection after zone cleaning.

4. The method according to any one of claims 1 to 3, characterized in that, The control of the cleaning robot to clean the first partition includes: Obtain the second cleaning parameters set for the first zone; the second cleaning parameters indicate one or more of the following: walking speed, route preference, cleaning sequence, number of cleaning cycles, suction power, and water volume; The cleaning robot is controlled to clean the first zone according to the second cleaning parameters.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: During the process of controlling the cleaning robot to clean the target area, setting information is received, and the corresponding cleaning parameters are updated according to the setting information; wherein, the setting information includes modification information for the first cleaning parameters and / or the second cleaning parameters of any one or more partitions of the target area.

6. The method of claim 5, wherein, The step of obtaining the first cleaning parameters set for the first partition in the target area includes: When the cleaning of the first partition is completed according to the set number of cleaning cycles, the first cleaning parameter currently set for the first partition is obtained.

7. The method according to claim 5 or 6, characterized in that, The second cleaning parameter includes the number of cleaning cycles set for the first partition; obtaining the second cleaning parameter set for the first partition includes: Upon completion of the current cleaning of the first partition, obtain the first cleaning count currently set for the first partition; The control of the cleaning robot to clean the first zone according to the second cleaning parameters includes: If the number of times the first partition has been cleaned is less than the number of times it has been cleaned, the cleaning robot is controlled to clean the first partition according to the second number of times it has been cleaned; the second number of times it has been cleaned is equal to the difference between the first number of times it has been cleaned and the number of times it has been cleaned.

8. The method according to any one of claims 5 to 7, characterized in that, The second cleaning parameter includes route preferences set for the first partition; The step of obtaining the second cleaning parameters set for the first partition includes: Before switching to the next line or the next target location in the first partition, obtain the route preference currently set for the first partition; The control of the cleaning robot to clean the first zone according to the second cleaning parameters includes: After the cleaning robot completes its current row of movement, it is controlled to switch to the next row or the next target location according to the currently set route preference.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Obtain a third cleaning parameter set for the target area; the third cleaning parameter indicates one or more of the following: whether to collect dust, whether to clean the mop, and whether to clean and dry the mop. After cleaning the target area, the cleaning robot is controlled according to the third cleaning parameters.

10. A control device of a cleaning robot characterized by comprising: The device includes an acquisition module and a control module; wherein: The acquisition module is configured to: acquire a first duration set for the target area to be cleaned; the first duration is used to control the time interval between two adjacent mop washing operations during the cleaning process of the cleaning robot in the target area; The acquisition module is further configured to: acquire a first cleaning parameter set for a first partition in the target area; the first cleaning parameter indicates that the mop should be washed after the partition is cleaned; The control module is configured to: during the process of controlling the cleaning robot to clean the first partition, if it is determined that the walking time from the last mop cleaning position to the current position is less than the first time and the cleaning of the first partition has been completed at the current position, control the cleaning robot to clean the mop before cleaning the next partition in the target area.

11. A cleaning robot, characterized in that, The cleaning robot includes: a body, a mop, and a control unit; the control unit is used for: A first duration is set for the target area to be cleaned; the first duration is used to control the time interval between two consecutive cleaning of the mop by the cleaning robot during the cleaning of the target area; Obtain a first cleaning parameter set for a first zone within the target area; the first cleaning parameter indicates that the mop should be washed after the zone is cleaned. During the process of controlling the cleaning robot to clean the first zone, if it is determined that the walking time from the last time the mop was cleaned to the current position is less than the first time and the cleaning of the first zone has been completed at the current position, the cleaning robot is controlled to clean the mop before cleaning the next zone in the target area.

12. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any one of claims 1 to 9.

13. A computer program product comprising a computer program or instructions which, when executed by a processor, implement the method of any one of claims 1 to 9.

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