Cleaning robot and control method therefor, control apparatus, and readable storage medium

Abstract

Embodiments of the present application are applicable to the field of cleaning devices, and disclose a cleaning robot and a control method therefor, a control apparatus, and a readable storage medium. The control method for the cleaning robot comprises: acquiring a target cleaning task; on the basis of the target cleaning task, obtaining target cleaning information corresponding to the target cleaning task; on the basis of historical cleaning data and the target cleaning information, obtaining an estimated completion duration for a target cleaning robot to execute the target cleaning task; and outputting the estimated completion duration. Therefore, a user can intuitively acquire the duration required for the cleaning robot to complete the target cleaning task, interactive content outputted by the cleaning robot to the user is increased, and the occurrence of the cleaning robot not being able to complete the intended target cleaning task before a time point expected by the user is reduced, thereby improving satisfaction of the user with the cleaning robot.

Description

Cleaning robot and control method, control device and readable storage medium thereof TECHNICAL FIELD

[0001] The present application relates to the field of cleaning equipment, in particular to a cleaning robot and a control method, a control device and a readable storage medium thereof. BACKGROUND

[0002] A cleaning robot provided by the related art can automatically perform a target cleaning task on a target area according to a target cleaning task obtained.

[0003] The cleaning robot has the following disadvantages in specific application: Before the cleaning robot starts to perform the target cleaning task, the user cannot intuitively know the time length required for the cleaning robot to complete the target cleaning task; during the performance of the target cleaning task by the cleaning robot, the user cannot intuitively know the cleaning time length required for the cleaning robot to perform the remaining target cleaning task, which is not conducive to the user to select whether to start the target cleaning task or adjust the cleaning scheme according to the actual cleaning demand, thereby easily causing the phenomenon that the cleaning robot fails to complete the expected target cleaning task before the user's expected time point, and thus reducing the user's satisfaction with the cleaning robot. SUMMARY

[0004] The first object of the embodiments of the present application is to provide a control method of a cleaning robot, which aims to solve the technical problem that the user cannot be provided with the estimated completion time length of a target cleaning task in the background art.

[0005] To achieve the above-mentioned objects, the present application provides a control method of a cleaning robot, comprising:

[0006] obtaining a target cleaning task;

[0007] obtaining target cleaning information corresponding to the target cleaning task according to the target cleaning task;

[0008] obtaining an estimated completion time length of the target cleaning task performed by a target cleaning robot according to historical cleaning data and the target cleaning information;

[0009] outputting the estimated completion time length.

[0010] Preferably, the target cleaning information comprises at least one of the following information: target cleaning area, target cleaning map.

[0011] The target cleaning information comprises a target cleaning area.

[0012] The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes:

[0013] Based on the historical cleaning data, the estimated cleaning speed at which the target cleaning robot performs the target cleaning task is obtained;

[0014] Based on the estimated cleaning speed and the target cleaning area, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0015] Preferably, obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task based on the historical cleaning data includes:

[0016] Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained;

[0017] Based on the historical average cleaning speed, the estimated cleaning speed at which the target cleaning robot performs the target cleaning task is obtained.

[0018] Preferably, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period includes:

[0019] Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained;

[0020] Based on the total historical cleaning area and the total historical cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained.

[0021] Preferably, obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0022] Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained.

[0023] The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and the historical total cleaning duration includes:

[0024] The historical average cleaning speed is obtained by dividing the actual historical total cleaning area by the actual historical total cleaning time.

[0025] Preferably, obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes:

[0026] Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained.

[0027] The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and the historical total cleaning duration includes:

[0028] The actual historical total cleaning area and the actual historical total cleaning time are corrected to obtain the corrected historical total cleaning area and the corrected historical total cleaning time.

[0029] Divide the total historical cleaning area by the total historical cleaning time to obtain the historical average cleaning speed.

[0030] Preferably, the correction of the actual historical total cleaning area and the actual historical total cleaning duration includes:

[0031] When the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected.

[0032] The first preset condition includes the target cleaning robot and / or the reference cleaning robot exhibiting at least one of the following behaviors during the first preset time period: entering a restricted area for cleaning and lingering at a single cleaning location for a duration exceeding the first preset time period.

[0033] Preferably, when the first preset condition is met, the step of correcting the actual historical total cleaning area and / or the actual historical total cleaning time includes:

[0034] Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, it is determined whether the target cleaning robot and / or the reference cleaning robot entered the restricted area for cleaning and / or whether they lingered at a single cleaning location for a duration exceeding the first preset time period within the first preset time period.

[0035] If there is a cleaning activity within the restricted area and there is no activity where the cleaning time at a single cleaning location exceeds the first preset time, then the actual historical total cleaning area is subtracted from the restricted area cleaning area cleaned by the target cleaning robot and / or the reference cleaning robot within the first preset time period to obtain the corrected historical total cleaning area.

[0036] The corrected total historical cleaning time is obtained by subtracting the cleaning time of the target cleaning robot and / or the reference cleaning robot in the first restricted area during the first preset time period from the actual total historical cleaning time.

[0037] If there is behavior of lingering at a single cleaning location for a duration exceeding the first preset duration and there is no behavior of entering the restricted area for cleaning, then the actual historical total cleaning area is subtracted from the lingering cleaning area of ​​the target cleaning robot and / or the reference cleaning robot at each cleaning location whose lingering time exceeds the first preset duration within the first preset time period, to obtain the corrected historical total cleaning area.

[0038] The corrected total historical cleaning time is obtained by subtracting the time during which the target cleaning robot and / or the reference cleaning robot each exceeded the first preset time within the first preset time period from the actual total historical cleaning time.

[0039] If there is a cleaning activity that enters the restricted area and there is a lingering time at a single cleaning location that exceeds the first preset time, then the actual historical total cleaning area is subtracted from the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot that entered the restricted area during the first preset time period and the lingering cleaning area of ​​each cleaning location that lingered for more than the first preset time period during the first preset time period, to obtain the corrected historical total cleaning area.

[0040] The corrected total historical cleaning time is obtained by subtracting the cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period when they entered the restricted area and the lingering time exceeding the first preset time period within the first preset time period from the actual total historical cleaning time.

[0041] Preferably, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period includes:

[0042] Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained respectively.

[0043] Based on the multiple sub-historical average cleaning speeds, the historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained.

[0044] Preferably, the step of obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period includes:

[0045] Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the actual sub-historical cleaning area and actual sub-historical cleaning duration of the multiple historical cleaning tasks are obtained.

[0046] Divide the multiple actual sub-history cleaning areas by the corresponding actual sub-history cleaning durations to obtain the multiple sub-history average cleaning speeds.

[0047] or,

[0048] Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the actual sub-historical cleaning area and actual sub-historical cleaning duration of the multiple historical cleaning tasks are obtained.

[0049] The actual sub-historical cleaning area and the actual sub-historical cleaning duration of at least one historical cleaning task are corrected to obtain the corrected sub-historical cleaning area and the corrected sub-historical cleaning duration of the historical cleaning task.

[0050] Divide the modified sub-historical cleaning area by the modified sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

[0051] Preferably, the target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area;

[0052] The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes:

[0053] Based on the historical cleaning data, the estimated completion time for the target cleaning robot to clean each target cleaning area is obtained.

[0054] Based on the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0055] Preferably, the step of obtaining the estimated completion time for the target cleaning robot to clean each target cleaning area based on the historical cleaning data includes:

[0056] Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained;

[0057] Based on the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained.

[0058] Preferably, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each of the target cleaning areas within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period includes:

[0059] Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first actual sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained;

[0060] The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the plurality of first sub-historical completion times corresponding to each target cleaning area includes:

[0061] Based on the plurality of first actual sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively.

[0062] Preferably, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each of the target cleaning areas within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period includes:

[0063] Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first actual sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained;

[0064] The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the plurality of first sub-historical completion times corresponding to each target cleaning area includes:

[0065] At least one first actual sub-history completion time corresponding to a target cleaning area is corrected to obtain at least one first corrected sub-history completion time of the target cleaning area.

[0066] The estimated completion time for the target cleaning robot to clean the target cleaning area is obtained based on the multiple first modified sub-historical completion times corresponding to the target cleaning area, or based on at least one first modified sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area.

[0067] Preferably, the step of correcting at least one first actual sub-history completion time corresponding to a target cleaning area to obtain at least one first corrected sub-history completion time for the target cleaning area includes:

[0068] When the second preset condition is met, the completion time of the first actual sub-history is corrected to obtain the first corrected sub-history completion time.

[0069] The second preset condition includes the target cleaning robot exhibiting at least one of the following behaviors when performing a historical cleaning task corresponding to the first actual sub-history completion time: entering a restricted area for cleaning and lingering at a single cleaning location for a duration exceeding the first preset time.

[0070] Preferably, when the second preset condition is met, the step of correcting the first actual sub-history completion time to obtain a first corrected sub-history completion time includes:

[0071] Based on the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, it is determined whether the target cleaning robot entered the restricted area for cleaning and / or whether it lingered at a single cleaning position for a duration exceeding the first preset time period when performing the historical cleaning task on the target cleaning area within the second preset time period.

[0072] If there is a cleaning behavior that enters the restricted area and there is no behavior that lingers in a single cleaning position for more than the first preset time, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area to clean while performing the historical cleaning task, to obtain the first corrected sub-history completion time of the historical cleaning task.

[0073] If there is behavior of lingering at a single cleaning location for a duration exceeding the first preset duration and there is no behavior of entering the restricted area for cleaning, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the lingering time of the target cleaning robot when performing the historical cleaning task, which lingered at a single cleaning location for a duration exceeding the first preset duration, to obtain the first corrected sub-history completion time of the historical cleaning task.

[0074] If there is a cleaning activity that enters the restricted area and there is a lingering time at a single cleaning location that exceeds the first preset time, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area while performing the historical cleaning task, and the lingering time when the target cleaning robot lingered at a single cleaning location for more than the first preset time while performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

[0075] Preferably, obtaining the estimated completion time for the target cleaning robot to perform cleaning on each of the target cleaning areas based on the historical cleaning data includes:

[0076] Based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot, the second sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot is obtained;

[0077] Based on the second sub-historical completion time corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained.

[0078] Preferably, based on the historical cleaning data of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas, a second sub-historical completion time for the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas is obtained, including:

[0079] Based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot, the second actual sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot is obtained;

[0080] The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area includes:

[0081] The second actual sub-historical completion time for each target cleaning area is used as the sub-estimated completion time for the target cleaning robot to clean each target cleaning area; or...

[0082] The second actual sub-historical completion time corresponding to at least one of the target cleaning areas is corrected to obtain a second corrected sub-historical completion time, and the second corrected sub-historical completion time is used as the sub-estimated completion time for the target cleaning robot to clean the target cleaning area.

[0083] Preferably, the target cleaning information includes a target cleaning map and a target cleaning area, wherein the target cleaning map includes at least one target cleaning scene, and the target cleaning area includes the target scene cleaning area of ​​each target cleaning scene;

[0084] The step of calculating the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes:

[0085] Based on the historical cleaning data, the estimated cleaning speed of the target cleaning robot for each target cleaning scene is obtained;

[0086] Based on the estimated cleaning speed and the cleaning area of ​​each target cleaning scene in the target cleaning map, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0087] Preferably, obtaining the estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene based on the historical cleaning data includes:

[0088] Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period, the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene during the third preset time period is obtained.

[0089] Based on the average cleaning speed of the first historical scene for each target cleaning scene, the estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene is obtained.

[0090] Preferably, the step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene during the third preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period includes:

[0091] Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period, the total historical cleaning area and the total historical cleaning time of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene during the third preset time period are obtained.

[0092] Based on the total cleaning area and total cleaning time of each historical scene corresponding to each target cleaning scene, the average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period is obtained; or...

[0093] Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, the sub-historical scene cleaning speed of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks for each target cleaning scene within the third preset time period is obtained.

[0094] Based on the cleaning speed of multiple sub-historical scenarios corresponding to each target cleaning scenario, the first historical scenario average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each target cleaning scenario within the third preset time period is obtained.

[0095] Preferably, obtaining the estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene based on the historical cleaning data includes:

[0096] Based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot, the second historical scene average cleaning speed of the most recent cleaning of each target cleaning scene by the target cleaning robot is obtained;

[0097] Based on the second historical scene average cleaning speed of each target cleaning scene, the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene is obtained.

[0098] Preferably, the target cleaning information further includes at least one of the following: cleaning mode, working mode;

[0099] The cleaning modes include at least two of the following: sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode.

[0100] The working mode includes at least an intelligent mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter among the number of sweeping times, the number of mopping times, and the number of sweeping and mopping times.

[0101] The step of obtaining target cleaning information corresponding to the target cleaning task includes:

[0102] Based on the target cleaning task, a target cleaning mode and / or target working mode corresponding to the target cleaning task are obtained;

[0103] The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes:

[0104] Based on historical cleaning data under the same conditions as the target cleaning mode and / or the target working mode, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

[0105] Preferably, the output estimated completion time includes at least one of the following: the estimated completion time is broadcast to the mobile terminal via voice.

[0106] Preferably, the target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area;

[0107] Sending the estimated completion time to the mobile terminal includes: sending a target cleaning map, which indicates the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas, to the mobile terminal.

[0108] Preferably, the control method further includes: during the execution of the target cleaning task, outputting the estimated remaining time required to complete the target cleaning task.

[0109] Preferably, the output of the estimated remaining time required to complete the target cleaning task includes:

[0110] Obtain the execution time of the target cleaning task;

[0111] Subtract the already executed time from the estimated completion time to obtain the estimated remaining time;

[0112] Output the estimated remaining time;

[0113] or,

[0114] The output includes the estimated remaining time required to complete the target cleaning task, including:

[0115] Obtain the remaining cleaning area that needs to be cleaned in the target cleaning task;

[0116] The estimated remaining time is obtained based on the remaining cleaning area and the estimated cleaning speed of the target cleaning robot in performing the target cleaning task;

[0117] Output the estimated remaining time;

[0118] or,

[0119] The output includes the estimated remaining time required to complete the target cleaning task, including:

[0120] Obtain the remaining cleaning areas that need to be cleaned in the target cleaning task;

[0121] The estimated remaining time is obtained based on the estimated completion time of the target cleaning robot cleaning each of the remaining cleaning areas.

[0122] Output the estimated remaining time.

[0123] Preferably, the control method further includes:

[0124] During the execution of the target cleaning task, when the target cleaning robot spends more than a second preset time lingering at a single cleaning location and receives a query from the user indicating the remaining cleaning time, it outputs a prompt message indicating that the cleaning environment is too complex and will take longer than expected.

[0125] Preferably, the control method further includes:

[0126] During or after the target cleaning robot performs a cleaning task, the preset cleaning data for that cleaning task is saved and / or uploaded.

[0127] The preset cleaning data includes at least one of the following:

[0128] The cleaning area of ​​each target cleaning area in this cleaning task;

[0129] The total cleaning area for this cleaning task;

[0130] The cleaning time for each target cleaning area in this cleaning task;

[0131] Total cleaning time for this cleaning task;

[0132] The number of times the target cleaning robot cleans each target cleaning area in this cleaning task;

[0133] The number of collisions of the target cleaning robot in each target cleaning area in this cleaning task;

[0134] The total number of collisions with the target cleaning robot during this cleaning task;

[0135] Information used in this cleaning task to characterize the degree of dirtiness in each target cleaning area;

[0136] The number of times the target cleaning robot washes the mop in this cleaning task;

[0137] The time required for the target cleaning robot to wash the mop in this cleaning task;

[0138] The movement trajectory of the target cleaning robot in this cleaning task.

[0139] Preferably, the control method further includes:

[0140] Based on the preset cleaning data, at least one of the following information is obtained:

[0141] The degree of dirtiness in each cleaning area;

[0142] How many times does each cleaning area need to be cleaned?

[0143] The location of the obstacle;

[0144] Target areas where cleaning robots have difficulty moving;

[0145] Cleaning locations where the lingering time exceeds the first preset time.

[0146] Preferably, the control method further includes: outputting a speed-up suggestion after completing the target cleaning task;

[0147] The speed-up suggestions include at least one of the following: setting the first cleaning area as a no-go zone, changing the number of cleaning cycles in the second cleaning area, and changing the cleaning trajectory in the third cleaning area.

[0148] Preferably, the control method further includes:

[0149] Obtain cleaning needs information;

[0150] Based on the cleaning needs information, output a cleaning plan that meets the cleaning needs.

[0151] A second objective of this invention is to provide a cleaning control device that can be used in a cleaning robot. This cleaning control device includes a memory and a controller. The memory can be used to store a computer program, and the processor can be used to execute the computer program, implementing the steps of the aforementioned cleaning robot control method when the computer program is executed.

[0152] A third objective of this invention is to provide a cleaning robot, which includes a robot body and the aforementioned cleaning control device, the cleaning control device being used to control the robot body to perform cleaning tasks.

[0153] A third objective of this invention is to provide a readable storage medium storing a computer program. This computer program can be invoked by a processor to implement the steps of the network configuration method described above.

[0154] The cleaning robot and its control method, control device, and readable storage medium provided in this invention can output the time required to complete the target cleaning task based on the target cleaning task input by the user. This allows the user to choose whether to start the target cleaning task or adjust the cleaning plan according to the actual cleaning needs, thereby helping to avoid the adverse phenomenon that the cleaning robot fails to complete the expected target cleaning task before the expected time, and improving the user's satisfaction with the cleaning robot. Attached Figure Description

[0155] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0156] Figure 1 is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of the present invention.

[0157] Figure 2 is another flowchart illustrating the control method for the cleaning robot provided in an embodiment of the present invention;

[0158] Figure 3 is a schematic flowchart of another control method for a cleaning robot provided in an embodiment of the present invention;

[0159] Figure 4 is a schematic diagram of another process of the control method for the cleaning robot provided in an embodiment of the present invention.

[0160] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0161] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0162] Furthermore, the technical solutions of the various embodiments can be combined with each other, but must be based on the ability of those skilled in the art to implement them.

[0163] The cleaning robot involved in this application embodiment can be a sweeping robot, a mopping robot, or a sweeping and mopping robot, etc., and this application embodiment does not specifically limit it. Among them, the sweeping robot can be used to sweep and clean the ground, the mopping robot can be used to mop and clean the ground, and the sweeping and mopping robot can be used to sweep and mop and clean the ground.

[0164] This application provides a control method for a cleaning robot.

[0165] Please refer to Figure 1, which is a flowchart illustrating a control method for a cleaning robot according to an embodiment of this application. As shown in Figure 1, the control method for the cleaning robot may include the following steps.

[0166] Step 101: Obtain the target cleaning task.

[0167] The target cleaning task can be determined based on different cleaning needs of the user. This cleaning needs information may include at least one of the following: cleaning area, cleaning time, cleaning mode, and work mode.

[0168] It should be noted that the target cleaning task can be a target cleaning task determined by the cleaning robot in response to settings operations performed by the user via voice, client (APP), and / or control panel (display). Specifically, the user can set the cleaning area, cleaning time, cleaning mode, and cleaning task of the cleaning robot in the control panel to determine the target cleaning task corresponding to the cleaning robot.

[0169] The cleaning modes include at least two of the following: sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode. The working modes include at least a smart mode and a custom mode. In the custom mode, the target cleaning information further includes at least one cleaning parameter selected from the following: sweeping count, mopping count, and sweeping and mopping count.

[0170] Step 102: Based on the target cleaning task, obtain the target cleaning information corresponding to the target cleaning task.

[0171] The target cleaning information can be cleaning information corresponding to the target cleaning task determined by the user.

[0172] After acquiring the target cleaning task specified by the user, the cleaning robot can also determine the corresponding target cleaning information based on the target cleaning task. This allows the cleaning robot to identify the cleaning area, cleaning time, and cleaning mode, among other target cleaning information, that the user has set based on their cleaning needs. Specifically, after acquiring the target cleaning task, the cleaning robot can parse the task to determine the corresponding target cleaning information.

[0173] Step 103: Based on historical cleaning data and target cleaning information, obtain the estimated completion time for the target cleaning robot to perform the target cleaning task.

[0174] The target cleaning robot is a cleaning robot used to perform the target cleaning task. The estimated completion time can be the task completion time predicted based on the target cleaning information, estimating the time it would take for the target cleaning robot to complete the cleaning task.

[0175] The historical cleaning data can be used to represent the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period.

[0176] After determining the target cleaning information corresponding to the target cleaning task, the target cleaning robot can also determine the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and target cleaning information.

[0177] Step 104: Output the estimated completion time.

[0178] After determining the estimated completion time for the target cleaning robot to perform the target cleaning task, the estimated completion time can be output. Specifically, the target cleaning robot can output the estimated completion time in at least one of the following ways: voice, client (APP) output, or control panel (display screen) output.

[0179] In one implementation, step 101, acquiring the target cleaning task may include the cleaning area, cleaning time, cleaning mode, and working mode. The target robot can acquire the cleaning area, cleaning time, cleaning mode, and working mode set by the user. The cleaning area can be the area covered by the target cleaning task; the cleaning time can be the duration required to complete the target cleaning task; and the cleaning mode may include at least two of the following: sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode. The working mode includes at least an intelligent mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter selected from the following: number of sweeping attempts, number of mopping attempts, and number of sweeping and mopping attempts.

[0180] In one implementation, in step 102, the target cleaning information is cleaning information corresponding to the target cleaning task. The target cleaning information may include the target cleaning area and / or the target cleaning map. It should be noted that, in cases where the target cleaning information differs, the estimated completion time required for the target cleaning robot to perform the target cleaning task can be determined accordingly based on the target cleaning information. For details, please refer to the following specific description of step 103.

[0181] The target cleaning area is the size of the area to be cleaned by the cleaning robot when performing the target cleaning task. The target cleaning area affects the time it takes for the cleaning robot to complete the target cleaning task.

[0182] The target cleaning map includes at least one target cleaning area. The size and number of target cleaning areas will affect the time it takes for the cleaning robot to complete the target cleaning task.

[0183] In this embodiment, the target cleaning information further includes at least one of the following: cleaning mode and working mode. The cleaning mode includes at least two of the following: sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode. The working mode includes at least a smart mode and a custom mode. In the custom mode, the target cleaning information further includes at least one cleaning parameter selected from the following: number of sweeping cycles, number of mopping cycles, and number of sweeping and mopping cycles.

[0184] In one implementation, in step 103, the target cleaning information includes at least one of the following: target cleaning area, target cleaning map.

[0185] That is, the target cleaning information may include the target cleaning area, or the target cleaning information may also include the target cleaning map, or the target cleaning information may also include both the target cleaning area and the target cleaning map.

[0186] As one implementation, when the target cleaning information includes the target cleaning area, the step of obtaining the estimated completion time of the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information may include: obtaining the estimated cleaning speed of the target cleaning robot to perform the target cleaning task based on historical cleaning data; and obtaining the estimated completion time of the target cleaning robot to perform the target cleaning task based on the estimated cleaning speed and the target cleaning area.

[0187] In one implementation, step 103, obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task based on historical cleaning data, includes: obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within a first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period; and obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task based on the historical average cleaning speed.

[0188] In one implementation, step 103, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period, includes: obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period; and obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and historical total cleaning time.

[0189] In one implementation, step 103, obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data within the first preset time period, includes: obtaining the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data within the first preset time period; and obtaining the historical average cleaning speed of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical total cleaning area and historical total cleaning time, including: dividing the actual historical total cleaning area by the actual historical total cleaning time to obtain the historical average cleaning speed.

[0190] In one implementation, step 103, obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data, includes: obtaining the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data; obtaining the historical average cleaning speed of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data, including: correcting the actual historical total cleaning area and actual historical total cleaning time to obtain corrected historical total cleaning area and corrected historical total cleaning time; and dividing the corrected historical total cleaning area by the corrected historical total cleaning time to obtain the historical average cleaning speed.

[0191] As one implementation, in step 103, the above-mentioned correction of the actual historical total cleaning area and the actual historical total cleaning time includes: when a first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected; wherein, the first preset condition includes the target cleaning robot and / or the reference cleaning robot having at least one of the following behaviors within a first preset time period: entering the restricted area for cleaning, and lingering at a single cleaning location for a duration exceeding the first preset time period.

[0192] As one implementation, when the first preset condition is met, the above-mentioned correction of the actual historical total cleaning area and / or actual historical total cleaning time includes: based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within a first preset time period, determining whether the target cleaning robot and / or the reference cleaning robot have engaged in cleaning activities within the restricted area and / or whether they have engaged in activities that linger at a single cleaning location for a duration exceeding the first preset time period; if there is cleaning activity within the restricted area but no activities that linger at a single cleaning location for a duration exceeding the first preset time period, then the actual historical total cleaning area is subtracted from the restricted area cleaning area cleaned by the target cleaning robot and / or the reference cleaning robot within the restricted area during the first preset time period to obtain the corrected historical total cleaning area; the actual historical total cleaning time is subtracted from the first restricted area cleaning time cleaned by the target cleaning robot and / or the reference cleaning robot within the restricted area during the first preset time period to obtain the corrected historical total cleaning time; if there is activities that linger at a single cleaning location for a duration exceeding the first preset time period but no activities that linger at a single cleaning location for a duration exceeding the first preset time period but no activities that linger at a restricted area, then... The corrected total historical cleaning area is obtained by subtracting the cleaning area of ​​the target cleaning robot and / or reference cleaning robot at each cleaning position whose lingering time exceeds the first preset time within the first preset time period from the actual total historical cleaning area; the corrected total historical cleaning time is obtained by subtracting the lingering time of the target cleaning robot and / or reference cleaning robot at each cleaning position that exceeds the first preset time within the first preset time period from the actual total historical cleaning area; if there is cleaning behavior within a restricted area and there is behavior of lingering at a single cleaning position for a duration exceeding the first preset time period, the corrected total historical cleaning area is obtained by subtracting the restricted area cleaning area of ​​the target cleaning robot and / or reference cleaning robot within the restricted area during the first preset time period and the lingering cleaning area at each cleaning position whose lingering time exceeds the first preset time within the first preset time period from the actual total historical cleaning area; the corrected total historical cleaning time is obtained by subtracting the first restricted area cleaning time of the target cleaning robot and / or reference cleaning robot within the restricted area during the first preset time period and the lingering time at each cleaning position that exceeds the first preset time within the first preset time period from the actual total historical cleaning time.

[0193] As an alternative implementation, in step 103, obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period includes: obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within the first preset time period; and obtaining the historical average cleaning speed of the target cleaning robot and the reference cleaning robot within the first preset time period based on the multiple sub-historical average cleaning speeds.

[0194] In one implementation, in step 103, the above-mentioned method of obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period includes: obtaining the actual sub-historical cleaning area and actual sub-historical cleaning duration of multiple historical cleaning tasks based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period; dividing the multiple actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain multiple sub-historical average cleaning speeds; or, obtaining the actual sub-historical cleaning area and actual sub-historical cleaning duration of multiple historical cleaning tasks based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period; correcting the actual sub-historical cleaning area and actual sub-historical cleaning duration of at least one historical cleaning task to obtain the corrected sub-historical cleaning area and corrected sub-historical cleaning duration of the historical cleaning task; dividing the corrected sub-historical cleaning area by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task.

[0195] As an alternative implementation, in step 103, if the target cleaning information includes a target cleaning map, the target cleaning map may include at least one target cleaning area. The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information may include: obtaining a sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on historical cleaning data; and obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map.

[0196] As one implementation, in step 103, the above-mentioned sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on historical cleaning data includes: obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on historical cleaning data of the target cleaning robot within the second preset time period; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area.

[0197] As one implementation, in step 103, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period may include: obtaining multiple first actual sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period. After determining the multiple first actual sub-historical completion times, obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area includes: obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first actual sub-historical completion times corresponding to each target cleaning area.

[0198] In one implementation, step 103, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period, may include: obtaining multiple first actual sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period. After determining the multiple first actual sub-historical completion times, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area may include: correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time for the target cleaning area; obtaining the sub-estimated completion time for the target cleaning robot to clean the target cleaning area based on the multiple first corrected sub-historical completion times corresponding to the target cleaning area or based on the at least one first corrected sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area.

[0199] As one implementation, in step 103, the step of correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area may include: when a second preset condition is met, correcting the first actual sub-historical completion time to obtain a first corrected sub-historical completion time; wherein, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when performing a historical cleaning task corresponding to a first actual sub-historical completion time: entering a restricted area for cleaning, and lingering at a single cleaning position for a duration exceeding the first preset time.

[0200] As one implementation, in step 103, the step of correcting the first actual sub-historical completion time to obtain the first corrected sub-historical completion time when the second preset condition is met may include: based on the historical cleaning data of the target cleaning robot performing historical cleaning tasks on the target cleaning area within a second preset time period, determining whether the target cleaning robot entered the restricted area for cleaning and / or whether it lingered at a single cleaning position for a duration exceeding the first preset time period when performing historical cleaning tasks on the target cleaning area within the second preset time period; if there was behavior of entering the restricted area for cleaning and no behavior of lingering at a single cleaning position for a duration exceeding the first preset time period, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area for cleaning while performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task. Historical completion time; if there is behavior of lingering in a single cleaning position for a duration exceeding the first preset time and there is no behavior of entering a restricted area for cleaning, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the lingering time of the target cleaning robot in a single cleaning position exceeding the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task; if there is behavior of entering a restricted area for cleaning and there is behavior of lingering in a single cleaning position for a duration exceeding the first preset time, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time of the target cleaning robot entering the restricted area for cleaning when performing the historical cleaning task, and the lingering time of the target cleaning robot in a single cleaning position exceeding the first preset time when performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task.

[0201] As an alternative implementation, in step 103, the step of obtaining the sub-estimated completion time of the target cleaning robot for each target cleaning area based on historical cleaning data may include: obtaining the second sub-historical completion time of the target cleaning robot for each target cleaning area based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot; and obtaining the sub-estimated completion time of the target cleaning robot for cleaning each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area.

[0202] In one implementation, step 103, the step of obtaining the second sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot, may include: obtaining the second actual sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot. After determining the second actual sub-historical completion time, the step of obtaining the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area may include: using the second actual sub-historical completion time of each target cleaning area as the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area; or, correcting the second actual sub-historical completion time corresponding to at least one target cleaning area to obtain a second corrected sub-historical completion time, and using the second corrected sub-historical completion time as the sub-estimated completion time of the target cleaning robot cleaning that target cleaning area.

[0203] As an alternative implementation, in step 103, when the target cleaning information includes a target cleaning area and a target cleaning map, the target cleaning map may include at least one target cleaning scene, and the target cleaning area may include the target scene cleaning area of ​​each target cleaning scene. The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information may include: obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data; and obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on the estimated scene cleaning speed and target scene cleaning area corresponding to each target cleaning scene in the target cleaning map.

[0204] In one implementation, step 103, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data, may include: obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within a third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period; and obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on the first historical scene average cleaning speed of each target cleaning scene.

[0205] As one implementation, in step 103, the step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period may include: obtaining the total historical scene cleaning area and the total historical scene cleaning time of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; and obtaining the total historical scene cleaning speed of each target cleaning scene based on the historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the third preset time period. The average cleaning speed of a first historical scene is obtained by using the cleaning area and the total cleaning time of historical scenes to clean each target cleaning scene within a third preset time period; or, based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period, the cleaning speed of a sub-historical scene is obtained by using the target cleaning robot and / or the reference cleaning robot to perform multiple historical scene cleaning tasks on each target cleaning scene within the third preset time period; based on the multiple sub-historical scene cleaning speeds corresponding to each target cleaning scene, the average cleaning speed of a first historical scene is obtained by using the target cleaning robot and / or the reference cleaning robot to clean each target cleaning scene within the third preset time period.

[0206] As one implementation, in step 103, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data may further include: obtaining the second historical scene average cleaning speed of the target cleaning robot for each target cleaning scene based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot; and obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on the second historical scene average cleaning speed of each target cleaning scene.

[0207] As an alternative implementation, in step 103, the target cleaning information further includes at least one of the following: cleaning mode and working mode; the cleaning mode includes at least two of sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode; the working mode includes at least intelligent mode and custom mode, and in custom mode, the target cleaning information further includes at least one of the following cleaning parameters: number of sweeping times, number of mopping times, and number of sweeping and mopping times. Obtaining the target cleaning information corresponding to the target cleaning task may include: obtaining the target cleaning mode and / or target working mode corresponding to the target cleaning task; obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information, including: obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data under the same mode as the target cleaning mode and / or target working mode.

[0208] In one implementation, in step 104, outputting the estimated completion time includes at least one of the following: sending the estimated completion time to the mobile terminal by broadcasting the estimated completion time via voice.

[0209] In one implementation, in step 104, the target cleaning information includes a target cleaning map, which includes at least one target cleaning area; sending the estimated completion time to the mobile terminal includes: sending the target cleaning map, which indicates the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas, to the mobile terminal.

[0210] In some embodiments, the control method for the cleaning robot disclosed in this application further includes: during the execution of the target cleaning task, outputting the estimated remaining time required to complete the target cleaning task.

[0211] In some specific implementations, the step of outputting the estimated remaining time required to complete the target cleaning task may include:

[0212] (1) Obtain the execution time of the target cleaning task.

[0213] (2) Subtract the execution time from the estimated completion time to obtain the estimated remaining time.

[0214] (3) Output the estimated remaining time.

[0215] It should be noted that the estimated remaining time can be determined by the time difference between the estimated completion time and the actual execution time. After determining the estimated remaining time, this estimated remaining time can be output.

[0216] Alternatively, the steps for outputting the estimated remaining time required to complete the target cleaning task may also include:

[0217] (1) Obtain the remaining cleaning area that needs to be cleaned in the target cleaning task.

[0218] (2) Based on the remaining cleaning area and the estimated cleaning speed of the target cleaning robot to perform the target cleaning task, the estimated remaining time is obtained.

[0219] (3) Output the estimated remaining time.

[0220] The estimated remaining time can also be determined based on the remaining cleaning area in the target cleaning task and the estimated cleaning speed of the target cleaning robot. After determining the estimated remaining time, it can be output.

[0221] Alternatively, the steps for outputting the estimated remaining time required to complete the target cleaning task may also include:

[0222] (1) Obtain the remaining cleaning areas that need to be cleaned in the target cleaning task.

[0223] (2) Based on the estimated completion time of the target cleaning robot for each remaining cleaning area, the estimated remaining time is obtained.

[0224] (3) Output the estimated remaining time.

[0225] The estimated remaining time can also be a sub-estimated completion time based on the time of each remaining cleaning area in the target cleaning task that has not been cleaned. After determining the estimated remaining time, the estimated remaining time can be output.

[0226] In some embodiments, the control method for the cleaning robot disclosed in this application further includes: saving and / or uploading preset cleaning data of the cleaning task during or after the target cleaning robot performs the cleaning task.

[0227] The preset cleaning data includes at least one of the following:

[0228] The cleaning area of ​​each target cleaning area in this cleaning task;

[0229] The total cleaning area for this cleaning task;

[0230] The cleaning time for each target cleaning area in this cleaning task;

[0231] Total cleaning time for this cleaning task;

[0232] The number of times the target cleaning robot cleans each target cleaning area in this cleaning task;

[0233] The number of collisions of the target cleaning robot in each target cleaning area during this cleaning task;

[0234] The total number of collisions with the target cleaning robot during this cleaning task;

[0235] Information used in this cleaning task to characterize the degree of dirtiness in each target cleaning area;

[0236] The number of times the target cleaning robot washes the mop in this cleaning task;

[0237] The time required for the target cleaning robot to wash the mop in this cleaning task;

[0238] The movement trajectory of the target cleaning robot in this cleaning task.

[0239] In some embodiments, the control method for the cleaning robot disclosed in this application further includes: obtaining at least one of the following information based on preset cleaning data:

[0240] The degree of dirtiness in each cleaning area;

[0241] How many times does each cleaning area need to be cleaned?

[0242] The location of the obstacle;

[0243] Target areas where cleaning robots have difficulty moving;

[0244] Cleaning locations where the lingering time exceeds the first preset time.

[0245] In some embodiments, the control method for the cleaning robot disclosed in this application further includes: outputting a speed-up suggestion after completing the target cleaning task. This speed-up suggestion includes at least one of the following: setting a first cleaning area as a no-go zone, changing the number of cleaning cycles in a second cleaning area, and changing the cleaning trajectory in a third cleaning area.

[0246] In some embodiments, the control method for the cleaning robot disclosed in this application further includes: acquiring cleaning demand information. After determining the cleaning demand information, a cleaning plan that meets the cleaning demand is output based on the cleaning demand information.

[0247] In the method embodiment described in Figure 1, the cleaning robot can: acquire a target cleaning task; obtain target cleaning information corresponding to the target cleaning task; obtain the estimated completion time for the target cleaning robot to execute the target cleaning task based on historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during user interaction with the cleaning robot, the robot can determine the estimated completion time for completing the target cleaning task based on the target cleaning information and historical cleaning data, and output the estimated completion time. This allows users to intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increasing the interactive content provided by the cleaning robot and reducing the likelihood of the cleaning robot failing to complete the expected target cleaning task before the user's expected time, thereby improving user satisfaction with the cleaning robot.

[0248] Please refer to Figure 2, which is a flowchart illustrating a control method for a cleaning robot according to an embodiment of this application. As shown in Figure 2, the target cleaning information may include the target cleaning area. This control method for the cleaning robot can be applied to cleaning robots, and the specific steps of step 103 in this control method may include the following refined steps.

[0249] Step A1031: Based on historical cleaning data, obtain the estimated cleaning speed of the target cleaning robot in performing the target cleaning task.

[0250] The estimated cleaning speed can be a predicted time based on historical cleaning data to estimate the time it would take for the target cleaning robot to complete the target cleaning task, and the determined cleaning speed corresponding to the target cleaning robot completing the target cleaning task.

[0251] Step A1032: Based on the estimated cleaning speed and the target cleaning area, obtain the estimated completion time for the target cleaning robot to perform the target cleaning task.

[0252] After determining the estimated cleaning speed of the target cleaning robot based on historical cleaning data, the cleaning time of the target cleaning robot can be predicted based on the estimated cleaning speed, thus obtaining the estimated completion time of the target cleaning robot in performing the target cleaning task.

[0253] In one implementation, step A1031, the step of obtaining the estimated cleaning speed of the target cleaning robot performing the target cleaning task based on historical cleaning data, may include: obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within a first preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period. After determining the historical average cleaning speed, the estimated cleaning speed of the target cleaning robot performing the target cleaning task can be obtained based on the historical average cleaning speed.

[0254] It should be noted that the first preset time period can be the length of time between the start and end of the execution of any one (single) target cleaning task among multiple different target cleaning tasks performed by the reference cleaning robot and / or the target cleaning robot. The historical cleaning data can include the historical cleaning data of the reference cleaning robot within multiple first preset time periods.

[0255] In one implementation, step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period, may include: obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period. After determining the historical total cleaning area and historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period can be obtained based on the historical total cleaning area and historical total cleaning time.

[0256] As one implementation, in step A1031, the step of obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data may include: obtaining the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or reference cleaning robot within the first preset time period based on their historical cleaning data. After determining the actual historical total cleaning area and actual historical total cleaning time, the historical average cleaning speed of the target cleaning robot and / or reference cleaning robot within the first preset time period can be obtained by dividing the actual historical total cleaning area by the actual historical total cleaning time.

[0257] In one implementation, step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period, may further include: obtaining the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period. After determining the actual historical total cleaning area and actual historical total cleaning time, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and historical total cleaning time may include: correcting the actual historical total cleaning area and actual historical total cleaning time to obtain the corrected historical total cleaning area and corrected historical total cleaning time. After determining the corrected historical total cleaning area and corrected historical total cleaning time, the corrected historical total cleaning area can be divided by the corrected historical total cleaning time to obtain the historical average cleaning speed.

[0258] It should be noted that after determining the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot, it can be determined whether the historical cleaning data met a first preset condition when performing the target cleaning task. If it is determined that the target cleaning robot and / or at least one reference cleaning robot in the historical cleaning data met the first preset condition, it can be determined that the target cleaning robot and / or at least one reference cleaning robot, when performing the target cleaning task, entered a restricted area for cleaning or lingered at a single cleaning location for a duration exceeding the first preset duration. Therefore, the historical cleaning data that meets the first preset condition cannot accurately represent the cleaning data under normal conditions. Therefore, the historical total cleaning area and historical total cleaning time can be corrected to determine the corrected historical total cleaning area and corrected historical total cleaning time. After determining the corrected historical total cleaning area and corrected historical total cleaning time, the historical average cleaning speed calculated after correcting the historical cleaning data can be obtained based on the corrected historical total cleaning area and corrected historical total cleaning time.

[0259] As one implementation, in step A1031, the step of correcting the actual historical total cleaning area and the actual historical total cleaning time may include: correcting the actual historical total cleaning area and / or the actual historical total cleaning time when a first preset condition is met. The first preset condition includes the target cleaning robot and / or the reference cleaning robot exhibiting at least one of the following behaviors within a first preset time period: entering a restricted area for cleaning, and lingering at a single cleaning location for a duration exceeding the first preset time.

[0260] As one implementation, in step A1031, the step of correcting the actual historical total cleaning area and / or the actual historical total cleaning time when the first preset condition is met may include: determining, based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, whether the target cleaning robot and / or the reference cleaning robot have entered the restricted area for cleaning and / or whether they have lingered at a single cleaning location for a duration exceeding the first preset time period.

[0261] If there is cleaning activity within the restricted area but no activity where the robot lingers at a single cleaning location for more than a first preset time period, then the corrected total historical cleaning area is obtained by subtracting the restricted area cleaning area cleaned by the target cleaning robot and / or reference cleaning robot within the first preset time period from the actual total historical cleaning area. Similarly, the corrected total historical cleaning time is obtained by subtracting the first restricted area cleaning time cleaned by the target cleaning robot and / or reference cleaning robot within the first preset time period from the actual total historical cleaning time.

[0262] If there is behavior where the robot lingers at a single cleaning location for a duration exceeding a first preset time, but there is no behavior of entering a restricted area for cleaning, then the corrected total historical cleaning area is obtained by subtracting the cleaning area of ​​the target cleaning robot and / or reference cleaning robot at each cleaning location where the lingering time exceeds the first preset time within the first preset time period. Similarly, the corrected total historical cleaning time is obtained by subtracting the lingering time of the target cleaning robot and / or reference cleaning robot at each location exceeding the first preset time within the first preset time period from the actual total historical cleaning time.

[0263] If there is any behavior involving cleaning within a restricted area and lingering at a single cleaning location for more than a first preset time period, then the corrected total historical cleaning area is obtained by subtracting the restricted area cleaning area cleaned by the target cleaning robot and / or the reference cleaning robot within the restricted area during the first preset time period, as well as the lingering cleaning area at each cleaning location corresponding to the lingering time exceeding the first preset time period. Similarly, the corrected total historical cleaning time is obtained by subtracting the first restricted area cleaning time cleaned by the target cleaning robot and / or the reference cleaning robot within the restricted area during the first preset time period, as well as the lingering time exceeding the first preset time period.

[0264] As an alternative implementation, in step A1031, the step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period may further include: obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within the first preset time period. After determining the multiple sub-historical average cleaning speeds, the historical average cleaning speed of the target cleaning robot and the reference cleaning robot within the first preset time period can be obtained based on the multiple sub-historical average cleaning speeds.

[0265] The sub-historical average cleaning speed can be used to represent the cleaning speed of multiple reference cleaning robots when cleaning each historical cleaning task.

[0266] It should be noted that the average of multiple sub-historical average cleaning speeds in the historical cleaning data can be calculated to obtain the historical average cleaning speed corresponding to the target cleaning robot in the first preset time period.

[0267] In one implementation, step A1031, the step of obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period, may include: obtaining the actual sub-historical cleaning area and actual sub-historical cleaning duration of multiple historical cleaning tasks based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period; and dividing the multiple actual sub-historical cleaning areas by the corresponding actual sub-historical cleaning durations to obtain the multiple sub-historical average cleaning speeds. Alternatively, the actual sub-historical cleaning area and actual sub-historical cleaning duration of multiple historical cleaning tasks may be obtained based on historical cleaning data of multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period. After determining the actual sub-historical cleaning area and actual sub-historical cleaning duration, the actual sub-historical cleaning area and actual sub-historical cleaning duration of at least one historical cleaning task may be corrected to obtain the corrected sub-historical cleaning area and corrected sub-historical cleaning duration of the historical cleaning task. Then, divide the corrected sub-historical cleaning area by the corrected sub-historical cleaning duration to obtain the sub-historical average cleaning speed of this historical cleaning task.

[0268] In the method embodiment described in Figure 2, the cleaning robot can: acquire a target cleaning task; obtain target cleaning information corresponding to the target cleaning task; obtain the estimated completion time for the target cleaning robot to execute the target cleaning task based on historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during user interaction with the cleaning robot, the robot can determine the estimated completion time for completing the target cleaning task based on the target cleaning information and historical cleaning data, and output the estimated completion time. This allows users to intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increasing the interactive content provided by the cleaning robot and reducing the likelihood of the cleaning robot failing to complete the expected target cleaning task before the user's expected time, thereby improving user satisfaction with the cleaning robot.

[0269] Please refer to Figure 3, which is a flowchart illustrating a control method for a cleaning robot according to an embodiment of this application. As shown in Figure 3, the target cleaning information may include a target cleaning map, which may include at least one target cleaning area. This control method for the cleaning robot can be applied to a cleaning robot, and the specific steps of step 103 in the control method may further include the following refined steps.

[0270] Step B1031: Based on historical cleaning data, obtain the estimated completion time for the target cleaning robot to clean each target cleaning area.

[0271] The estimated completion time can be used to represent the average time required to perform the corresponding historical cleaning tasks for each target cleaning area within the second preset time period.

[0272] Step B1032: Based on the estimated completion time of each target cleaning area in the target cleaning map, obtain the estimated completion time for the target cleaning robot to perform the target cleaning task.

[0273] After determining the estimated completion time for each target cleaning area in the target cleaning map, the estimated completion time for performing the target cleaning task can be determined.

[0274] As one implementation, in step B1031, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on historical cleaning data may include: obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period; and obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area.

[0275] As one implementation, in step B1031, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period may include: obtaining multiple first actual sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period. After determining the multiple first actual sub-historical completion times, obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area includes: obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first actual sub-historical completion times corresponding to each target cleaning area.

[0276] In one implementation, step B1031, the step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period, may include: obtaining multiple first actual sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period. After determining the multiple first actual sub-historical completion times, the step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the multiple first sub-historical completion times corresponding to each target cleaning area may include: correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time for the target cleaning area; obtaining the sub-estimated completion time for the target cleaning robot to clean the target cleaning area based on the multiple first corrected sub-historical completion times corresponding to the target cleaning area or based on the at least one first corrected sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area.

[0277] As one implementation, in step B1031, the step of correcting at least one first actual sub-historical completion time corresponding to a target cleaning area to obtain at least one first corrected sub-historical completion time of the target cleaning area may include: when a second preset condition is met, correcting the first actual sub-historical completion time to obtain a first corrected sub-historical completion time; wherein, the second preset condition includes that the target cleaning robot has at least one of the following behaviors when performing a historical cleaning task corresponding to a first actual sub-historical completion time: entering a restricted area for cleaning, and lingering at a single cleaning position for a duration exceeding the first preset time.

[0278] As one implementation, in step B1031, the step of correcting the first actual sub-historical completion time to obtain the first corrected sub-historical completion time when the second preset condition is met may include: based on the historical cleaning data of the target cleaning robot performing historical cleaning tasks on the target cleaning area within the second preset time period, determining whether the target cleaning robot entered the restricted area for cleaning and / or whether it lingered at a single cleaning position for a duration exceeding the first preset time period when performing historical cleaning tasks on the target cleaning area within the second preset time period; if there was behavior of entering the restricted area for cleaning and there was no behavior of lingering at a single cleaning position for a duration exceeding the first preset time period, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area for cleaning while performing the historical cleaning task, to obtain the first correction of the historical cleaning task. Sub-history completion time; if there is behavior of lingering in a single cleaning position for a duration exceeding the first preset time and there is no behavior of entering a restricted area for cleaning, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the lingering time of the target cleaning robot in a single cleaning position exceeding the first preset time when performing the historical cleaning task, to obtain the first corrected sub-history completion time of the historical cleaning task; if there is behavior of entering a restricted area for cleaning and there is behavior of lingering in a single cleaning position for a duration exceeding the first preset time, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time of the target cleaning robot entering the restricted area for cleaning when performing the historical cleaning task, and the lingering time of the target cleaning robot in a single cleaning position exceeding the first preset time when performing the historical cleaning task, to obtain the first corrected sub-history completion time of the historical cleaning task.

[0279] As an alternative implementation, in step B1031, the step of obtaining the sub-estimated completion time of the target cleaning robot for each target cleaning area based on historical cleaning data may include: obtaining the second sub-historical completion time of the target cleaning robot for each target cleaning area based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot; and obtaining the sub-estimated completion time of the target cleaning robot for cleaning each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area.

[0280] As one implementation, in step B1031, the step of obtaining the second sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot may include: obtaining the second actual sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot. After determining the second actual sub-historical completion time, the step of obtaining the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area may include: using the second actual sub-historical completion time of each target cleaning area as the sub-estimated completion time of the target cleaning robot cleaning each target cleaning area; or, correcting the second actual sub-historical completion time corresponding to at least one target cleaning area to obtain a second corrected sub-historical completion time, and using the second corrected sub-historical completion time as the sub-estimated completion time of the target cleaning robot cleaning that target cleaning area.

[0281] In the method embodiment described in Figure 3, the cleaning robot can: acquire a target cleaning task; obtain target cleaning information corresponding to the target cleaning task; obtain the estimated completion time for the cleaning robot to execute the target cleaning task based on historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during user interaction with the cleaning robot, the robot can determine the estimated completion time for completing the target cleaning task based on the target cleaning information and historical cleaning data, and output the estimated completion time. This allows users to intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increasing the interactive content provided by the cleaning robot and reducing the likelihood of the cleaning robot failing to complete the expected target cleaning task before the user's expected time, thereby improving user satisfaction with the cleaning robot.

[0282] Please refer to Figure 4, which is a flowchart illustrating a control method for a cleaning robot according to an embodiment of this application. As shown in Figure 4, the target cleaning information may include a target cleaning map and a target cleaning area. The target cleaning map may include at least one target cleaning scene, and the target cleaning area includes the target scene cleaning area for each target cleaning scene. This control method for the cleaning robot can be applied to a cleaning robot, and the specific steps of step 103 in the control method may further include the following refined steps.

[0283] Step C1031: Based on historical cleaning data, obtain the estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene.

[0284] The estimated scene cleaning speed can be used to represent the cleaning speed of the target cleaning robot and / or the reference cleaning robot when cleaning in the target cleaning scene. The target cleaning scene can be different scenarios in which the target cleaning robot works, such as cooking scenarios in the kitchen, home scenarios in the living room, etc.

[0285] Step C1032: Based on the estimated cleaning speed and cleaning area of ​​each target cleaning scene in the target cleaning map, obtain the estimated completion time for the target cleaning robot to perform the target cleaning task.

[0286] In one implementation, in step C1031, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data may include: obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within a third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period; and obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on the first historical scene average cleaning speed of each target cleaning scene.

[0287] As one implementation, in step C1031, the step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period may include: obtaining the total historical scene cleaning area and the total historical scene cleaning time of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene within the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; and obtaining the total historical scene cleaning speed of each target cleaning scene based on the historical scene average cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period; and obtaining the total historical scene cleaning speed of each target cleaning scene based on the historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the third preset time period. The cleaning area and total cleaning time of historical scenes are used to obtain the first historical scene average cleaning speed of the target cleaning robot and / or reference cleaning robot for each target cleaning scene within a third preset time period; or, based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the third preset time period, the sub-historical scene cleaning speed of the target cleaning robot and / or reference cleaning robot for performing multiple historical scene cleaning tasks for each target cleaning scene within the third preset time period is obtained; based on the multiple sub-historical scene cleaning speeds corresponding to each target cleaning scene, the first historical scene average cleaning speed of the target cleaning robot and / or reference cleaning robot for each target cleaning scene within the third preset time period is obtained.

[0288] As one implementation, in step C1031, the step of obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on historical cleaning data may further include: obtaining the second historical scene average cleaning speed of the target cleaning robot for each target cleaning scene based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot; and obtaining the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene based on the second historical scene average cleaning speed of each target cleaning scene.

[0289] In the method embodiment described in Figure 4, the cleaning robot can: acquire a target cleaning task; obtain target cleaning information corresponding to the target cleaning task; obtain the estimated completion time for the cleaning robot to execute the target cleaning task based on historical cleaning data and the target cleaning information; and output the estimated completion time. Therefore, during user interaction with the cleaning robot, the robot can determine the estimated completion time for completing the target cleaning task based on the target cleaning information and historical cleaning data, and output the estimated completion time. This allows users to intuitively obtain the time required for the cleaning robot to complete the target cleaning task, increasing the interactive content provided by the cleaning robot and reducing the likelihood of the cleaning robot failing to complete the expected target cleaning task before the user's expected time, thereby improving user satisfaction with the cleaning robot.

[0290] This embodiment also provides a cleaning control device that can be used in a cleaning robot. The cleaning control device may include a memory and a controller. The memory can be used to store a computer program, and the processor can be used to execute the computer program, implementing the steps of the aforementioned cleaning robot control method when the computer program is executed.

[0291] This embodiment also provides a cleaning robot, which includes a robot body and the aforementioned cleaning control device. The cleaning control device is used to control the robot body to perform cleaning tasks.

[0292] This embodiment also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor (such as the controller described above), it causes the processor to implement the steps of the ventilation control method for the bellows device described above. The computer-readable storage medium can be an internal storage unit of the ventilation device, such as the hard drive or memory of the ventilation device; or it can be an external storage device of the ventilation device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the ventilation device.

[0293] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: include: Obtain the target cleaning task; Based on the target cleaning task, obtain the target cleaning information corresponding to the target cleaning task; Based on historical cleaning data and the target cleaning information, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained; Output the estimated completion time.

2. The control method for the cleaning robot according to claim 1, characterized in that: The target cleaning information includes at least one of the following: target cleaning area, target cleaning map. 3.The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes the target cleaning area; The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes: Based on the historical cleaning data, the estimated cleaning speed at which the target cleaning robot performs the target cleaning task is obtained; Based on the estimated cleaning speed and the target cleaning area, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

4. The control method for the cleaning robot according to claim 3, characterized in that: The step of obtaining the estimated cleaning speed of the target cleaning robot in performing the target cleaning task based on the historical cleaning data includes: Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a first preset time period, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained; Based on the historical average cleaning speed, the estimated cleaning speed at which the target cleaning robot performs the target cleaning task is obtained. 5.The control method of the cleaning robot according to claim 4, characterized in that: The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period includes: Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained; Based on the total historical cleaning area and the total historical cleaning time, the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period is obtained. 6.The control method of the cleaning robot according to claim 5, characterized in that: The step of obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained. The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and the historical total cleaning duration includes: The historical average cleaning speed is obtained by dividing the actual historical total cleaning area by the actual historical total cleaning time. 7.The control method of the cleaning robot according to claim 5, characterized in that: The step of obtaining the historical total cleaning area and historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period includes: Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, the actual historical total cleaning area and actual historical total cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period are obtained. The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on the historical total cleaning area and the historical total cleaning duration includes: The actual historical total cleaning area and the actual historical total cleaning time are corrected to obtain the corrected historical total cleaning area and the corrected historical total cleaning time. Divide the total historical cleaning area by the total historical cleaning time to obtain the historical average cleaning speed. 8.The control method of the cleaning robot according to claim 7, characterized in that: The correction of the actual historical total cleaning area and the actual historical total cleaning duration includes: When the first preset condition is met, the actual historical total cleaning area and / or the actual historical total cleaning time are corrected. The first preset condition includes the target cleaning robot and / or the reference cleaning robot exhibiting at least one of the following behaviors during the first preset time period: entering a restricted area for cleaning and lingering at a single cleaning location for a duration exceeding the first preset time period.

9. The control method for the cleaning robot according to claim 8, characterized in that: When the first preset condition is met, the step of correcting the actual historical total cleaning area and / or the actual historical total cleaning duration includes: Based on the historical cleaning data of the target cleaning robot and / or the reference cleaning robot within the first preset time period, it is determined whether the target cleaning robot and / or the reference cleaning robot entered the restricted area for cleaning and / or whether they lingered at a single cleaning location for a duration exceeding the first preset time period within the first preset time period. If there is a cleaning activity within the restricted area and there is no activity where the cleaning time at a single cleaning location exceeds the first preset time, then the actual historical total cleaning area is subtracted from the restricted area cleaning area cleaned by the target cleaning robot and / or the reference cleaning robot within the first preset time period to obtain the corrected historical total cleaning area. The corrected total historical cleaning time is obtained by subtracting the cleaning time of the target cleaning robot and / or the reference cleaning robot in the first restricted area during the first preset time period from the actual total historical cleaning time. If there is behavior of lingering at a single cleaning location for a duration exceeding the first preset duration and there is no behavior of entering the restricted area for cleaning, then the actual historical total cleaning area is subtracted from the lingering cleaning area of ​​the target cleaning robot and / or the reference cleaning robot at each cleaning location whose lingering time exceeds the first preset duration within the first preset time period, to obtain the corrected historical total cleaning area. The corrected total historical cleaning time is obtained by subtracting the time that the target cleaning robot and / or the reference cleaning robot lingered for more than the first preset time within the first preset time period from the actual total historical cleaning time. If there is a cleaning activity that enters the restricted area and there is a lingering time at a single cleaning location that exceeds the first preset time, then the actual historical total cleaning area is subtracted from the restricted area cleaning area of ​​the target cleaning robot and / or the reference cleaning robot that entered the restricted area during the first preset time period and the lingering cleaning area of ​​each cleaning location that lingered for more than the first preset time period during the first preset time period, to obtain the corrected historical total cleaning area. The corrected total historical cleaning time is obtained by subtracting the cleaning time of the target cleaning robot and / or the reference cleaning robot within the first preset time period when they entered the restricted area and the lingering time exceeding the first preset time period within the first preset time period from the actual total historical cleaning time. 10.The control method of the cleaning robot according to claim 4, characterized in that: The step of obtaining the historical average cleaning speed of the target cleaning robot and / or the reference cleaning robot within the first preset time period based on historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within the first preset time period includes: Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained respectively. Based on the multiple sub-historical average cleaning speeds, the historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period are obtained. 11.The control method of the cleaning robot according to claim 10, characterized in that: The step of obtaining multiple sub-historical average cleaning speeds of the target cleaning robot and the reference cleaning robot within the first preset time period based on historical cleaning data from multiple historical cleaning tasks performed by the target cleaning robot and the reference cleaning robot within the first preset time period includes: Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the actual sub-historical cleaning area and actual sub-historical cleaning duration of the multiple historical cleaning tasks are obtained. Divide the multiple actual sub-history cleaning areas by the corresponding actual sub-history cleaning durations to obtain the multiple sub-history average cleaning speeds. or, Based on the historical cleaning data of the target cleaning robot and the reference cleaning robot performing multiple historical cleaning tasks within a first preset time period, the actual sub-historical cleaning area and actual sub-historical cleaning duration of the multiple historical cleaning tasks are obtained. The actual sub-historical cleaning area and the actual sub-historical cleaning duration of at least one historical cleaning task are corrected to obtain the corrected sub-historical cleaning area and the corrected sub-historical cleaning duration of the historical cleaning task. Divide the modified sub-historical cleaning area by the modified sub-historical cleaning duration to obtain the sub-historical average cleaning speed of the historical cleaning task. 12.The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area; The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes: Based on the historical cleaning data, the estimated completion time for the target cleaning robot to clean each target cleaning area is obtained. Based on the sub-estimated completion time corresponding to each target cleaning area in the target cleaning map, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained. 13.The control method of the cleaning robot according to claim 12, characterized in that: The step of obtaining the estimated completion time for the target cleaning robot to clean each target cleaning area based on the historical cleaning data includes: Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained; Based on the plurality of first sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained.

14. The control method for the cleaning robot according to claim 13, characterized in that: The step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period includes: Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first actual sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained; The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the plurality of first sub-historical completion times corresponding to each target cleaning area includes: Based on the plurality of first actual sub-historical completion times corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained respectively. 15.The control method of the cleaning robot according to claim 13, characterized in that: The step of obtaining multiple first sub-historical completion times corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area within the second preset time period based on the historical cleaning data of the target cleaning robot within the second preset time period includes: Based on the historical cleaning data of the target cleaning robot in the second preset time period, the first actual sub-historical completion time corresponding to the target cleaning robot performing multiple historical cleaning tasks on each target cleaning area in the second preset time period is obtained; The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the plurality of first sub-historical completion times corresponding to each target cleaning area includes: At least one first actual sub-history completion time corresponding to a target cleaning area is corrected to obtain at least one first corrected sub-history completion time of the target cleaning area. The estimated completion time for the target cleaning robot to clean the target cleaning area is obtained based on the multiple first modified sub-historical completion times corresponding to the target cleaning area, or based on at least one first modified sub-historical completion time and at least one first actual sub-historical completion time corresponding to the target cleaning area. 16.The control method of the cleaning robot according to claim 15, characterized in that: The step of correcting at least one first actual sub-history completion time corresponding to a target cleaning area to obtain at least one first corrected sub-history completion time for the target cleaning area includes: When the second preset condition is met, the completion time of the first actual sub-history is corrected to obtain the first corrected sub-history completion time. The second preset condition includes the target cleaning robot exhibiting at least one of the following behaviors when performing a historical cleaning task corresponding to the first actual sub-history completion time: entering a restricted area for cleaning and lingering at a single cleaning location for a duration exceeding the first preset time. 17.The control method of the cleaning robot according to claim 16, characterized in that: When the second preset condition is met, the first actual sub-history completion time is corrected to obtain the first corrected sub-history completion time, including: Based on the historical cleaning data of the target cleaning robot performing the historical cleaning task on the target cleaning area within the second preset time period, it is determined whether the target cleaning robot entered the restricted area for cleaning and / or whether it lingered at a single cleaning position for a duration exceeding the first preset time period when performing the historical cleaning task on the target cleaning area within the second preset time period. If there is a cleaning behavior that enters the restricted area and there is no behavior that lingers in a single cleaning position for more than the first preset time, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area to clean while performing the historical cleaning task, to obtain the first corrected sub-history completion time of the historical cleaning task. If there is behavior of lingering at a single cleaning location for a duration exceeding the first preset duration and there is no behavior of entering the restricted area for cleaning, then the first actual sub-history completion time corresponding to the historical cleaning task is subtracted from the lingering time of the target cleaning robot when performing the historical cleaning task, which lingered at a single cleaning location for a duration exceeding the first preset duration, to obtain the first corrected sub-history completion time of the historical cleaning task. If there is a cleaning activity that enters the restricted area and there is a lingering time at a single cleaning location that exceeds the first preset time, then the first actual sub-historical completion time corresponding to the historical cleaning task is subtracted from the second restricted area cleaning time when the target cleaning robot entered the restricted area while performing the historical cleaning task, and the lingering time when the target cleaning robot lingered at a single cleaning location for more than the first preset time while performing the historical cleaning task, to obtain the first corrected sub-historical completion time of the historical cleaning task. 18.The control method of the cleaning robot according to claim 12, wherein: The step of obtaining the sub-estimated completion time for the target cleaning robot to perform cleaning on each target cleaning area based on the historical cleaning data includes: Based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot, the second sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot is obtained; Based on the second sub-historical completion time corresponding to each target cleaning area, the sub-estimated completion time for the target cleaning robot to clean each target cleaning area is obtained. 19.The control method of the cleaning robot according to claim 18, characterized in that: Based on the historical cleaning data of the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas, a second sub-historical completion time for the most recent cleaning performed by the target cleaning robot on each of the target cleaning areas is obtained, including: Based on the historical cleaning data of the most recent cleaning of each target cleaning area by the target cleaning robot, the second actual sub-historical completion time of the most recent cleaning of each target cleaning area by the target cleaning robot is obtained; The step of obtaining the sub-estimated completion time for the target cleaning robot to clean each target cleaning area based on the second sub-historical completion time corresponding to each target cleaning area includes: The second actual sub-historical completion time for each target cleaning area is used as the sub-estimated completion time for the target cleaning robot to clean each target cleaning area; or... The second actual sub-history completion time corresponding to at least one of the target cleaning areas is corrected to obtain a second corrected sub-history completion time, and the second corrected sub-history completion time is used as the sub-estimated completion time for the target cleaning robot to clean the target cleaning area. 20.The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information includes a target cleaning map and a target cleaning area. The target cleaning map includes at least one target cleaning scene, and the target cleaning area includes the target scene cleaning area of ​​each target cleaning scene. The step of calculating the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes: Based on the historical cleaning data, the estimated cleaning speed of the target cleaning robot for each target cleaning scene is obtained; Based on the estimated cleaning speed and the cleaning area of ​​each target cleaning scene in the target cleaning map, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

21. The control method for the cleaning robot according to claim 20, characterized in that: The step of obtaining the estimated cleaning speed of the target cleaning robot for each target cleaning scene based on the historical cleaning data includes: Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period, the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene during the third preset time period is obtained. Based on the average cleaning speed of the first historical scene for each target cleaning scene, the estimated scene cleaning speed for the target cleaning robot to clean each target cleaning scene is obtained.

22. The control method for the cleaning robot according to claim 21, characterized in that: The step of obtaining the first historical scene average cleaning speed of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene during the third preset time period based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period includes: Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot during the third preset time period, the total historical cleaning area and the total historical cleaning time of the target cleaning robot and / or the reference cleaning robot for each target cleaning scene during the third preset time period are obtained. Based on the total cleaning area and total cleaning time of each historical scene corresponding to each target cleaning scene, the average cleaning speed of the target cleaning robot and / or the reference cleaning robot for cleaning each target cleaning scene within the third preset time period is obtained; or... Based on the historical cleaning data of the target cleaning robot and / or at least one reference cleaning robot of the same model as the target cleaning robot within a third preset time period, the sub-historical scene cleaning speed of the target cleaning robot and / or the reference cleaning robot performing multiple historical scene cleaning tasks for each target cleaning scene within the third preset time period is obtained. Based on the cleaning speed of multiple sub-historical scenarios corresponding to each target cleaning scenario, the first historical scenario average cleaning speed of the target cleaning robot and / or the reference cleaning robot cleaning each target cleaning scenario within the third preset time period is obtained.

23. The control method for the cleaning robot according to claim 20, characterized in that: The step of obtaining the estimated cleaning speed of the target cleaning robot for each target cleaning scene based on the historical cleaning data includes: Based on the historical cleaning data of the most recent cleaning of each target cleaning scene by the target cleaning robot, the second historical scene average cleaning speed of the most recent cleaning of each target cleaning scene by the target cleaning robot is obtained; Based on the second historical scene average cleaning speed of each target cleaning scene, the estimated scene cleaning speed of the target cleaning robot for each target cleaning scene is obtained. 24.The control method of the cleaning robot according to claim 2, characterized in that: The target cleaning information also includes at least one of the following: cleaning mode, working mode; The cleaning modes include at least two of the following: sweeping mode, mopping mode, simultaneous sweeping and mopping mode, and sweeping followed by mopping mode. The working mode includes at least an intelligent mode and a custom mode. In the custom mode, the target cleaning information also includes at least one cleaning parameter among the number of sweeping times, the number of mopping times, and the number of sweeping and mopping times. The step of obtaining target cleaning information corresponding to the target cleaning task includes: Based on the target cleaning task, a target cleaning mode and / or target working mode corresponding to the target cleaning task are obtained; The step of obtaining the estimated completion time for the target cleaning robot to perform the target cleaning task based on historical cleaning data and the target cleaning information includes: Based on historical cleaning data under the same conditions as the target cleaning mode and / or the target working mode, the estimated completion time for the target cleaning robot to perform the target cleaning task is obtained.

25. The control method for a cleaning robot according to any one of claims 1 to 24, characterized in that: The output estimated completion time includes at least one of the following: the estimated completion time is broadcast to the mobile terminal via voice. 26.The control method of the cleaning robot according to claim 25, wherein: The target cleaning information includes a target cleaning map, and the target cleaning map includes at least one target cleaning area; Sending the estimated completion time to the mobile terminal includes: sending a target cleaning map, which indicates the sub-estimated completion time corresponding to each target cleaning area and the estimated completion time of all target cleaning areas, to the mobile terminal. 27.The control method of the cleaning robot according to any one of claims 1 to 24, wherein: The control method further includes: during the execution of the target cleaning task, outputting the estimated remaining time required to complete the target cleaning task.

28. The control method for the cleaning robot according to claim 27, characterized in that: The output includes the estimated remaining time required to complete the target cleaning task, including: Obtain the execution time of the target cleaning task; Subtract the already executed time from the estimated completion time to obtain the estimated remaining time; Output the estimated remaining time; or, The output includes the estimated remaining time required to complete the target cleaning task, including: Obtain the remaining cleaning area that needs to be cleaned in the target cleaning task; The estimated remaining time is obtained based on the remaining cleaning area and the estimated cleaning speed of the target cleaning robot in performing the target cleaning task; Output the estimated remaining time; or, The output includes the estimated remaining time required to complete the target cleaning task, including: Obtain the remaining cleaning areas that need to be cleaned in the target cleaning task; The estimated remaining time is obtained based on the estimated completion time of the target cleaning robot cleaning each of the remaining cleaning areas. Output the estimated remaining time.

29. The control method for a cleaning robot according to any one of claims 1 to 24, characterized in that: The control method further includes: During the execution of the target cleaning task, when the target cleaning robot spends more than a second preset time lingering at a single cleaning location and receives a query from the user indicating the remaining cleaning time, it outputs a prompt message indicating that the cleaning environment is too complex and will take longer than expected.

30. The control method for the cleaning robot according to claim 1, characterized in that: The control method further includes: During or after the target cleaning robot performs a cleaning task, the preset cleaning data for that cleaning task is saved and / or uploaded. The preset cleaning data includes at least one of the following: The cleaning area of ​​each target cleaning area in this cleaning task; The total cleaning area for this cleaning task; The cleaning time for each target cleaning area in this cleaning task; Total cleaning time for this cleaning task; The number of times the target cleaning robot cleans each target cleaning area in this cleaning task; The number of collisions of the target cleaning robot in each target cleaning area in this cleaning task; The total number of collisions with the target cleaning robot during this cleaning task; Information used in this cleaning task to characterize the degree of dirtiness in each target cleaning area; The number of times the target cleaning robot washes the mop in this cleaning task; The time required for the target cleaning robot to wash the mop in this cleaning task; The movement trajectory of the target cleaning robot in this cleaning task.

31. The control method for the cleaning robot according to claim 30, characterized in that: The control method further includes: Based on the preset cleaning data, at least one of the following information is obtained: The degree of dirtiness in each cleaning area; How many times does each cleaning area need to be cleaned? The location of the obstacle; Target areas where cleaning robots have difficulty moving; Cleaning locations where the lingering time exceeds the first preset time.

32. The control method of the cleaning robot according to any one of claims 1 to 24 or 30 or 31, characterized in that: The control method further includes: after completing the target cleaning task, outputting a speed-up suggestion; The speed-up suggestions include at least one of the following: setting the first cleaning area as a no-go zone, changing the number of cleaning cycles in the second cleaning area, and changing the cleaning trajectory in the third cleaning area.

33. The control method for a cleaning robot according to any one of claims 1 to 24, or 30 or 31, characterized in that: The control method further includes: Obtain cleaning needs information; Based on the cleaning needs information, output a cleaning plan that meets the cleaning needs.

34. A cleaning control device for a cleaning robot, characterized in that, The cleaning control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to: execute the computer program, and, while executing the computer program, implement the steps of the control method for the cleaning robot as described in any one of claims 1 to 33.

35. A cleaning robot, characterized in that It includes a robot body and a cleaning control device as described in claim 32, wherein the cleaning control device is used to control the robot body to perform cleaning tasks.

36. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the steps of the control method for the cleaning robot as described in any one of claims 1 to 33.

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