Control method for cleaning robot, cleaning robot, base station and cleaning system

Abstract

The present invention provides a control method for a cleaning robot, a cleaning robot, a base station, and a cleaning system. The control method for a cleaning robot comprises: acquiring target information of an area to be cleaned, wherein the target information is from a kitchen device located in said area and communicatively connected to the cleaning robot, the target information comprises usage information of the kitchen device, and said area comprises a kitchen; on the basis of the target information, determining a cleaning strategy for the cleaning robot to clean said area; and on the basis of the cleaning strategy, controlling the cleaning robot to perform a cleaning operation on said area. The present solution can improve the cleaning effect of the cleaning robot in a complex environment.

Description

Control methods for cleaning robots, cleaning robots, base stations, and cleaning systems Technical Field

[0001] This invention relates to the field of automatic control technology, and more specifically, to a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, a cleaning device, and a storage medium. Background Technology

[0002] With the continuous development of intelligent control technology, cleaning robots are increasingly providing convenience for users' daily lives.

[0003] Cleaning robots need to handle a wide variety of cleaning environments during the cleaning process, thus requiring a high degree of environmental adaptability. In related technologies, cleaning robots use their own sensors to acquire information about the surrounding environment and execute corresponding cleaning strategies based on this information. However, this approach struggles to guarantee the quality of the cleaning robot's work, resulting in a poor user experience. Summary of the Invention

[0004] The present invention was proposed in view of the above-mentioned problems.

[0005] According to a first aspect of the present invention, a control method for a cleaning robot is provided. The method includes acquiring target information of a region to be cleaned, wherein the target information comes from a kitchen appliance located in the region to be cleaned and communicatively connected to the cleaning robot, the target information including usage information of the kitchen appliance, and the region to be cleaned including a kitchen; determining a cleaning strategy for the cleaning robot to clean the region to be cleaned based on the target information; and controlling the cleaning robot to perform cleaning operations on the region to be cleaned according to the cleaning strategy.

[0006] For example, the usage information of the kitchen equipment includes the operating status of the kitchen equipment. The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining whether the operating status of the kitchen equipment meets a first preset condition, wherein the first preset condition includes the operating status changing from an on state to an off state, or the duration after the operating status changes from an on state to an off state reaching a first duration threshold; when the usage information meets the first preset condition, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned.

[0007] For example, the usage information of the kitchen equipment also includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. When the usage information meets the first preset condition, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned includes: when the usage information meets the first preset condition, determining whether the cumulative usage time has reached a second duration threshold; when the cumulative usage time reaches the second duration threshold, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned as a first cleaning strategy.

[0008] For example, when the usage information meets the first preset condition, the cleaning strategy for the cleaning robot to clean the area to be cleaned further includes: when the cumulative usage time does not reach the second duration threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be a second cleaning strategy, wherein the cleaning parameter value corresponding to the second cleaning strategy is less than the cleaning parameter value corresponding to the first cleaning strategy, and the cleaning parameters include at least one of fan suction power, mop humidity, cleaning times, cleaning time, detergent dosage, and mop temperature.

[0009] For example, the usage information of the kitchen equipment includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the cumulative usage time, wherein the cleaning parameter value corresponding to the cleaning strategy is proportional to the cumulative usage time, and the cleaning parameter value includes at least one of fan suction power, mop humidity, cleaning times, cleaning time, detergent dosage, and mop temperature.

[0010] For example, the usage information of the kitchen equipment also includes the number of times the kitchen equipment has been used within a preset time period up to the current moment. The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the number of times the kitchen equipment has been used, wherein the cleaning parameter value corresponding to the cleaning strategy is proportional to the number of times the kitchen equipment has been used, and the cleaning parameter value includes at least one of fan suction power, mop humidity, cleaning times, cleaning time, detergent dosage, and mop temperature.

[0011] For example, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information further includes: prohibiting the cleaning robot from cleaning the area to be cleaned when the usage information does not meet the first preset condition.

[0012] For example, the kitchen equipment includes a dishwasher, and the usage information of the kitchen equipment includes the operating status of the dishwasher. The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining whether the operating status of the dishwasher has changed from the off state to the on state; and when the operating status of the dishwasher changes from the off state to the on state, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned.

[0013] For example, the target information also comes from an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. The area to be cleaned also includes the field of view of the image acquisition device. Determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining whether there is dirt in the area to be cleaned based on the target information; when there is dirt in the area to be cleaned, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned, wherein the cleaning strategy includes controlling the cleaning robot to perform cleaning operations on at least the areas in the area to be cleaned where the dirt is present.

[0014] For example, when the area to be cleaned is dirty, determining a cleaning strategy for the cleaning robot to clean the area to be cleaned includes: when the area to be cleaned is dirty, determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the type of dirt, wherein the cleaning strategy includes controlling the cleaning robot to perform cleaning operations on at least the area where the dirt is present in a cleaning mode corresponding to the type of dirt.

[0015] For example, the cleaning robot is equipped with a mop, and the target information comes from a humidity detection device located in the area to be cleaned and communicatively connected to the cleaning robot. The target information also includes humidity information of the area to be cleaned. Determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the humidity information, wherein the cleaning strategy includes controlling the cleaning robot to adjust the humidity of the mop to a desired humidity and using the mop with the desired humidity to perform the cleaning operation on the area to be cleaned.

[0016] For example, the target information also comes from an audio acquisition device and / or an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. Determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: determining biological activity information in the area to be cleaned based on the target information; when the biological activity information meets a second preset condition, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned as a third cleaning strategy, wherein the third cleaning strategy includes controlling the cleaning robot to perform cleaning operations on the area to be cleaned in a first cleaning mode, and the second preset condition includes the biological activity information indicating that the area to be cleaned has changed from having biological activity to not having biological activity.

[0017] For example, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information further includes: when a user's cleaning instruction is received and the biological activity information indicates that biological activity exists in the area to be cleaned, determining the cleaning strategy for the cleaning robot to clean the area to be cleaned as a fourth cleaning strategy, wherein the fourth cleaning strategy includes controlling the cleaning robot to clean the area to be cleaned in a second cleaning mode, wherein the noise of the second cleaning mode is less than that of the first cleaning mode, the obstacle avoidance distance of the second cleaning mode is greater than that of the first cleaning mode, and / or the obstacle avoidance sensitivity of the second cleaning mode is greater than that of the first cleaning mode.

[0018] For example, the second preset condition also includes the biological activity information indicating that the number of organisms in the area to be cleaned has reached a number threshold.

[0019] For example, the second preset condition also includes the duration for which the biological activity information indicates that there are more than a number of organisms in the area to be cleaned for a duration that reaches a third duration threshold.

[0020] According to a second aspect of the present invention, a cleaning robot is also provided, which uses the above-described control method for the cleaning robot.

[0021] According to a third aspect of the present invention, a base station is also provided for use in conjunction with a cleaning robot, wherein the cleaning robot uses the control method for the cleaning robot described above.

[0022] According to a fourth aspect of the present invention, a cleaning system is also provided, comprising a cleaning robot using the control method described above and a base station used in conjunction with the cleaning robot.

[0023] According to a fifth aspect of the present invention, a cleaning device is also provided, comprising: a processor and a memory, wherein the memory stores computer program instructions, which, when executed by the processor, are used to perform the control method of the cleaning robot described above.

[0024] According to a sixth aspect of the present invention, a storage medium is also provided, on which program instructions are stored, which, when executed, are used to perform the control method of the cleaning robot described above.

[0025] In the above technical solution, target information of the area to be cleaned is obtained. This target information comes from kitchen equipment located in the area to be cleaned and communicatively connected to the cleaning robot. The target information includes usage information of the kitchen equipment. Based on the target information, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined. This solution improves the cleaning effect of the cleaning robot in complex environments by controlling the cleaning robot to perform cleaning operations based on information about the area to be cleaned obtained from other devices in the area.

[0026] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0027] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0028] Figure 1 shows a schematic flowchart of a control method for a cleaning robot according to an embodiment of the present invention;

[0029] Figure 2 shows a schematic flowchart of controlling a cleaning robot to perform cleaning operations on an area to be cleaned according to a cleaning strategy according to an embodiment of the present invention.

[0030] Figure 3 shows a schematic flowchart of a cleaning strategy for a cleaning robot to clean an area to be cleaned when the usage information meets a first preset condition, according to an embodiment of the present invention.

[0031] Figure 4 shows a schematic flowchart of a cleaning strategy for a cleaning robot to clean an area to be cleaned based on target information, according to an embodiment of the present invention.

[0032] Figure 5 shows a schematic flowchart of a cleaning strategy for a cleaning robot to clean an area to be cleaned based on target information, according to an embodiment of the present invention.

[0033] Figure 6 shows a schematic flowchart illustrating a cleaning strategy for a cleaning robot to clean an area to be cleaned based on target information, according to an embodiment of the present invention; and

[0034] Figure 7 shows a schematic block diagram of a cleaning robot according to an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0036] As mentioned earlier, the cleaning robots rely solely on their own sensors to operate in specific application scenarios, making it difficult to effectively adjust to different working conditions. Because the robots' sensors cannot capture the overall condition of the surrounding environment, they cannot control the cleaning robot to perform cleaning based on the overall condition of the area to be cleaned. Instead, they employ a single, pre-set cleaning strategy, resulting in poor cleaning performance.

[0037] To at least partially address the aforementioned problems, a control method for a cleaning robot is proposed. This control method is executed during the cleaning process, enabling the cleaning robot to complete its cleaning tasks smoothly and effectively in various working scenarios. Specifically, this control method is applicable when the cleaning robot cleans based on target information of the area to be cleaned collected from other devices. It is understood that the cleaning robot cleans the area by collecting environmental information about the area to be cleaned. This environmental information can be collected using other electronic devices in the area to be cleaned. The environmental information collected by these other electronic devices can reflect the potential dirt levels in the area from multiple perspectives. The control method for a cleaning robot according to embodiments of this application can improve the cleaning effect of the cleaning robot in complex environments.

[0038] Figure 1 shows a schematic flowchart of a control method for a cleaning robot according to an embodiment of the present invention. As shown in Figure 1, the control method includes steps S110 to S130.

[0039] In step S110, target information of the area to be cleaned is obtained. The target information comes from kitchen equipment located in the area to be cleaned and connected to the cleaning robot. The target information includes the usage information of the kitchen equipment. The area to be cleaned includes the kitchen.

[0040] The area to be cleaned can be a factory-preset area or an area set by the user after the cleaning robot leaves the factory. The area to be cleaned represents the cleaning range of the cleaning robot. This area includes the kitchen.

[0041] Kitchen appliances located in the kitchen can acquire target information about the area to be cleaned and send this information to a cleaning robot via communication. Examples of kitchen appliances include rice cookers, dishwashers, range hoods, and gas stoves. This target information is specific to the area to be cleaned and indicates the degree of dirtiness. The target information can include usage information of the kitchen appliances, such as the number of appliances used, the usage time, and the type of use. It's understood that before, during, or after using kitchen appliances, the user typically performs cooking operations in the kitchen. For example, if the range hood is used for 40 minutes, it's highly likely that the user performed tasks such as preparing and washing vegetables before or after using the range hood. During the use of the range hood, food may also splatter from the pan. These factors can all lead to dirt on the kitchen floor, requiring cleaning. Therefore, according to embodiments of this application, a cleaning strategy for the cleaning robot can be determined based on the usage information of the kitchen appliances, thereby controlling the cleaning robot to perform corresponding cleaning operations.

[0042] Kitchen appliances can communicate with cleaning robots wirelessly and send acquired target information to the robot, then control the robot to perform cleaning operations based on the target information. For example, the cleaning robot can receive target information from the kitchen appliances via any electronic device capable of communicating with both the cleaning robot and the kitchen appliances, such as a base station for docking the cleaning robot. The kitchen appliances can also communicate directly with the cleaning robot via wireless or wired connections, sending the acquired target information directly to the robot, which then performs the corresponding cleaning operations based on the received target information. Wireless connections can include wireless LAN, WiFi, Bluetooth, etc., while wired connections can include fiber optic connections, Ethernet cable connections, etc., and are not limited here.

[0043] Understandably, kitchen equipment can have a host computer. When the kitchen equipment cannot communicate directly with the cleaning robot or its base station, the host computer can be used to communicate with the cleaning robot and its base station to send target information to the cleaning robot. The host computer of the kitchen equipment can be any electronic device that can obtain usage information of the kitchen equipment, such as a mobile terminal or a server.

[0044] In step S120, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined based on the target information.

[0045] A cleaning strategy can be determined based on a single type of target information. For example, when the number of kitchen appliances used varies, the cleaning parameters corresponding to the number of appliances used by the cleaning robot can be determined to obtain a cleaning strategy for the area to be cleaned. Alternatively, a cleaning strategy can be determined based on multiple different types of target information. For example, when the number of kitchen appliances used varies, or the usage time of the appliances varies, the cleaning parameters corresponding to both types of target information can be determined simultaneously to obtain a cleaning strategy for the area to be cleaned. The correspondence between target information and cleaning strategies can be preset before leaving the factory, or it can be set by the user as needed after the cleaning robot leaves the factory.

[0046] Each cleaning strategy can include one or more cleaning parameters, such as the running time and status of the cleaning robot's cleaning components, the sensor sensitivity of the cleaning robot, and the cleaning route of the cleaning robot. The cleaning parameters in each cleaning strategy can be preset before leaving the factory, or they can be set by the user as needed after the cleaning robot leaves the factory.

[0047] Understandably, after obtaining the target information, a cleaning strategy for the cleaning robot to clean the area can be determined based on that information. Taking a range hood as an example in the kitchen, the operating time of the range hood reflects, to some extent, the complexity of the user's cooking. For instance, if the range hood operates for 20 minutes, the user may have only cooked one dish. If it operates for 90 minutes, the user may have cooked several dishes. In short, the latter level of cooking complexity is greater than the former, and therefore, the resulting dirtiness on the kitchen floor is also likely to be greater. Therefore, in a cleaning strategy determined based on the latter, the cleaning robot's cleaning components can operate at a higher intensity than those used in the former, to ensure effective cleaning.

[0048] When kitchen appliances are in use, their location may not be ideal for a cleaning robot to clean, and the effectiveness of the robot's cleaning operation may be compromised by subsequent cooking activities. Therefore, the cleaning strategy can optionally include a cleaning robot operating only after the kitchen appliances have stopped working. In this case, the area where the appliances are located is more suitable for the cleaning robot to perform its cleaning tasks.

[0049] In step S130, the cleaning robot is controlled to perform cleaning operations on the area to be cleaned according to the cleaning strategy.

[0050] Once the cleaning strategy is determined, the cleaning robot can be controlled to perform cleaning operations on the area to be cleaned according to the cleaning parameters in the cleaning strategy. In other words, the cleaning operations correspond to the cleaning strategy. For example, when the cleaning strategy is vacuuming, mopping, sweeping, etc., the cleaning robot can be controlled to perform cleaning operations such as vacuuming, mopping, and sweeping on the area to be cleaned.

[0051] In the above technical solution, target information of the area to be cleaned is obtained, and based on this information, a cleaning strategy for the cleaning robot to clean the area is determined, thereby controlling the cleaning robot to perform cleaning operations. Based on the usage information of kitchen equipment in the kitchen area outside the cleaning robot, a corresponding cleaning strategy for the cleaning robot is determined, and the cleaning robot is controlled to perform the corresponding cleaning operation. This allows the cleaning robot to obtain a more accurate overall understanding of the surrounding environment and perform more targeted cleaning operations, thereby improving the cleaning effect of the cleaning robot in complex environments.

[0052] For example, the usage information of the kitchen equipment includes the operating status of the kitchen equipment. Figure 2 shows a schematic flowchart of step S120, according to an embodiment of the present invention, controlling a cleaning robot to perform cleaning operations on the area to be cleaned according to a cleaning strategy. As shown in Figure 2, step S120 may include steps S210 to S220.

[0053] In step S210, it is determined whether the operating status of the kitchen equipment meets the first preset condition, wherein the first preset condition includes the operating status changing from the on state to the off state, or the duration after the operating status changes from the on state to the off state reaches a first duration threshold.

[0054] The operating status of kitchen equipment can include on, off, paused, and abnormal states. A change from on to off indicates that the equipment is powered off, meaning the area around the off equipment will not accumulate more dirt due to its use. Therefore, this change can be used as a prerequisite to trigger the cleaning robot's cleaning strategy for the area. For example, if a range hood changes from on to off, the user may have finished cooking, thus satisfying the first condition. The operating status can also be the status of specific kitchen equipment. When all specified equipment changes from on to off, it can be determined whether the first preset condition is met. For example, if the range hood and range hood are both off, the user may have only stopped cooking, not stopped the stir-frying. When both are off, the user has stopped cooking, satisfying the first condition. Understandably, some appliances in the kitchen are usually left on and do not affect the cleaning robot's cleaning operation. For example, if there is a rice cooker, range hood and refrigerator in the kitchen, you can only designate the rice cooker and range hood as the designated kitchen appliances.

[0055] Understandably, users may switch kitchen appliances from on to off due to their needs, and then turn them back on shortly afterward. If the cleaning robot were to immediately determine its cleaning strategy and begin cleaning at this point, it could be inconvenient for the user. Therefore, a first time threshold can be set. When the time between the on and off states reaches this threshold, the cleaning robot is then triggered to determine its cleaning strategy, thus improving its intelligence and optimizing the user experience. This first time threshold can be a factory-preset threshold or a threshold set by the user after the robot leaves the factory.

[0056] In step S220, when the information meets the first preset condition, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined.

[0057] When the usage information meets the first preset condition, indicating that the user is no longer using the kitchen equipment, the cleaning strategy for the area to be cleaned by the cleaning robot can be determined, and the robot can be controlled to perform cleaning operations according to the strategy. Taking a range hood as an example, a first time threshold of 30 seconds can be set, starting the timer when the range hood changes from on to off. When the 30-second interval between the on and off states of the range hood has elapsed, the user may have finished cooking, tidied up, and left the kitchen. At this point, the cleaning strategy for the area to be cleaned by the cleaning robot can be determined, and the robot can be controlled to perform cleaning operations according to the strategy. Setting a first time threshold allows the user sufficient preparation time to leave the kitchen or tidy up before the cleaning robot begins cleaning, reducing the impact of the cleaning robot's operations on the user's kitchen experience.

[0058] If the kitchen equipment changes from the on state to the off state and then changes back to the on state within 30 seconds, it is determined that the usage information does not meet the first preset condition. At this time, the cleaning strategy of the cleaning robot for cleaning the area to be cleaned can be uncertain.

[0059] In the above technical solution, it is determined whether the operating status of the kitchen equipment meets a first preset condition. When the usage information meets the first preset condition, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined. The first preset condition includes either a change in operating status from on to off, or a duration after the change in operating status reaches a first time threshold. By setting the fulfillment of the first condition as a prerequisite for triggering the determination of the cleaning strategy, the cleaning robot can avoid performing cleaning operations while the user is using the kitchen equipment, thus preventing disruption to the user's normal use of the kitchen. This improves the intelligence of the cleaning robot and optimizes the user experience.

[0060] For example, step S120, which determines the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information, further includes step S230: when the usage information does not meet the first preset condition, the cleaning robot is prohibited from cleaning the area to be cleaned.

[0061] When the usage information does not meet the first preset condition, it indicates that the cumulative time of the kitchen equipment being turned off is too short or that some kitchen equipment is still turned on. A short cumulative time of being turned off may be due to the user accidentally turning off the wrong kitchen equipment and then turning it back on, resulting in a short cumulative time of being off. In this case, the user may not have truly finished using the kitchen equipment. In such situations, the cleaning robot can be prevented from cleaning the area to be cleaned, preventing its cleaning operations from interfering with the user's normal use of the kitchen and allowing for more reasonable control of the cleaning robot's cleaning operations.

[0062] Taking a range hood as an example, if the user accidentally turns off the range hood while cooking, and then turns it back on 5 seconds later, the user has not actually finished cooking. Cleaning the area to be cleaned at this time may affect the user's normal use of the kitchen equipment. Therefore, the cleaning robot can be prohibited from cleaning the area to be cleaned to avoid affecting the user's use of the kitchen equipment, thus more rationally controlling the cleaning robot's cleaning operation.

[0063] For example, the usage information of the kitchen equipment also includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. Figure 3 shows a schematic flowchart of step S220 of the present invention, which determines the cleaning strategy for the cleaning robot to clean the area to be cleaned when the usage information meets a first preset condition. As shown in Figure 3, step S220 may include steps S310 to S320.

[0064] In step S310, when the usage information meets the first preset condition, it is determined whether the cumulative usage time has reached the second duration threshold.

[0065] The preset time period can be a factory-preset duration or a duration set by the user after the cleaning robot leaves the factory. A time window with the same duration as the preset time period can be identified. Then, the time window preceding the current moment is taken as the preset time period ending at the current moment. The cumulative usage time of the kitchen equipment within this time window is then taken as the cumulative usage time within the aforementioned preset time period. In essence, the cumulative usage time is the duration during which the kitchen equipment is powered on within the preset time period. The usage time of the kitchen equipment within the preset time period can be a single time segment or divided into multiple time segments. For example, if there are multiple kitchen devices and the preset time period is 30 seconds, the kitchen devices start running from the beginning of the preset time period, turn off after 10 seconds, turn on again after 20 seconds, and then turn off again after 30 seconds. In this case, the cumulative usage time of the kitchen devices within the preset time period ending at the current moment can be two 10-second intervals, i.e., 20 seconds.

[0066] For example, when there are multiple kitchen appliances (such as a rice cooker and a range hood) and the preset time period is 30 seconds, the rice cooker starts running at the beginning of the preset time period and turns off after 10 seconds. The range hood turns on after 10 seconds and then turns off after 20 seconds. The rice cooker turns on again after 20 seconds until the preset time period ends. In this case, the cumulative usage time of the kitchen appliances within the preset time period up to the current moment can be three 10-second intervals, or 30 seconds.

[0067] In step S320, when the cumulative usage time reaches the second duration threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the first cleaning strategy.

[0068] The second duration threshold can be a factory-preset threshold or a threshold set by the user after the cleaning robot leaves the factory. The cleaning robot can have multiple cleaning strategies. When the usage information meets the first preset condition and the cumulative usage time reaches the second duration threshold, it can determine a first cleaning strategy suitable for the current cleaning operation based on at least one of the usage information of the kitchen equipment. The first cleaning strategy can be a factory-preset cleaning strategy or a cleaning strategy set by the user after the cleaning robot leaves the factory.

[0069] Understandably, when the cumulative usage time within a preset period reaches the second time threshold, it indicates that the cumulative usage time of the kitchen equipment within the preset period up to the current moment is relatively long, and the area to be cleaned is more likely to be dirty. At this point, the current cleaning strategy of the cleaning robot can be determined to control the cleaning robot to perform cleaning operations on the area to be cleaned.

[0070] In the above technical solution, when the usage information meets the first preset condition, it is determined whether the cumulative usage time has reached a second time threshold. When the cumulative usage time reaches the second time threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the first cleaning strategy. When the usage information meets the first preset condition and the cumulative usage time reaches the second time threshold, the first cleaning strategy is used as the current cleaning strategy, which can more accurately clean the dirty areas and improve the cleaning effect of the cleaning robot.

[0071] For example, when the usage information meets the first preset condition, the cleaning strategy for the cleaning robot to clean the area to be cleaned in step S220 above further includes step S330: when the cumulative usage time does not reach the second duration threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the second cleaning strategy, wherein the cleaning parameter value corresponding to the second cleaning strategy is less than the cleaning parameter value corresponding to the first cleaning strategy, and the cleaning parameters include at least one of fan suction power, mop humidity, cleaning times, cleaning time, cleaning agent dosage and mop temperature.

[0072] When the cumulative usage time does not reach the second time threshold, it indicates that the usage intensity of the kitchen equipment is low within the preset time period. Therefore, less dirt should be generated in the area to be cleaned. Thus, the cleaning robot's cleaning strategy can be determined to be the second cleaning strategy with lower cleaning parameter values, allowing the robot to perform cleaning operations more intelligently. Lowering the cleaning parameter values ​​also reduces the robot's energy consumption when there is less dirt, resulting in a more efficient cleaning effect. Lower cleaning parameter values ​​mean the robot uses less cleaning power to clean the area. For example, reducing the fan suction power reduces the robot's ability to suck up dirt. Reducing the mop moisture reduces the robot's cleaning power for water stains, oil stains, and other dirt. Similarly, reducing the number of cleaning cycles, cleaning time, detergent usage, and mop temperature can all reduce the robot's cleaning power.

[0073] For example, the preset time period can be 30 seconds, the cumulative usage time can be 10 seconds, and the second time threshold can be 15 seconds. Since the cumulative usage time has not reached the second time threshold, at least one of the following can be used as a second cleaning strategy: reducing fan suction, reducing mop humidity, reducing cleaning frequency, reducing cleaning time, reducing detergent usage, and reducing mop temperature. This second cleaning strategy is less than the cleaning parameter value corresponding to the first cleaning strategy. The cleaning robot can then be controlled to perform cleaning operations with lower cleaning intensity on the area to be cleaned according to the second cleaning strategy.

[0074] In the above technical solution, when the cumulative usage time has not reached the second time threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the second cleaning strategy. The cleaning parameter values ​​corresponding to the second cleaning strategy are lower than those corresponding to the first cleaning strategy. These cleaning parameters include at least one of the following: fan suction power, mop humidity, number of cleaning cycles, cleaning duration, detergent dosage, and mop temperature. By reducing the cleaning parameter values ​​when the cumulative usage time has not reached the second time threshold, the energy usage of the cleaning robot can be allocated more rationally, improving the robot's intelligence.

[0075] For example, the usage information of the kitchen equipment includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. Step S120 above, based on the target information, determines the cleaning strategy for the cleaning robot to clean the area to be cleaned, including step S121: determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the cumulative usage time, wherein the cleaning parameter values ​​corresponding to the cleaning strategy are proportional to the cumulative usage time, and the cleaning parameter values ​​include at least one of fan suction power, mop humidity, cleaning frequency, cleaning duration, detergent dosage, and mop temperature.

[0076] The cleaning parameter values ​​corresponding to the cleaning strategy are directly proportional to the cumulative usage time; that is, the longer the cumulative usage time, the larger the cleaning parameter value corresponding to the cleaning strategy; the shorter the cumulative usage time, the smaller the cleaning parameter value corresponding to the cleaning strategy.

[0077] Understandably, the longer the cumulative usage time of kitchen appliances within a preset period, the more dirt is likely to accumulate in the area to be cleaned. In this case, the cleaning robot needs to apply greater cleaning power. Therefore, increasing the cleaning parameters corresponding to the cleaning strategy can enhance the cleaning robot's cleaning power and better handle the dirt present in areas with longer cumulative usage time. Increasing the cleaning parameters can include at least one of the following: increasing fan suction power, increasing mop humidity, increasing cleaning frequency, increasing cleaning duration, increasing detergent usage, and increasing mop temperature.

[0078] The shorter the cumulative usage time of kitchen appliances within a preset period, the less dirt is likely to be in the area to be cleaned. In this case, the cleaning robot can use a lower cleaning intensity to clean the area. Therefore, by reducing the cleaning parameter values ​​corresponding to the cleaning strategy, the cleaning robot's cleaning intensity can be reduced. This allows for better handling of dirt that may be present in areas with shorter cumulative usage time, while also reducing energy consumption and improving cleaning efficiency. Reducing the cleaning parameter values ​​corresponding to the cleaning strategy can include at least one of the following: reducing fan suction power, reducing mop humidity, reducing cleaning frequency, reducing cleaning time, reducing detergent usage, and reducing mop temperature.

[0079] The proportional relationship between the cleaning parameter values ​​corresponding to the cleaning strategy and the cumulative usage time can be a factory-preset proportional relationship or a proportional relationship that the user sets according to their needs after the cleaning robot leaves the factory.

[0080] In the above technical solution, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined based on the cumulative usage time. The cleaning parameter values ​​corresponding to the cleaning strategy are directly proportional to the cumulative usage time. These cleaning parameter values ​​include at least one of the following: fan suction power, mop humidity, number of cleaning cycles, cleaning duration, detergent dosage, and mop temperature. Through these steps, the cleaning efficiency and effect of the cleaning robot can be more rationally controlled under different cumulative usage times, and its energy consumption can also be controlled.

[0081] For example, the usage information of the kitchen equipment also includes the number of times the kitchen equipment has been used within a preset time period up to the current moment. Step S120 above determines a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information, including step S122: determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the number of times the kitchen equipment has been used, wherein the cleaning parameter values ​​corresponding to the cleaning strategy are proportional to the number of times the kitchen equipment has been used, and the cleaning parameter values ​​include at least one of fan suction power, mop humidity, number of cleaning cycles, cleaning duration, detergent dosage, and mop temperature.

[0082] The preset time period can be a factory-preset duration or a duration set by the user after the cleaning robot leaves the factory. A time window with the same duration as the preset time period can be identified, and then the time window preceding the current moment can be used as the preset time period ending at the current moment. The number of kitchen devices used within this time window is then taken as the usage count for the preset time period. The usage count refers to the number of kitchen devices that are powered on during the preset time period. If a kitchen device is repeatedly powered on and off during the preset time period, it can be counted only once. The usage count can be determined based on the actual cleaning task requirements; there is no limitation here. For example, a cumulative usage time threshold can be set, and the number of kitchen devices can be determined only based on the number of devices that have reached the cumulative usage time threshold. Alternatively, each time a kitchen device enters the powered-on state, it can be counted once, i.e., the number of kitchen devices can be determined based on the number of times the device is powered on within the preset time period.

[0083] The cleaning parameter values ​​corresponding to the cleaning strategy are directly proportional to the number of kitchen appliances used. That is, the more kitchen appliances used, the higher the cleaning parameter values ​​corresponding to the cleaning strategy; the fewer kitchen appliances used, the lower the cleaning parameter values ​​corresponding to the cleaning strategy.

[0084] Understandably, the more kitchen appliances used, the more dirt will accumulate in the area to be cleaned. In this case, the cleaning robot needs to apply greater cleaning power. Therefore, increasing the cleaning parameters corresponding to the cleaning strategy can enhance the cleaning robot's cleaning power and better handle the dirt in areas with a large number of kitchen appliances. Increasing the cleaning parameters can include at least one of the following: increasing fan suction power, increasing mop humidity, increasing cleaning frequency, increasing cleaning duration, increasing detergent usage, and increasing mop temperature.

[0085] The fewer kitchen appliances used, the less dirt is likely to be in the area to be cleaned. In this case, the cleaning robot can use a lower cleaning intensity to clean the area. Therefore, by reducing the cleaning parameter values ​​corresponding to the cleaning strategy, the cleaning robot's cleaning intensity can be reduced. This reduces the amount of dirt that may be present in the area to be cleaned when fewer kitchen appliances are used, reduces energy consumption, and also improves cleaning efficiency. Reducing the cleaning parameter values ​​corresponding to the cleaning strategy can include at least one of the following: reducing fan suction power, reducing mop humidity, reducing cleaning frequency, reducing cleaning time, reducing detergent usage, and reducing mop temperature.

[0086] The proportional relationship between the cleaning parameter values ​​corresponding to the cleaning strategy and the number of kitchen appliances used can be a factory-preset proportional relationship or a proportional relationship that the user sets according to their needs after the cleaning robot leaves the factory.

[0087] In the above technical solution, a cleaning strategy for the cleaning robot to clean the area is determined based on the number of kitchen appliances used. The cleaning parameter values ​​corresponding to the cleaning strategy are directly proportional to the number of kitchen appliances used. These cleaning parameter values ​​include at least one of the following: fan suction power, mop humidity, cleaning frequency, cleaning duration, detergent dosage, and mop temperature. Through these steps, the cleaning efficiency and effect of the cleaning robot can be more rationally controlled under different numbers of kitchen appliances used, and the energy consumption of the cleaning robot can also be controlled.

[0088] For example, the kitchen equipment includes a dishwasher, and the usage information of the kitchen equipment includes the operating status of the dishwasher. Figure 4 shows a schematic flowchart of step S120 of the present invention, which determines the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information. As shown in Figure 4, step S120 may include steps S410 to S420.

[0089] In step S410, it is determined whether the dishwasher's operating status has changed from the off state to the on state.

[0090] The dishwasher or its host computer can send the dishwasher's operating status to the cleaning robot or its host computer. The cleaning robot or its host computer then determines whether the dishwasher's operating status has changed from off to on. Alternatively, when the dishwasher or its host computer determines that the dishwasher's operating status has changed from off to on or has not changed from off to on, it can send a command indicating the change to on to the cleaning robot or its host computer, so that the cleaning robot or its host computer can determine whether the dishwasher's operating status has changed from off to on.

[0091] In step S420, when the dishwasher's operating state changes from off to on, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined.

[0092] For some kitchen appliances, such as dishwashers, the change from an off state to an on state indicates that the user has stopped using the appliance. When the user starts using the dishwasher, it means that the user has finished eating and stopped using the kitchen. At this point, the cleaning strategy for the cleaning robot to clean the area can be directly determined, allowing the robot to perform cleaning operations according to the strategy.

[0093] For example, a reasonable time threshold can be set. When the dishwasher changes from off to on for that duration, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined. This allows the cleaning robot to clean the area after the user leaves the dishwasher, improving the robot's intelligence.

[0094] In the above technical solution, it is determined whether the dishwasher's operating status changes from off to on. When the dishwasher changes from off to on, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined. Determining the cleaning strategy for the cleaning robot to clean the area to be cleaned when the dishwasher is turned on allows for timely control of the cleaning robot to clean the area.

[0095] For example, the target information also comes from an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. The area to be cleaned also includes the field of view of the image acquisition device. Figure 5 shows a schematic flowchart of step S120, which determines the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information, according to an embodiment of the present invention. As shown in Figure 5, step S120 may include steps S510 to S520.

[0096] In step S510, based on the target information, it is determined whether there is dirt in the area to be cleaned.

[0097] Image acquisition devices can be color cameras, monochrome cameras, infrared cameras, or other devices capable of capturing images of a target area. After acquiring an image of the area to be cleaned, the image acquisition device or its host computer can process the image to determine if dirt is present in the area. A notification regarding the presence of dirt is then sent to the cleaning robot or its host computer to determine the cleaning strategy. Alternatively, after acquiring an image of the area to be cleaned, the image acquisition device or its host computer can send the image to the cleaning robot or its host computer, allowing the robot or its host computer to determine the presence of dirt based on the image.

[0098] In step S520, when there is dirt in the area to be cleaned, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined, wherein the cleaning strategy includes controlling the cleaning robot to clean at least the dirty areas in the area to be cleaned.

[0099] The cleaning parameters for the cleaning robot's cleaning strategy can be determined based on parameters such as the type, size, and location of the dirt. When dirt is present in the area to be cleaned, it indicates that cleaning is required. At this point, the cleaning parameters for the cleaning robot's cleaning strategy are determined based on the type, size, and location of the dirt. Then, the cleaning strategy for the cleaning robot is determined based on these parameters to control the robot's cleaning operation. The correspondence between dirt and cleaning parameters can be a factory-preset correspondence or a correspondence set by the user after the robot leaves the factory. In the above technical solution, the presence of dirt in the area to be cleaned is determined based on target information. When dirt is present, a cleaning strategy for the cleaning robot is determined, which includes controlling the robot to clean at least the dirty areas within the area to be cleaned. Using an external image acquisition device can more accurately determine the information of dirt in the area to be cleaned. When dirt is present in the area to be cleaned, a cleaning strategy can be determined to clean at least the dirty area. This allows for more reasonable control of the cleaning robot to perform cleaning operations on the area to be cleaned, thus improving the intelligence of the cleaning robot.

[0100] For example, the above step S520, when the area to be cleaned is dirty, determines the cleaning strategy for the cleaning robot to clean the area to be cleaned, including step S521: when the area to be cleaned is dirty, determine the cleaning strategy for the cleaning robot to clean the area to be cleaned according to the type of dirt, wherein the cleaning strategy includes controlling the cleaning robot to perform cleaning operations on at least the area with dirt in a cleaning mode corresponding to the type of dirt.

[0101] Different types of dirt may require different cleaning modes. For example, for oil stains or water stains, simply controlling the cleaning robot to use cleaning components such as roller brushes, fans, and side brushes is insufficient for effective cleaning. Therefore, the cleaning mode can be changed, for instance, by using a mop to remove oil or water stains. The correspondence between different dirt types and cleaning modes can be a factory-preset relationship or a relationship set by the user after the cleaning robot leaves the factory according to their needs.

[0102] In the above technical solution, when the area to be cleaned is dirty, a cleaning strategy for the cleaning robot to clean the area is determined according to the type of dirt. This cleaning strategy includes controlling the cleaning robot to perform cleaning operations on at least the dirty area using a cleaning mode corresponding to the type of dirt. Determining separate cleaning strategies for different types of dirt, and using cleaning modes corresponding to the types of dirt, allows for more accurate control of the cleaning robot to effectively clean the area, thus improving the robot's intelligence.

[0103] For example, the cleaning robot is equipped with a mop, and the target information comes from a humidity detection device located in the area to be cleaned and communicatively connected to the cleaning robot. The target information also includes humidity information of the area to be cleaned. Step S120 above determines a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information, including step 123: determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the humidity information, wherein the cleaning strategy includes controlling the cleaning robot to adjust the humidity of the mop to a desired humidity and using the mop with the desired humidity to perform cleaning operations on the area to be cleaned.

[0104] Humidity detection devices can be any electronic device used to obtain the ambient humidity of the area to be cleaned. Understandably, a humidity detection device located in the area to be cleaned and communicating with the cleaning robot will obtain a more accurate humidity reading than one mounted on the cleaning robot. For example, a humidity detection device mounted on the cleaning robot might overestimate the humidity level due to residual moisture on the floor after the robot has mopped the floor. A humidity detection device located in the area to be cleaned and communicating with the cleaning robot, however, will not be affected by this.

[0105] The humidity information obtained by the humidity detection device can have a corresponding relationship with the humidity of the mop. For example, the lower the humidity in the humidity information, the higher the expected humidity of the mop can be, and vice versa. The correspondence between the humidity information obtained by the humidity detection device and the humidity of the mop can be a factory-preset correspondence or a correspondence that the user sets according to their needs after the cleaning robot leaves the factory.

[0106] For example, the speed at which the mop's humidity is adjusted to the desired level can also correspond to the humidity information obtained by the humidity detection device. For instance, when the cleaning robot increases the mop's humidity by adding water, the lower the humidity level in the humidity information, the faster the water can be added; conversely, the higher the humidity level, the slower the water can be added. This correspondence between the speed at which the mop's humidity is adjusted to the desired level and the humidity information obtained by the humidity detection device can be a factory-preset correspondence or a correspondence that the user sets according to their needs after the cleaning robot leaves the factory.

[0107] In the above technical solution, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined based on humidity information. This cleaning strategy includes controlling the cleaning robot to adjust the humidity of the mop to the desired level and using the mop with the desired humidity to clean the area. Determining the cleaning strategy based on humidity information allows for more rational control of the cleaning robot's cleaning operations, thus improving its intelligence.

[0108] For example, the aforementioned target information also comes from an audio acquisition device and / or an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. Figure 6 shows a schematic flowchart of step S120, according to an embodiment of the present invention, determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information. As shown in Figure 6, step S120 may include steps S610 to S620.

[0109] In step S610, biological activity information in the area to be cleaned is determined based on the target information.

[0110] The target information may include acoustic information of the area to be cleaned collected by an audio acquisition device and / or image information of the area to be cleaned collected by an image acquisition device. The audio acquisition device may be an audio acquisition device such as a microphone. The image acquisition device may be a color camera, a monochrome camera, an infrared camera, or other device capable of acquiring images of the target area. This image acquisition device may be the same as the image acquisition device in step S510, or it may be a separate image acquisition device. Acoustic information of the area to be cleaned can be collected using an audio acquisition device, and image information of the area to be cleaned can also be collected using an image acquisition device. Then, based on at least one of the acoustic information and image information, biological activity information in the area to be cleaned is determined. The image information may be a color image, a grayscale image, an infrared image, etc. Biological activity information may include the quantity, identity, and duration of biological activity.

[0111] In step S620, when the biological activity information meets the second preset condition, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the third cleaning strategy. The third cleaning strategy includes controlling the cleaning robot to clean the area to be cleaned in the first cleaning mode. The second preset condition includes the biological activity information indicating that the area to be cleaned has changed from having biological presence to not having biological presence.

[0112] When the biological activity information meets the second preset condition, it indicates that the area to be cleaned has changed from having biological activity to not having biological activity. At this point, controlling the cleaning robot to clean the area will not affect the normal activities of users within the area, nor will the presence of biological activity affect the cleaning robot's cleaning effect. Different cleaning strategies can correspond to different cleaning modes. For example, in the third cleaning strategy, the cleaning robot is controlled to clean the area in the first cleaning mode. The correspondence between different cleaning strategies and different cleaning modes can be a factory-preset correspondence or a correspondence set by the user after the cleaning robot leaves the factory according to their needs.

[0113] For example, the second preset condition also includes biological activity information indicating that the number of organisms in the area to be cleaned has reached a quantity threshold.

[0114] A threshold for the number of organisms can be preset. When an area to be cleaned changes from having organisms to having none, and the number of organisms present reaches the threshold, the cleaning robot's cleaning strategy for that area is determined to be the third cleaning strategy. When the number of organisms in the area to be cleaned reaches the threshold, it indicates that biological activity in that area is relatively frequent, and dirt will accumulate. In this case, the cleaning robot's cleaning strategy for that area can be determined to be the third cleaning strategy to control the cleaning robot's cleaning operation. The number of organisms can be determined based on the number of organisms within a preset time period before the organisms disappeared, or it can be determined based on the number of organisms present at the maximum number of organisms.

[0115] There can also be a correlation between the number of organisms and the third cleaning strategy. For example, the number of organisms can be directly proportional to the cleaning parameter value of the third cleaning strategy. When the number of organisms is higher, the cleaning parameter value in the third cleaning strategy is higher, and the cleaning robot performs a more effective cleaning operation. When the number of organisms is lower, the cleaning parameter value in the third cleaning strategy is lower, and the cleaning robot performs a less effective cleaning operation.

[0116] For example, the second preset condition also includes biological activity information indicating that the duration of the presence of a number of organisms exceeding a quantity threshold in the area to be cleaned reaches a third duration threshold.

[0117] A third duration threshold can also be preset. When the number of organisms in the area to be cleaned changes from present to absent, and the number of organisms present continuously reaches the third duration threshold, the cleaning strategy for the cleaning robot to clean the area is determined to be the third cleaning strategy. Understandably, the more organisms there are and the longer they remain active in the area to be cleaned, the more dirt is likely to accumulate. The duration for which more organisms than the number threshold exist in the area to be cleaned includes the cumulative duration of these organisms within a preset time period ending at the point when no organisms are present. For example, if the preset time period ending at the point when no organisms are present is 20 seconds, the number threshold is 5, and the third duration threshold is 10 seconds, then the number of organisms is 6 in 0-5 seconds, 3 in 5-10 seconds, 5 in 10-15 seconds, and 4 in 15-20 seconds. When no organisms are present, if the cumulative duration for which more organisms than the number threshold exist within the preset time period exceeds the third duration threshold, then the cleaning robot can be determined to use the third cleaning strategy for the area to be cleaned.

[0118] For example, there can also be a correlation between the duration of the presence of organisms exceeding a certain number threshold and the third cleaning strategy. For instance, the duration of the presence of organisms exceeding the threshold can be proportional to the cleaning parameter value of the third cleaning strategy. The longer the duration of the presence of organisms exceeding the threshold, the higher the cleaning parameter value in the third cleaning strategy, resulting in a higher cleaning intensity from the cleaning robot. Conversely, the shorter the duration of the presence of organisms exceeding the threshold, the lower the cleaning parameter value in the third cleaning strategy, resulting in a lower cleaning intensity from the cleaning robot.

[0119] In the above technical solution, based on the target information, the biological activity information in the area to be cleaned is determined. When the biological activity information indicates that the area to be cleaned has changed from having biological activity to not having biological activity, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the third cleaning strategy. Determining the cleaning strategy for the area to be cleaned when it changes from having biological activity to not having biological activity allows for more rational control of the cleaning robot's cleaning operations, improving the intelligence of the cleaning robot.

[0120] For example, step S120, which determines the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information, further includes step S630: when a user's cleaning instruction is received and the biological activity information indicates that there is biological activity in the area to be cleaned, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be a fourth cleaning strategy. The fourth cleaning strategy includes controlling the cleaning robot to clean the area to be cleaned in a second cleaning mode, wherein the noise of the second cleaning mode is less than that of the first cleaning mode, the obstacle avoidance distance of the second cleaning mode is greater than that of the first cleaning mode, and / or the obstacle avoidance sensitivity of the second cleaning mode is greater than that of the first cleaning mode.

[0121] While it's possible to control the cleaning robot to clean an area only when no living organisms are present to avoid collisions, in some cases it's necessary to control the robot to clean an area even when biological activity is present. In such cases, the user can force the robot to clean by sending a cleaning command. When a user's cleaning command is received and biological activity information indicates the presence of living organisms in the area, the robot needs to be controlled to operate in a more sensitive cleaning mode to avoid active organisms during the cleaning process. Therefore, a fourth cleaning strategy can be determined, controlling the robot to clean the area in a second cleaning mode, and the robot will then clean the area according to this fourth strategy.

[0122] The noise level in the second cleaning mode is lower than that in the first cleaning mode, which reduces the impact of the cleaning robot's cleaning operations on biological activity. The obstacle avoidance distance in the second cleaning mode is greater than that in the first cleaning mode, and / or the obstacle avoidance sensitivity in the second cleaning mode is greater than that in the first cleaning mode, making the cleaning robot more sensitive to obstacle avoidance and less likely to collide with organisms in the area to be cleaned.

[0123] For example, the noise level, obstacle avoidance distance, and / or obstacle avoidance sensitivity of the second cleaning mode can correspond to the number of organisms in the biological activity information of the above steps and the duration of the presence of organisms exceeding the quantity threshold. For instance, the noise level, obstacle avoidance distance, and / or obstacle avoidance sensitivity of the second cleaning mode can be directly proportional to the number of organisms in the biological activity information of the above steps and the duration of the presence of organisms exceeding the quantity threshold. That is, when the number of organisms in the biological activity information of the above steps is greater and the duration of the presence of organisms exceeding the quantity threshold is longer, the noise level of the second cleaning mode is lower, the obstacle avoidance distance of the second cleaning mode is greater, and / or the obstacle avoidance sensitivity of the second cleaning mode is higher; when the number of organisms in the biological activity information of the above steps is less and the duration of the presence of organisms exceeding the quantity threshold is shorter, the noise level of the second cleaning mode is higher, the obstacle avoidance distance of the second cleaning mode is closer, and / or the obstacle avoidance sensitivity of the second cleaning mode is lower.

[0124] In the above technical solution, when a user's cleaning instruction is received and biological activity information indicates the presence of biological activity in the area to be cleaned, the cleaning robot determines that the cleaning strategy for cleaning the area is the more sensitive fourth cleaning strategy. This more sensitive fourth cleaning strategy can reduce the impact of biological activity in the area to be cleaned during the cleaning robot's operation, thus improving the user experience.

[0125] According to another aspect of the present invention, a cleaning robot is also provided. FIG7 shows a schematic block diagram of a cleaning robot according to an embodiment of the present invention. As shown in FIG7, the cleaning robot includes a processor and a memory, wherein the memory stores computer program instructions, which are executed by the processor to perform the control method of the cleaning robot as described above.

[0126] According to another aspect of the present invention, a base station is also provided. This base station can be used in conjunction with the aforementioned cleaning robot. As previously described, the cleaning robot uses the control method described above. The base station is a device for maintaining and servicing the cleaning robot. Exemplarily, the base station may be provided with a docking position for the cleaning robot to dock at, where the cleaning robot can dock to perform operations such as charging and / or self-cleaning. For example, the base station can clean the cleaning robot's mopping components, and the base station can also charge the cleaning robot. Further, the base station may also have at least one of the following functions: replenishing water to the cleaning robot, draining water, collecting dust, etc. When the cleaning robot's mopping components are dirty and / or its power is insufficient, the cleaning robot returns to the base station to clean the mopping components and / or recharge. When the cleaning robot's mopping components are cleaned and / or fully charged, the cleaning robot can leave the base station and continue cleaning the surface to be cleaned.

[0127] According to another aspect of the present invention, a cleaning system is also provided, comprising a cleaning robot using the control method described above and a base station used in conjunction with the cleaning robot, the base station having a docking position for the cleaning robot to dock.

[0128] Furthermore, according to another aspect of the present invention, a storage medium is provided, on which program instructions are stored. When the program instructions are executed by a computer or processor, the computer or processor performs corresponding steps of the control method for the cleaning robot described in the embodiments of the present invention, and is used to implement corresponding modules in the cleaning system, cleaning robot, and base station described in the embodiments of the present invention. The storage medium may, for example, include a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0129] According to another aspect of the present invention, a computer program product is also provided, including computer program instructions, which, when executed, are used to perform the control method for the cleaning robot described above.

[0130] Those skilled in the art can understand the specific implementation and beneficial effects of the above-described cleaning robot, base station, cleaning system, storage medium, and computer program products by reading the detailed description of the control method for the cleaning robot. For the sake of brevity, they will not be described in detail here.

[0131] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0132] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0134] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0135] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, this approach should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0136] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0137] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0138] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the cleaning robots, base stations, and cleaning systems according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing some or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0139] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0140] The above description is merely a specific embodiment of the present invention or an explanation of that embodiment. The scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The method includes: Obtain target information of the area to be cleaned, wherein the target information comes from kitchen equipment located in the area to be cleaned and communicatively connected to the cleaning robot, and the target information includes usage information of the kitchen equipment, and the area to be cleaned includes the kitchen; Based on the target information, a cleaning strategy is determined for the cleaning robot to clean the area to be cleaned. According to the cleaning strategy, the cleaning robot is controlled to perform cleaning operations on the area to be cleaned.

2. The method according to claim 1, characterized in that, The usage information of the kitchen equipment includes the operating status of the kitchen equipment. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Determine whether the operating status of the kitchen equipment meets a first preset condition, wherein the first preset condition includes the operating status changing from the power-on state to the power-off state, or the duration after the operating status changes from the power-on state to the power-off state reaches a first duration threshold. When the usage information meets the first preset condition, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined.

3. The method according to claim 2, characterized in that, The usage information of the kitchen equipment also includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. The cleaning strategy for determining the cleaning robot to clean the area to be cleaned when the usage information meets the first preset condition includes: When the usage information meets the first preset condition, it is determined whether the cumulative usage time has reached the second duration threshold. When the cumulative usage time reaches the second duration threshold, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the first cleaning strategy.

4. The method according to claim 3, characterized in that, The cleaning strategy for determining that the cleaning robot will clean the area to be cleaned when the usage information meets the first preset condition further includes: When the cumulative usage time does not reach the second duration threshold, the cleaning strategy used by the cleaning robot to clean the area to be cleaned is determined to be the second cleaning strategy. The cleaning parameter value corresponding to the second cleaning strategy is less than the cleaning parameter value corresponding to the first cleaning strategy. The cleaning parameters include at least one of the following: fan suction power, mop humidity, number of cleaning cycles, cleaning duration, cleaning agent dosage, and mop temperature.

5. The method according to claim 1, characterized in that, The usage information of the kitchen equipment includes the cumulative usage time of the kitchen equipment within a preset time period up to the current moment. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Based on the cumulative usage time, a cleaning strategy for the cleaning robot to clean the area to be cleaned is determined, wherein the cleaning parameter value corresponding to the cleaning strategy is proportional to the cumulative usage time, and the cleaning parameter value includes at least one of the following: fan suction power, mop humidity, number of cleaning cycles, cleaning duration, cleaning agent dosage, and mop temperature.

6. The method according to claim 1, characterized in that, The usage information of the kitchen equipment also includes the number of times the kitchen equipment has been used within a preset time period up to the current moment. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Based on the number of kitchen appliances used, a cleaning strategy is determined for the cleaning robot to clean the area to be cleaned. The cleaning parameter values ​​corresponding to the cleaning strategy are proportional to the number of kitchen appliances used. The cleaning parameter values ​​include at least one of the following: fan suction power, mop humidity, number of cleaning cycles, cleaning duration, detergent dosage, and mop temperature.

7. The method according to claim 2, characterized in that, The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information further includes: When the usage information does not meet the first preset condition, the cleaning robot is prohibited from cleaning the area to be cleaned.

8. The method according to claim 1, characterized in that, The kitchen equipment includes a dishwasher, and the usage information of the kitchen equipment includes the operating status of the dishwasher. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Determine whether the dishwasher's operating status has changed from off to on; When the dishwasher changes its operating status from off to on, a cleaning strategy is determined for the cleaning robot to clean the area 0 to be cleaned.

9. The method according to claim 1, characterized in that, The target information also comes from an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. The area to be cleaned also includes the field of view of the image acquisition device. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Based on the target information, determine whether there is dirt in the area to be cleaned; When the area to be cleaned is dirty, a cleaning strategy is determined for the cleaning robot to clean the area to be cleaned, wherein the cleaning strategy includes controlling the cleaning robot to clean at least the area in the area to be cleaned where the dirt is present.

10. The method according to claim 9, characterized in that, When the area to be cleaned is dirty, a cleaning strategy is determined for the cleaning robot to clean the area, including: When the area to be cleaned is dirty, a cleaning strategy for the cleaning robot to clean the area is determined according to the type of dirt, wherein the cleaning strategy includes controlling the cleaning robot to perform cleaning operations on at least the area where the dirt is present in a cleaning mode corresponding to the type of dirt.

11. The method according to any one of claims 1 to 10, characterized in that, The cleaning robot is equipped with a mop. The target information comes from a humidity detection device located in the area to be cleaned and communicatively connected to the cleaning robot. The target information also includes humidity information of the area to be cleaned. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Based on the humidity information, a cleaning strategy is determined for the cleaning robot to clean the area to be cleaned. The cleaning strategy includes controlling the cleaning robot to adjust the humidity of the mop to a desired humidity and using the mop with the desired humidity to perform the cleaning operation on the area to be cleaned.

12. The method according to any one of claims 1 to 10, characterized in that, The target information also comes from an audio acquisition device and / or an image acquisition device located in the area to be cleaned and communicatively connected to the cleaning robot. The step of determining a cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information includes: Based on the target information, determine the biological activity information in the area to be cleaned; When the biological activity information meets the second preset condition, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be the third cleaning strategy. The third cleaning strategy includes controlling the cleaning robot to clean the area to be cleaned in a first cleaning mode. The second preset condition includes the biological activity information indicating that the area to be cleaned has changed from having biological activity to not having biological activity.

13. The method according to claim 12, characterized in that, The step of determining the cleaning strategy for the cleaning robot to clean the area to be cleaned based on the target information further includes: When a user's cleaning instruction is received and the biological activity information indicates the presence of biological activity in the area to be cleaned, the cleaning strategy for the cleaning robot to clean the area to be cleaned is determined to be a fourth cleaning strategy. The fourth cleaning strategy includes controlling the cleaning robot to perform cleaning operations on the area to be cleaned in a second cleaning mode, wherein the noise of the second cleaning mode is less than that of the first cleaning mode, the obstacle avoidance distance of the second cleaning mode is greater than that of the first cleaning mode, and / or the obstacle avoidance sensitivity of the second cleaning mode is greater than that of the first cleaning mode.

14. The method according to claim 12, characterized in that, The second preset condition also includes the biological activity information indicating that the number of organisms in the area to be cleaned has reached a certain threshold.

15. The method according to claim 14, characterized in that, The second preset condition also includes the biological activity information indicating that the duration of the presence of a number of organisms exceeding a certain threshold in the area to be cleaned reaches a third duration threshold.

16. A cleaning robot, characterized in that, The control method for the cleaning robot as described in any one of claims 1 to 15.

17. A base station, characterized in that, Used in conjunction with a cleaning robot, wherein the cleaning robot uses the control method for a cleaning robot as described in any one of claims 1 to 15.

18. A cleaning system, characterized in that, This includes a cleaning robot using the control method as described in any one of claims 1 to 15 and a base station used in conjunction with the cleaning robot.

19. A storage medium on which program instructions are stored, characterized in that, The program instructions, when executed, are used to perform the control method for the cleaning robot as described in any one of claims 1 to 15.

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