阅读说明：本技术 一种拖地控制方法、装置、介质和设备 (Mopping control method, mopping control device, mopping control medium and mopping control equipment ) 是由 马鑫磊 陈彦宇 谭泽汉 马雅奇 李茹 王云华 邓剑锋 丁晋文 许林辉 张磊 刘金 于 2020-05-22 设计创作，主要内容包括：本发明涉及一种拖地控制方法、装置、介质和设备。根据本发明实施例提供的方案,可以首先确定清洁机器人当前所在位置所对应的拖地模式,然后按照确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。从而可以根据确定出的拖地模式,按照清洁力度不同的拖地方式,有针对性地进行拖地,优化拖地效果,提高拖地后的清洁度,满足客户的需求。(The invention relates to a mopping control method, a mopping control device, a mopping control medium and mopping control equipment. According to the scheme provided by the embodiment of the invention, the floor mopping mode corresponding to the current position of the cleaning robot can be determined, and then the cleaning robot is controlled to mop the floor in the area corresponding to the current position according to the determined floor mopping mode. Therefore, the mopping can be performed pertinently according to the determined mopping mode and the mopping modes with different cleaning forces, the mopping effect is optimized, the cleanliness after mopping is improved, and the requirements of customers are met.)

1. A method of controlling mopping, the method comprising:

determining a floor mopping mode corresponding to the current position of the cleaning robot, wherein each floor mopping mode corresponds to a floor mopping mode with different cleaning force;

and controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.

2. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:

indicating to collect an environment image corresponding to the current position of the cleaning robot;

and determining a corresponding mopping mode according to the acquired environment image.

3. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:

determining the current position of the cleaning robot;

and determining a corresponding mopping mode according to the preset corresponding relation between the mopping mode and the position.

4. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:

and determining a floor mopping mode corresponding to the current position of the cleaning robot according to the received floor mopping instruction.

5. A method according to any one of claims 1 to 4, wherein each mopping mode differs in at least one of the following parameters:

the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.

6. A mopping control device, characterized in that the device comprises:

the determining module is used for determining floor mopping modes corresponding to the current position of the cleaning robot, and each floor mopping mode corresponds to a floor mopping mode with different cleaning force;

and the control module is used for controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.

7. The device of claim 6, wherein the determining module is specifically configured to instruct to acquire an environment image corresponding to a current location of the cleaning robot, and determine the corresponding mopping mode according to the acquired environment image.

8. The device of claim 6, wherein the determining module is specifically configured to determine a current position of the cleaning robot, and determine a corresponding mopping mode according to a preset correspondence between mopping modes and positions.

9. The device of claim 6, wherein the determining module is specifically configured to determine, according to the received mopping instruction, a mopping mode corresponding to a current position of the cleaning robot.

10. An apparatus according to any one of claims 6 to 9, wherein each mopping mode differs in at least one of the following parameters:

the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.

11. A non-transitory computer storage medium storing an executable program for execution by a processor to perform the method of any one of claims 1 to 5.

12. A robot controller, characterized in that, the device comprises a processor, a communication interface, a memory and a communication bus, wherein, the processor, the communication interface and the memory are communicated with each other through the communication bus;

the memory is used for storing a computer program;

the processor is configured to implement the method steps of any one of claims 1 to 5 when executing the program stored in the memory.

13. A cleaning robot characterized in that it comprises a robot controller according to claim 12.

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a floor mopping control method, a floor mopping control device, a floor mopping control medium and floor mopping equipment.

Background

At present, the cleaning robot is more and more intelligent, and along with the improvement of technique, the cleaning robot not only can sweep the floor, can also possess and drag the ground function, has consequently obtained extensive application.

The cleaning robot who possesses mopping function at present generally includes rag mounting panel and water tank, and the rag mounting panel is used for fixed rag, and water in the water tank is used for humidifying the rag, and according to the ergodic mode of setting for, the motion of cleaning robot drives the rag and trails in the room, accomplishes the function of mopping ground to ground.

However, the existing cleaning robot with the floor mopping function has poor floor mopping effect, sometimes, the cleaning robot cannot achieve the floor mopping effect, and the requirements of customers are difficult to meet.

Disclosure of Invention

The embodiment of the invention provides a mopping control method, a mopping control device, a mopping control medium and mopping control equipment, which are used for solving the problem that a cleaning robot is poor in mopping effect.

The invention provides a mopping control method, which comprises the following steps:

determining a floor mopping mode corresponding to the current position of the cleaning robot, wherein each floor mopping mode corresponds to a floor mopping mode with different cleaning force;

and controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.

According to the scheme provided by the embodiment of the invention, the floor mopping mode corresponding to the current position of the cleaning robot can be determined, and then the cleaning robot is controlled to mop the floor in the area corresponding to the current position according to the determined floor mopping mode. Therefore, the mopping can be performed pertinently according to the determined mopping mode and the mopping modes with different cleaning forces, the mopping effect is optimized, the cleanliness after mopping is improved, and the requirements of customers are met.

In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:

indicating to collect an environment image corresponding to the current position of the cleaning robot;

and determining a corresponding mopping mode according to the acquired environment image.

In the scheme of the invention, the corresponding mopping mode can be determined by the acquired environment object in the mode of acquiring the environment image, so that the automatic judgment of the mopping mode is realized, the mopping effect is optimized, and the mopping cleanliness is improved.

In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:

determining the current position of the cleaning robot;

and determining a corresponding mopping mode according to the preset corresponding relation between the mopping mode and the position.

Namely, in the scheme of the invention, the corresponding mopping mode can be determined according to the preset corresponding relation between the mopping mode and the position and the current position of the cleaning robot, so that the automatic judgment of the mopping mode is realized, the mopping effect is optimized, and the mopping cleanliness is improved.

In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:

and determining a floor mopping mode corresponding to the current position of the cleaning robot according to the received floor mopping instruction.

That is, in the scheme of the invention, the user can set the mopping mode, and the corresponding mopping mode is determined according to the mopping command, so that the mopping effect is optimized, and the mopping cleanness is improved.

In one possible implementation, each mopping mode differs by at least one of the following parameters:

the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.

In the scheme of the invention, different mopping modes can be obtained by different settings of the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot, so that the mopping effect is optimized, and the mopping cleanliness is improved.

Corresponding to the method provided above, the following device, medium and apparatus are also provided.

The invention also provides a floor mopping control device, which comprises:

the determining module is used for determining floor mopping modes corresponding to the current position of the cleaning robot, and each floor mopping mode corresponds to a floor mopping mode with different cleaning force;

and the control module is used for controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.

In a possible implementation manner, the determining module is specifically configured to instruct the acquisition of an environment image corresponding to a current location of the cleaning robot, and determine a corresponding mopping mode according to the acquired environment image.

In a possible implementation manner, the determining module is specifically configured to determine a current position of the cleaning robot, and determine a corresponding mopping mode according to a preset correspondence between mopping modes and positions.

In a possible implementation manner, the determining module is specifically configured to determine, according to the received floor mopping instruction, a floor mopping mode corresponding to a current position of the cleaning robot.

In one possible implementation, each mopping mode differs by at least one of the following parameters:

the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.

The present invention also provides a non-volatile computer storage medium having stored thereon an executable program for execution by a processor to implement the method as described above.

The invention also provides a robot controller, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory finish mutual communication through the communication bus;

the memory is used for storing a computer program;

the processor, when executing the program stored in the memory, is configured to implement the method steps as described above.

The invention also provides a cleaning robot comprising a robot controller as described above.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a floor mopping control method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a floor mopping control device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a robot controller according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cleaning robot according to a fifth embodiment of the present invention;

fig. 5 is a schematic flow chart of a floor mopping control method according to a fifth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, the "plurality" or "a plurality" mentioned herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.