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CN-121987105-A - Intelligent mop airing method of cleaning robot

CN121987105ACN 121987105 ACN121987105 ACN 121987105ACN-121987105-A

Abstract

The application discloses an intelligent mop airing method of a cleaning robot, which responds to airing conditions of a mop, and controlling the cleaning robot to move to the optimal airing position, and executing the airing operation on the mopping piece. The cleaning robot is controlled to autonomously move to the optimal airing position to execute airing operation on the cleaning piece by setting the airing condition of the cleaning piece, the cleaning piece drying device is not required to be additionally arranged, the cleaning piece drying and airing can be realized based on the environmental resource at low cost, the drying purpose of the cleaning piece can be achieved, bacteria disinfection can be realized on the cleaning piece based on a sunlight airing mode, and compared with a heat source drying mode, the cleaning robot is more environment-friendly and has better disinfection effect.

Inventors

  • LIN WEI
  • LIU JIACHUN

Assignees

  • 珠海一微科技股份有限公司

Dates

Publication Date
20260508
Application Date
20241031

Claims (10)

  1. 1. The intelligent mop airing method of the cleaning robot is characterized by specifically comprising the steps of responding to airing conditions of a mop, controlling the cleaning robot to move to an optimal airing position and executing airing operation on the mop.
  2. 2. A method for intelligent mop airing of a cleaning robot according to claim 1, characterized in that said airing condition responsive to a mop comprises in particular: Analyzing whether the current time accords with the airing time condition or not based on the sunrise and sunset time; If the current time accords with the airing time condition, analyzing whether the current weather accords with the airing weather condition or not based on the weather acquisition module; If the current weather meets the airing weather conditions, determining that the current environment meets the airing conditions of the mopping piece; if the current time does not meet the airing time condition or if the current weather does not meet the airing weather condition, determining that the current environment does not meet the airing condition of the mop.
  3. 3. The intelligent mop airing method of a cleaning robot according to claim 1, wherein the controlling the cleaning robot to move to an optimal airing position specifically comprises: The cleaning robot collects environmental information based on the SLAM sensor to complete environmental map construction, and a lighting area is obtained from the environmental map; Controlling the cleaning robot to move to a lighting area, and collecting light information of the lighting area based on a light sensor so as to select an optimal airing position from the lighting area; and controlling the cleaning robot to move to the optimal airing position.
  4. 4. A cleaning robot intelligent mop airing method according to claim 3, wherein the acquiring the lighting area from the environment map specifically comprises: Traversing and analyzing the environment map, screening out areas meeting the characteristics of the preset lighting areas from the environment map, and recording the areas to a lighting area set; And selecting one area from the lighting area set as a lighting area based on a lighting goodness formula.
  5. 5. The intelligent mop airing method of the cleaning robot according to claim 4, wherein the traversing analysis environment map screens out areas meeting the preset lighting area characteristics and records the areas to a lighting area set, and specifically comprises: Traversing and analyzing whether each area in the environment map accords with the characteristics of a balcony area or a window edge area; if the area accords with the balcony area characteristics, further judging whether the area accords with the balcony passable characteristics; If the area meets the window edge area characteristics, further judging whether the area meets the uncovered curtain characteristics or not; When the area meets the characteristics of the balcony area and meets the passable characteristics of the balcony, or the area meets the characteristics of the window edge area and meets the uncovered characteristics of the curtain, the area is used as the area meeting the characteristics of the preset lighting area and is recorded to the lighting area set.
  6. 6. The intelligent mop airing method of a cleaning robot according to claim 4, wherein the lighting goodness formula based on lighting selects one area from a lighting area set as a lighting area, and specifically comprises the following steps: controlling the cleaning robot to traverse each region in the lighting region set so as to collect the region light intensity corresponding to each region; When the cleaning robot finishes the light intensity of the area corresponding to each area, calculating the shortest passing distance between the cleaning robot and each area as the area distance of the cleaning robot corresponding to each area; calculating the product of the first weight coefficient and the regional light intensity as a first value; Calculating the product of the second weight coefficient and the cleaning robot region distance as a second value; Calculating a difference value between the first value and the second value as a lighting preferred value of the area; And selecting one area with the largest lighting preference value from the lighting area set as a lighting area.
  7. 7. The intelligent mop airing method of the cleaning robot according to claim 6, wherein the controlling the cleaning robot traverses each area in the collection of lighting areas to collect the area light intensity corresponding to each area, specifically comprises: The cleaning robot is controlled to plan the shortest traversing route of the cleaning robot according to each area in the lighting area set, and the area with the largest area and belonging to the balcony area characteristics in the lighting area is taken as the end point area of the shortest traversing route; and controlling the cleaning robot to move according to the shortest traversal route, and sequentially collecting the light intensity of the areas corresponding to each area.
  8. 8. The intelligent mop airing method of a cleaning robot according to claim 1, wherein the airing operation is performed on the mop, specifically comprising: controlling the cleaning robot to turn the mopping piece from the original position to a designated airing position at the top of the cleaning robot body; The angle of the mopping piece is adjusted based on the light angle detected by the light sensor so as to dry the mopping piece.
  9. 9. The intelligent mop airing method of the cleaning robot according to claim 8, further comprising controlling the cleaning robot to detect the humidity of the mop, and controlling the cleaning robot to finish the mop airing operation when the humidity of the mop meets the expected airing finishing humidity requirement.
  10. 10. The intelligent mop airing method of a cleaning robot according to claim 1, further comprising turning on a solar charging module of the cleaning robot when an airing operation is performed on a mop.

Description

Intelligent mop airing method of cleaning robot Technical Field The application relates to the field of cleaning robots, in particular to an intelligent mop airing method of a cleaning robot. Background In order to optimize the cleaning effect of the household cleaning robot, the household cleaning robot can realize the sweeping function and the mopping function by additionally arranging the mopping piece on the basis of the sweeping component. The cleaning and drying requirements of the additionally-arranged cleaning piece exist, and the cleaning robot base station or the cleaning robot body is generally provided with a cleaning piece drying device in the prior art so as to inhibit the situation that bacteria are bred in the cleaning piece due to dirt such as sewage and peculiar smell is generated. For example, chinese patent No. CN202022200061.6, entitled a technical solution disclosed in a cleaning seat of a cleaning robot, in which a cleaning tank and a drying device are disposed in a base of the cleaning robot to clean and dry a mop. The technical scheme of the device for setting the mop drying device has higher cost, and can achieve the drying purpose only by needing larger energy consumption, thereby influencing the use experience of users in the dimensionalities of price, energy consumption, single-time charging usable time length and the like of the cleaning robot. Disclosure of Invention The application provides an intelligent mop airing method of a cleaning robot, which comprises the following specific technical scheme: and responding to the airing condition of the mop, controlling the cleaning robot to move to the optimal airing position, and executing the airing operation on the mop. The method comprises the steps of judging whether the current time meets the airing time conditions based on sunrise and sunset time, judging whether the current weather meets the airing weather conditions based on a weather acquisition module if the current time meets the airing time conditions, determining that the current environment meets the airing conditions of the mop according to the current weather meets the airing weather conditions, and determining that the current environment does not meet the airing conditions of the mop according to the current environment if the current time does not meet the airing time conditions or if the current weather does not meet the airing weather conditions. The cleaning robot is controlled to move to an optimal drying position, and particularly comprises the steps of acquiring environment information based on a SLAM sensor to complete environment map construction, acquiring a lighting area from an environment map, controlling the cleaning robot to move to the lighting area, acquiring light information of the lighting area based on a light sensor to select the optimal drying position from the lighting area, and controlling the cleaning robot to move to the optimal drying position. The method for acquiring the lighting areas from the environment map specifically comprises the steps of traversing and analyzing the environment map, screening out areas meeting the characteristics of the preset lighting areas from the environment map, recording the areas in a lighting area set, and selecting one area from the lighting area set to serve as the lighting area based on a lighting goodness formula. The traversing analysis environment map comprises a traversing analysis environment map, wherein the traversing analysis environment map is used for screening out areas which accord with preset lighting area characteristics and recording the areas to a lighting area set, and the traversing analysis environment map comprises the steps of traversing analysis of whether each area accords with balcony area characteristics or window edge area characteristics, further judging whether the area accords with balcony passable characteristics if the area accords with balcony area characteristics, further judging whether the area accords with curtain uncovered characteristics if the area accords with window edge area characteristics, and taking the area as the area which accords with the preset lighting area characteristics and recording the area to the lighting area set when the area accords with balcony passable characteristics or the area accords with window edge area characteristics and accords with curtain uncovered characteristics. The method comprises the steps of selecting a lighting area from a lighting area set based on a lighting goodness formula, specifically comprising the steps of controlling a cleaning robot to traverse each area in the lighting area set to collect the area light intensity corresponding to each area, calculating the shortest passing distance between the cleaning robot and each area as the cleaning robot area distance corresponding to each area when the cleaning robot finishes the area light intensity corresponding to each area, calculating the product of a first weight