| CPC A47L 11/4011 (2013.01) [A47L 11/28 (2013.01); A47L 11/4091 (2013.01); A47L 2201/028 (2013.01); A47L 2201/06 (2013.01)] | 20 Claims |
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1. A controlling method for a cleaning robot, comprising:
controlling, by a processor, the cleaning robot in a current cleaning task to mop a preset cleaning region in a cleaning task map corresponding to the current cleaning task through a mopping member, comprising:
controlling, by the processor, the cleaning robot to move forward at a constant speed without repeating mopping of the preset cleaning region; and
controlling, by the processor, the cleaning robot to stop mopping and return to a base station;
obtaining, by the processor, a first dirtiness degree corresponding to the preset cleaning region, comprising, at each return where the mopping member is cleaned at the base station, detecting, by a dirt detection apparatus comprising at least one sensor, a mopping member dirtiness degree based on color information or sewage of the mopping member at the base station, the first dirtiness degree corresponding to the mopping member dirtiness degree;
determining, by the processor, whether the preset cleaning region comprises a target region according to the first dirtiness degree, the target region being a region that needs to be repeatedly mopped after the preset cleaning region has been mopped; and
in response to determining that the preset cleaning region comprises the target region:
determining, by the processor, whether to divide the target region into sub-target regions or, when the target region comprises a plurality of regions, determining, by the processor, whether to merge the plurality of regions, thereby obtaining at least part of the target region;
according to a comparison between the first dirtiness degree and at least one cleaning threshold, determining, by the processor, a repeated mopping order of the at least part of the target region; and
controlling, by the processor, the cleaning robot to mop the at least part of the target region, according to the repeated mopping order, through the mopping member after mopping of the preset cleaning region has been completed and after maintenance of the mopping member.
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