Robotic vacuum cleaners and their cleaning control methods

Abstract

This application discloses a robotic vacuum cleaner and its cleaning control method, relating to the field of smart home technology. The robotic vacuum cleaner is equipped with a retractable scraper assembly with spray nozzles. The cleaning control method includes: acquiring stain information of the area to be cleaned and determining a cleaning strategy; controlling the scraper assembly to move from a retracted position to an extended position, making the scraper assembly in contact with the ground; spraying cleaning liquid onto the ground through the spray nozzles according to the cleaning strategy, so that the cleaning liquid acts on the stained area; and driving the robotic vacuum cleaner to perform a scraping action on the stained area. This invention, by constructing a retractable scraper structure integrating spraying function, enables the robotic vacuum cleaner to have an integrated stain cleaning capability of "spraying, dissolving, and scraping," achieving effective stain removal and efficient recycling of cleaning liquid, balancing cleaning effect and environmental protection.

Description

Technical Field

[0001] This application relates to the field of smart home technology, specifically to a robotic vacuum cleaner and its cleaning control method. Background Technology

[0002] With the continuous development of intelligent cleaning technology, robotic vacuum cleaners have become core equipment for household cleaning. Users' requirements for cleaning effectiveness have also upgraded from basic dust removal to efficient and thorough cleaning of stubborn stains (such as oily stains, sticky substances, and dried, crusted stains). However, existing cleaning equipment (floor scrubbers, traditional robotic vacuum cleaners) still have many technical shortcomings when dealing with stubborn stains, failing to meet users' refined cleaning needs. Specific shortcomings are as follows: Existing floor scrubbers have significant limitations: they require users to manually identify stains and trigger the cleaning solution spraying function, resulting in extremely low automation and an inability to achieve autonomous stain identification and automatic cleaning. Furthermore, the cleaning effect is highly dependent on the user's operating experience, making it difficult for users to accurately control the amount of cleaning solution and the contact time. This can easily lead to problems such as excessive use of cleaning solution resulting in waste and residue, or insufficient use or contact time leading to stubborn stains not being completely dissolved, resulting in poor practicality.

[0003] Traditional robotic vacuum cleaners also have shortcomings: even when equipped with a cleaning liquid spraying function, they rely solely on the passive wiping action of the cloth after spraying, failing to exert effective physical scraping force on stains. For stubborn stains that are sticky or have dried crusts, the cleaning effect is very limited. At the same time, the cleaning liquid lacks a directional control mechanism after spraying, and it is easy to spread in all directions during the wiping process. This not only leaves cleaning liquid residue on the floor, but may also splash onto baseboards, furniture legs, and other areas, potentially damaging floor materials (such as wooden floors and marble) and the home environment, thus affecting the user experience.

[0004] Overall, existing technologies generally lack targeted control of cleaning fluids and specific physical scraping mechanisms, resulting in a series of problems such as incomplete cleaning of stubborn stains, waste of cleaning fluids, residues, and splashes. These issues have become the core bottleneck restricting the upgrading of intelligent cleaning equipment, and a cleaning control solution that can solve these problems is urgently needed. Summary of the Invention

[0005] The purpose of this application is to provide a sweeping robot and its cleaning control method, aiming to solve the technical problems of incomplete cleaning, cleaning fluid residue and splashing when existing sweeping robots and floor scrubbers deal with stubborn stains on the ground.

[0006] To achieve the above objectives, a first aspect of this application provides a cleaning control method for a robotic vacuum cleaner. The robotic vacuum cleaner is equipped with a retractable scraper assembly, the scraper assembly having spray holes. The cleaning control method includes: acquiring stain information of the area to be cleaned and determining a cleaning strategy; controlling the scraper assembly to move from a retracted position to an extended position, so that the scraper assembly makes contact with the ground; spraying cleaning liquid onto the ground through the spray holes according to the cleaning strategy, so that the cleaning liquid acts on the stained area; and driving the robotic vacuum cleaner to perform a scraping action on the stained area.

[0007] In some feasible embodiments, the stain information includes at least one of stain type, stain area, and stain thickness; and / or The cleaning strategy includes at least one of the following: cleaning fluid type, cleaning fluid concentration, spray volume, spray pattern, action time, and scraping speed.

[0008] In some feasible embodiments, the stain type includes at least one of liquid stains, oily stains, solid residues, sticky substances, and dyeing substances.

[0009] In some feasible embodiments, the spraying mode includes at least one of point spraying, line spraying, and area spraying.

[0010] In some feasible embodiments, the robotic vacuum cleaner is also equipped with a wet cleaning component, and the cleaning control method further includes: After acquiring the stain information of the area to be cleaned, the robot vacuum is controlled to move to the target position, so that the stained area is located between the scraper assembly and the wet cleaning assembly; The scraper assembly is controlled to extend and make contact with the ground, forming a cleaning space between the scraper assembly and the wet cleaning assembly.

[0011] In some feasible embodiments, driving the robotic vacuum cleaner to perform a scraping action on the stained area includes: Control the scraper assembly to move towards the wet cleaning assembly, and push the scraped dirt towards the wet cleaning assembly.

[0012] In some feasible embodiments, the robotic vacuum cleaner is further equipped with a wet cleaning component, and the cleaning control method further includes, during or after the scraping action: Control the scraper assembly to move from the extended position to the retracted position; During or after the scraper assembly is retracted, the wet cleaning component is controlled to clean the scraper assembly.

[0013] In some feasible embodiments, controlling the wet cleaning assembly to clean the scraper assembly includes: Controlling the scraper assembly to move to a position where it contacts the wet cleaning assembly; and Control the relative movement of the scraper assembly and the wet cleaning assembly to remove stains adhering to the scraper assembly.

[0014] In some feasible embodiments, the robotic vacuum cleaner is equipped with a vision detection module, and after spraying cleaning liquid onto the ground, the cleaning control method further includes: The visual detection module monitors the dissolution progress of the stained area in real time. Based on the dissolution progress, determine whether additional spray cleaning solution is needed; When it is determined that supplementary spraying is needed, the spray orifice is controlled to perform supplementary spraying.

[0015] In some feasible embodiments, the method further includes: when it is determined that dissolution is complete, driving the sweeping robot to perform a scraping action on the stained area.

[0016] In some feasible embodiments, the method further includes: identifying an abnormal state of the scraper assembly during movement, the abnormal state including one or more of the following: abnormal cleaning fluid spraying, abnormal scraping process, and abnormal cleaning effect. Based on the abnormal state, a protection procedure is executed on the scraper assembly or an alarm is issued.

[0017] In some feasible embodiments, after driving the robotic vacuum cleaner to perform a scraping action on the stained area, the cleaning control method further includes: Record and store the current cleaning point location and the cleaning parameters being performed, including at least one of spray volume, action time, and scraping speed; When a matching stain is detected again, the stored cleaning parameters are invoked to perform the cleaning.

[0018] This application also provides a cleaning control method for a robotic vacuum cleaner, the robotic vacuum cleaner being equipped with a retractable scraper assembly. The cleaning control method includes: using the robotic vacuum cleaner to perform global cleaning; stopping the global cleaning when a stained area is detected in the area to be cleaned; invoking the scraper assembly to perform local cleaning on the stained area using the cleaning control method described above; and continuing the global cleaning after the local cleaning is completed.

[0019] This application also provides a robotic vacuum cleaner equipped with a retractable scraper assembly for performing the cleaning control method of the robotic vacuum cleaner described above.

[0020] In some feasible embodiments, the scraper assembly includes: a scraper body; and An adaptive scraper strip is disposed at the lateral end of the scraper body and extends along the length of the scraper body. The adaptive scraper strip is configured to extend laterally to expand the lateral cleaning range of the scraper assembly.

[0021] In some feasible embodiments, the adaptive scraper is made of a flexible material that is designed to elastically deform upon contact with the cleaning target to conform to the target.

[0022] Through the above technical solution, this invention provides a sweeping robot and its cleaning control method, aiming to specifically solve the technical problems of low automation level of existing floor scrubbers, poor cleaning effect on stubborn stains by traditional sweeping robots, and easy diffusion and residue of cleaning liquid. This invention constructs a retractable scraper structure integrating a spraying function, enabling the sweeping robot to have an integrated stain cleaning capability of "spraying, dissolving, and scraping," achieving effective stain removal and efficient recycling of cleaning liquid, balancing cleaning effect and environmental protection.

[0023] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart of a cleaning control method for a sweeping robot according to an embodiment of this application is shown; Figure 2 A structural diagram of a scraper assembly for a sweeping robot according to an embodiment of this application is shown. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0026] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0028] First, a brief introduction to the background of this invention: In the treatment of stubborn stains on the ground, the existing technologies mainly include the following solutions: 1. Spot spraying technology for floor scrubbers: Existing floor scrubbers are equipped with manual or semi-automatic cleaning solution spraying functions. The workflow of this technology is as follows: After discovering stains on the floor during use, the user manually presses the spray button to spray cleaning solution onto the floor in front of the scrubber; after the active ingredients in the cleaning solution react with the stains for a period of time, the user manually pushes the scrubber forward to complete the cleaning of the stains using the roller brush or cloth.

[0029] 2. Visual Recognition + Mop Cleaning Technology for Robotic Vacuum Cleaners: Some high-end robotic vacuum cleaners are equipped with camera recognition systems that can automatically identify stains on the floor. When a stain is detected, the robot moves towards the stained area and sprays cleaning fluid onto the floor through nozzles on the side of the machine. It then uses a mopping module (such as a dual-disc mop, roller mop, tracked mop, or single-piece mop) to wipe and clean the floor.

[0030] However, the applicant found that existing floor scrubber solutions have the following drawbacks: they require manual identification of stains and manual triggering of spraying, resulting in low automation; and their cleaning effectiveness is highly dependent on the user's operating experience, easily leading to problems such as improper dosage of cleaning solution or insufficient action time. The drawbacks of sweeping robot solutions are that after the cleaning solution is sprayed, they rely solely on passive wiping with a cloth, failing to effectively physically remove stains. Their cleaning effect is limited for stubborn stains that are sticky or have dried crusts; furthermore, the cleaning solution easily spreads during wiping, leaving residue on the floor or splashing onto baseboards, potentially damaging floor materials and the home environment. Overall, existing technologies lack directional control of the cleaning solution and a physical scraping mechanism, resulting in incomplete cleaning of stubborn stains and a tendency for cleaning solution residue and splashing.

[0031] To address this issue, the present invention first provides a cleaning control method 100 for a robotic vacuum cleaner. The robotic vacuum cleaner is equipped with a retractable scraper assembly, on which spray holes are provided. Specifically, by constructing a retractable scraper structure integrating spraying functionality, the present invention enables the robotic vacuum cleaner to possess an integrated "spray-dissolve-scrape" stain cleaning capability. A semi-enclosed cleaning space is formed between the scraper and the wet cleaning component at the bottom of the robot, confining the stains and cleaning fluid within this space for processing, preventing the cleaning fluid from spreading and splashing at the source. Through the scraping action of the scraper retracting from the outside to the inside, the dissolved stains along with the cleaning fluid are directionally pushed to the mop area, where the mop absorbs and collects them, achieving effective stain removal and efficient recycling of the cleaning fluid, balancing cleaning effectiveness and environmental protection.

[0032] Specifically, you can refer to, for example Figure 1 As shown in the flowchart, the cleaning control method 100 may include steps S110-S140.

[0033] Step S110: Obtain stain information of the area to be cleaned and determine the cleaning strategy.

[0034] Step S120: Control the scraper assembly to move from the retracted position to the extended position, so that the scraper assembly makes contact with the ground.

[0035] Step S130: According to the cleaning strategy, spray cleaning liquid onto the ground through the spray nozzle so that the cleaning liquid acts on the stained area.

[0036] Step S140: Drive the robot vacuum cleaner to perform a scraping action on the stained area.

[0037] Through the above technical solution, this invention provides a sweeping robot and its cleaning control method, aiming to specifically solve the technical problems of low automation level of existing floor scrubbers, poor cleaning effect on stubborn stains by traditional sweeping robots, and easy diffusion and residue of cleaning liquid. This invention constructs a retractable scraper structure integrating a spraying function, enabling the sweeping robot to have an integrated stain cleaning capability of "spraying, dissolving, and scraping," achieving effective stain removal and efficient recycling of cleaning liquid, balancing cleaning effect and environmental protection.

[0038] The purpose of step S110 is to achieve accurate detection, classification and evaluation of stains through a stain recognition system, formulate differentiated cleaning strategies based on stain characteristics, realize "tailored measures for stains", provide a scientific basis for subsequent cleaning liquid spraying and physical scraping, ensure cleaning effect while avoiding cleaning liquid waste and environmental damage.

[0039] Specifically, in some feasible embodiments, in order to achieve stain recognition and classification, the robot vacuum cleaner is equipped with a complete stain recognition system. This system may include a high-resolution camera (RGB or RGBD), a multispectral sensor, a stain type recognition module, a humidity sensor (for detecting residual moisture on the ground), etc. Through the collaborative work of multiple sensors, stain information is comprehensively acquired to ensure the accuracy and comprehensiveness of stain recognition.

[0040] In some feasible embodiments, in order to better perform the stain identification and evaluation process and achieve intelligent stain identification, the present invention may specifically include the following steps S111-S113: Step S111, Stain Detection. While the robot is performing normal global cleaning, the high-resolution camera continuously captures images of the ground. The images are analyzed in real time using a convolutional neural network algorithm to detect abnormal areas on the ground. If a suspected stain is detected, the robot immediately stops moving forward, adjusts its position, and acquires multi-angle images of the stain. At the same time, a multispectral sensor performs spectral analysis on the abnormal area to accurately determine whether the area is a stain and to preliminarily determine the type of stain, avoiding misjudgments (such as non-stain areas like ground shadows or color differences).

[0041] Step S112, Stain Assessment. After confirming the stained area, the core features of the stain are extracted using a stain recognition system to comprehensively assess the stain condition.

[0042] For example, stain characteristics may include the following: - Type: Based on a classification model, accurately determine the category of the stain; - Area: The area covered by the stain is determined by converting the area of ​​the image pixels into the actual ground area; - Thickness: Estimates the thickness of stains (such as the thickness of dried, crusted stains) based on image shadow analysis. - Viscosity: Based on the diffusion characteristics of the stain's edge, determine the strength of the stain's viscosity; - Duration of presence: Based on the color change and degree of drying of the stain, estimate the duration of the stain to help determine the stubbornness of the stain.

[0043] In some feasible embodiments, the stain information includes at least one of the following: stain type, stain area, and stain thickness; the stain type includes at least one of the following, and different types of stains have different cleaning requirements: 1. Liquid stains (such as coffee, juice, etc.): These have high penetrability, so the amount of cleaning solution used must be controlled to avoid excessive penetration and damage to the floor; 2. Oily stains (such as cooking oil, lubricants, etc.): These have low surface tension and require a special cleaning solution. Extend the contact time to ensure complete dissolution. 3. Solid residue (such as food scraps, dirt, etc.): These are granular and do not require a lot of cleaning solution; they are mainly removed by physical scraping. 4. Sticky substances (such as chewing gum, glue, etc.): These are highly sticky and require a special cleaning solution for sticky substances, along with multiple scrapings to remove them; 5. Dyeing substances (such as ink, pigments, etc.): These are pigment-based and require a special stain remover. Control the spray pressure to avoid pigment diffusion.

[0044] Step S113, Cleaning Decision. Based on the comprehensive evaluation results of the above stain characteristics, the corresponding cleaning solution is automatically matched, that is, the corresponding cleaning strategy is selected based on the stain characteristics to ensure that the cleaning strategy is highly adapted to the stain type and stubbornness.

[0045] In some feasible embodiments, the cleaning strategy includes adjusting at least one of the following: cleaning fluid type, cleaning fluid concentration, spray volume, spray pattern (including spot spray, line spray, area spray, etc.), contact time, and scraping speed. Through differentiated adjustments, precise cleaning can be achieved: for example, for oily stains, an oil-specific cleaning fluid is selected, the cleaning fluid concentration is increased, the contact time is extended, and the scraping speed is reduced; for liquid stains, a general-purpose cleaning fluid is selected, the spray volume is controlled, a spot spray pattern is adopted, the contact time is shortened, and the scraping speed is increased.

[0046] The beneficial effects of the above embodiments are as follows: intelligent adaptive cleaning is achieved. Through the stain recognition system, the stain type, area, thickness and viscosity are comprehensively evaluated, and the cleaning liquid formula and spray parameters are automatically matched to achieve precise cleaning based on the stain, avoiding waste or insufficient use of cleaning liquid. At the same time, through multi-sensor collaborative detection, the accuracy of stain recognition is improved, avoiding ineffective cleaning caused by misjudgment, and improving cleaning efficiency and user experience.

[0047] In step S120, the scraper assembly needs to be controlled to move from the retracted position to the extended position, so that the scraper assembly makes contact with the ground. The core of this step is to control the scraper assembly to extend precisely. The scraper assembly in this application may include an adaptive scraper strip, which is connected to the body of the sweeping robot through an elastic element (preferably a spring). The elastic force of the elastic element can ensure that the scraper assembly always maintains contact with the ground during the extension process, avoiding cleaning omissions caused by uneven ground or deviation of the scraper extension angle, and ensuring the scraping effect of stains and cleaning liquid; at the same time, the elastic connection can also play a buffering role, reducing hard collisions between the scraper and obstacles.

[0048] To better achieve the cleaning function and prevent the spread of stains, the extended scraper needs to work in conjunction with the wet cleaning component at the bottom of the robot to form a semi-enclosed cleaning space. It should be noted that the wet cleaning component in this application can be a roller, such as existing cylindrical rollers or tracked rollers. Alternatively, without particularly considering the cleaning effect of the scraper, flat cloths, double-disc cloths, tracks, etc., can also be used as wet cleaning components; this application is not limited in this regard.

[0049] Specifically, in some feasible embodiments, in order to achieve targeted collection of stains, after determining that the stain is a stained area, step S120 may further include the following steps S121-S123: Step S121: Control the robot vacuum to move to the target position so that the stained area is located between the scraper assembly and the wet cleaning assembly.

[0050] This step is to control the movement of the robot vacuum until the stained area is contained within a cleaning space. Specifically, first, control the robot vacuum to move to the target location, positioning the stain between the scraper assembly and the wet cleaning assembly. Then, extend the scraper assembly until it contacts the floor, creating a semi-enclosed cleaning space. This lays the foundation for subsequent directional spraying of cleaning fluid and physical scraping, while ensuring close contact between the scraper and the floor to improve scraping effectiveness and prevent cleaning fluid from spreading or splashing.

[0051] Step S122: Control the scraper assembly to extend and make contact with the ground, and form a cleaning space between the scraper assembly and the wet cleaning assembly.

[0052] Specifically, the scraper assembly needs to be slowly extended until it contacts the ground. This process is controlled at a slow speed to avoid violent collisions with the ground. Simultaneously, a pressure sensor on the scraper assembly monitors the contact pressure in real time and dynamically adjusts the extension amount to ensure a tight fit between the scraper and the ground with appropriate pressure. When the pressure value reaches a preset threshold, extension stops, ensuring good contact between the scraper and the ground (ensuring sufficient scraping pressure while avoiding excessive pressure that could damage the ground or the scraper). At this point, the scraper, wet cleaning assembly, and the side structure of the robot vacuum cleaner together form a semi-enclosed cleaning space, confining the dirt within this space and providing a dedicated area for the cleaning solution spraying and scraping actions.

[0053] To further confine the stain within the space and prevent it from spreading during the scraping process, the robot can be driven to fine-tune its position based on the stain location information from SLAM positioning. This ensures that stubborn stains are precisely located within the cleaning space between the scraper assembly and the wet cleaning assembly, guaranteeing that the entire stain area is completely surrounded by the cleaning space. This prevents the stain from exceeding the cleaning space's boundaries, which could lead to the spread of cleaning fluid or stain leakage.

[0054] In addition, the size of the cleaning space can be adaptively adjusted according to the area of ​​the stain to ensure that the stain can be completely surrounded. The final semi-enclosed cleaning space includes the following boundaries: the front boundary is the scraper position, the rear boundary is the leading edge of the robot's cloth, the left boundary is the left side of the robot's structure, and the right boundary is the right side of the robot's structure. At the same time, the degree of sealing around the perimeter is evaluated in real time to ensure that cleaning fluid and stains will not spread from the boundary gaps, thus solving the problem of cleaning fluid splashing and diffusion at the source.

[0055] Step S123: Control the scraper assembly to move towards the wet cleaning assembly, and push the scraped dirt towards the wet cleaning assembly.

[0056] During the scraping process, to avoid secondary contamination, the scraper preferably continuously pushes the stains towards the robot's wet cleaning component. This wet cleaning component, preferably a damp cloth, has strong adsorption capabilities, quickly collecting the scraped-off stains. This ensures that subsequent scraping actions accurately push the dissolved stains, along with the cleaning solution, to the wet cleaning component, achieving targeted stain collection and preventing stain residue or spread. This design effectively solves the problem of secondary contamination during stain cleaning in existing technologies, ensuring a clean and efficient cleaning process.

[0057] In addition, in some feasible embodiments, during the specific execution of the above steps, before controlling the extension of the scraper assembly, it is necessary to accurately position and adjust the posture of the robot and the stain to ensure that the stain can be precisely surrounded by the cleaning space. This specifically includes the following two steps: 1. Initial localization: SLAM (Simultaneous Localization and Mapping) technology is used to determine the robot's global position. Based on visual feature matching, the specific location of the stain is accurately located, and the coordinates of the stain relative to the robot are calculated to ensure that the robot can move accurately to the target position. 2. Posture Adjustment: Rotate the robot body so that the scraper assembly faces the stained area; slowly move the robot so that the stain is in the scraping path of the scraper assembly, while ensuring that the wet cleaning assembly can cover the area behind the stain, in preparation for subsequent stain collection.

[0058] After positioning and posture adjustment, the scraper assembly is extended to make contact with the ground. Based on the location and area of ​​the stain, a semi-enclosed cleaning space is constructed. The specific operation process is as follows: First, calculate the scraper extension length: scraper extension distance = distance from stain to robot + stain diameter + safety margin (preferably 5cm) to ensure that the scraper can completely cover the stain area and avoid cleaning dead corners. Then, perform the extension operation, controlling the scraper to extend in "slow" mode. During the extension process, the pressure sensor on the scraper is used to check the contact pressure between the scraper and the ground in real time. If the pressure sensor reading is less than the target pressure, it means that the scraper is not in close contact with the ground. At this time, the robot position is slightly adjusted and the scraper extension amount is finely adjusted until the scraper is in close contact with the ground, ensuring the sealing of the cleaning space.

[0059] The beneficial effects of the above embodiments are as follows: precise positioning and posture adjustment ensure that the scraper assembly can accurately align with the stained area; the construction of a semi-enclosed cleaning space confines the stains and cleaning fluid to a dedicated area, preventing the cleaning fluid from spreading and splashing in all directions, thus protecting the floor material and home environment; the close contact between the scraper and the floor lays the foundation for subsequent physical scraping actions, improving the scraping effect of stubborn stains; at the same time, directional pushing preparation ensures that the stains can be effectively collected by the wet cleaning component, reducing cleaning fluid residue and improving the utilization rate of cleaning fluid.

[0060] In another embodiment, considering the complexity of the environment to be cleaned (such as foreign objects on the ground or uneven stain distribution), the scraper assembly may experience abnormal states such as overload, jamming, or timeout during movement and extension. Simultaneously, problems such as abnormal spraying and substandard cleaning results may occur during cleaning fluid spraying. If not addressed promptly, these issues can lead to scraper assembly damage, motor failure, and cleaning fluid waste. Therefore, a robust anomaly protection mechanism is needed to handle and protect against anomalies during the scraper assembly's movement.

[0061] In some feasible embodiments, the cleaning control method 100 may further include the following steps S124-S125: Step S124: Identify abnormal states of the scraper assembly during movement.

[0062] Abnormal conditions mainly include one or more of the following: overload, jamming, and timeout of the scraper assembly, as well as abnormalities in cleaning fluid spraying, scraping process, and substandard cleaning effect. Overload refers to excessive resistance encountered by the scraper assembly when extending, causing an abnormal increase in the drive motor current. Jamming refers to the scraper assembly being stuck by foreign objects during extension or movement, preventing normal movement. Timeout refers to the scraper assembly taking longer than a preset threshold to move from the retracted position to the target extension position, or remaining at a certain position for too long, failing to complete the extension action. Abnormal cleaning fluid spraying refers to insufficient pump pressure, nozzle blockage, or insufficient cleaning fluid. Abnormal scraping process refers to stain diffusion, scraper jamming, or saturated cloth. Substandard cleaning effect refers to incomplete cleaning in one pass, ineffective repeated cleaning, or excessive cleaning fluid residue.

[0063] Step S125: Based on the abnormal state, execute a protection procedure for the scraper assembly or issue an alarm.

[0064] For example, if the scraper encounters abnormal resistance during extension or cleaning, it stops and retracts to attempt readjustment. If the cloth becomes saturated, cleaning is paused, prompting the user to replace the cloth or perform self-cleaning. Specifically, this invention designs corresponding protective measures for different abnormal states to ensure equipment safety and a smooth cleaning process. The specific solutions are as follows: 1. Handling abnormal cleaning fluid spray: When the pump pressure is insufficient, switch to the backup pump or use the reserve system; when the nozzle is clogged, start the self-cleaning program and clear the nozzle by backflushing; when the cleaning fluid is insufficient, issue an early warning to the user and adjust the cleaning strategy (such as reducing the spray volume and prioritizing the treatment of stubborn stains). 2. Handling Abnormalities During Scraping: If stains spread, immediately stop scraping and expand the cleaning area to prevent further spread of stains; if the scraper gets stuck, control the scraper assembly to move in the opposite direction to use the reverse force to get rid of the stuck object. If this is ineffective, control the robot body to vibrate slightly to assist in getting rid of the stuck object. If the robot fails to get rid of the stuck object multiple times (preferably 3 times), stop the program and sound an alarm; if the cloth is saturated, pause cleaning and prompt the user to replace the cloth or start the cloth self-cleaning program. 3. Handling unsatisfactory cleaning results: If the cleaning is not thorough in one go, record the location of the stain and perform a second cleaning; if repeated cleaning is ineffective, mark the location and notify the user for manual treatment; if there is too much cleaning solution residue, add a floor drying process to reduce residue; 4. Handling scraper assembly malfunctions: In case of overload, immediately stop scraper movement, retract the scraper appropriately to reduce resistance and prevent motor burnout; in case of timeout, activate the retry mechanism (maximum 3 times), and if the retry fails, an alarm will be triggered to prompt the user to check the equipment.

[0065] In addition, to achieve comprehensive safety protection, this step also includes a triple safety protection design: 1. Liquid Safety: Sets a maximum spray volume limit (to prevent the floor from becoming too wet); Equipped with an anti-slip detection module, the robot stops moving when the humidity is too high to prevent slipping; Adds safety detection of cleaning fluid ingredients to prevent damage to the floor from using incompatible cleaning fluids; 2. Equipment Safety: Equipped with scraper load protection to prevent overload damage to the scraper and motor; equipped with pump overheat protection to prevent the cleaning fluid pump from overheating during prolonged operation; and features a waterproof circuit design to prevent cleaning fluid from seeping into the circuit and causing a short circuit. 3. Environmental safety: Automatically identifies floor material and area type to avoid using liquid cleaning on expensive carpets; adjusts cleaning plans (such as spray pressure and cleaning liquid type) according to floor material (such as wood, marble); considers the safety of children and pets, and pauses cleaning and issues a warning if children or pets are detected approaching during the cleaning process.

[0066] The beneficial effects of this anomaly handling and protection procedure are as follows: It integrates multiple safety protection mechanisms, including maximum spray volume limitation, scraper load protection, anti-slip detection, and circuit waterproofing, to ensure the safe and reliable operation of the equipment in various complex scenarios, extend the service life of the equipment, and reduce user maintenance costs; at the same time, it provides precise responses to different abnormal states, avoids interruption of the cleaning process and waste of cleaning fluid, and improves cleaning efficiency and user experience.

[0067] In step S130, cleaning fluid is sprayed onto the ground through the spray nozzle according to the cleaning strategy, allowing the cleaning fluid to act on the stained area. This step is the core of achieving integrated "spray-dissolve-scrape" cleaning. By precisely controlling the spray parameters of the cleaning fluid, it is directed to the stained area to fully dissolve the stains, preparing for subsequent physical scraping, while ensuring efficient use of the cleaning fluid and avoiding waste and residue.

[0068] To achieve the functionality of this step, in some feasible embodiments, the present invention adds dedicated hardware components, including a cleaning fluid storage system, a cleaning fluid tank (with a liquid level sensor to monitor the remaining cleaning fluid in real time), a micro metering pump (to precisely control the spray volume), a spray nozzle array (located inside the scraper to ensure directional spraying of the cleaning fluid), and an anti-backflow valve (to prevent the cleaning fluid from flowing back and damaging the equipment). The various hardware components work together to ensure the accuracy and stability of the cleaning fluid spraying.

[0069] This step specifically includes the cleaning fluid spraying and dissolution control process. In conjunction with the established cleaning strategy, the following steps S131-S135 are performed: Step S131: Determine the cleaning solution formula.

[0070] Based on the stain type and floor material identified in step S110, a corresponding cleaning solution formula is matched from the cleaning solution database to ensure that the cleaning solution can effectively dissolve the stains without damaging the floor. For example, oily stains are matched with an oil-specific cleaning solution, while wooden floors are matched with a mild cleaning solution.

[0071] Step S132: Calculate the injection parameters.

[0072] Based on stain characteristics (area, thickness, viscosity) and floor material, precise spraying parameters are calculated. For example, spraying parameters can include the following: - Cleaning solution type: determined based on the cleaning solution formula, such as oil-specific, protein-specific, etc.; - Concentration: Based on the recommended concentration of the cleaning solution formula, finely adjusted according to the stubbornness of the stains; - Spray volume: Calculated based on the stain area, stain thickness, and ground porosity to ensure that the cleaning solution can completely cover the stain without waste; - Spraying mode: Select according to the type of stain, including spot spray (for small spot stains), line spray (for long strip stains), and surface spray (for large stains). - Spray pressure: Adjust according to the floor material. For example, increase the pressure appropriately for marble floors and decrease the pressure for wooden floors to avoid damaging the floor. - Action time: Calculated based on the type of stain and ambient temperature to ensure that the cleaning solution can fully dissolve the stain. For example, oily stains require a longer action time, while liquid stains require a shorter action time.

[0073] Step S133: Perform spraying.

[0074] The micro metering pump is activated, and the cleaning liquid is sprayed directionally onto the stained area through the array of spray holes on the inner side of the scraper, according to the calculated spray parameters. Due to the physical barrier effect of the scraper, the cleaning liquid is confined within the cleaning space and will not spread or splash in all directions.

[0075] Step S134 promotes dissolution.

[0076] After spraying, keep the robot stationary to allow the cleaning fluid to work fully on the stained area. At the same time, the scraper assembly can be slightly vibrated to promote full contact between the cleaning fluid and the stain, accelerate stain dissolution, and improve dissolution efficiency.

[0077] Step S135: Real-time monitoring.

[0078] The robot's vision system detects changes in stain color in real time and assesses the stain dissolution progress. If the dissolution progress is lower than expected, it indicates that the amount of cleaning solution is insufficient or the action time is not long enough. The spray nozzle is then controlled to supplement the spray (the supplement amount is 30% of the original spray amount) until the stain achieves the expected dissolution effect.

[0079] The beneficial effects of the above embodiments are as follows: a significant improvement in cleaning power is achieved. Through the three-in-one cleaning mechanism of "spray-dissolve-scrape," the chemical dissolving action is combined with the physical scraping action. The cleaning effect on stubborn stains such as oil stains, dried stains, and sticky substances far exceeds the existing technical solutions that rely solely on wiping with a cloth. At the same time, precise spray parameter control ensures that the cleaning liquid acts on the stained area, avoiding waste and diffusion, and improving the utilization rate of the cleaning liquid. The physical barrier function of the scraper effectively prevents the cleaning liquid from splashing onto the baseboard, furniture legs, and other surrounding environments, protecting the home environment and floor materials.

[0080] In step S140, the robot vacuum needs to be driven to perform a scraping action on the stained area. That is, after the scraper assembly has extended, the cleaning space has been created, and the cleaning liquid has been sprayed to dissolve the stains, the robot vacuum is driven to perform a precise scraping action on the stained area according to the preset cleaning strategy. The dissolved stains, along with the cleaning liquid, are pushed directionally to the wet cleaning component, such as a cylindrical roller, flat cloth, double disc cloth, or belt. During the scraping action, this component plays a key role in stain collection, ensuring that the stains are completely scraped off the ground, achieving effective stain collection, and avoiding secondary pollution.

[0081] Specifically, in some feasible embodiments, the scraping and collection logic of this step can be combined with the cleaning space and the type of stain, including the following execution: 1. Determine the scraping speed and scraper retraction strategy based on the viscosity of the stain; The higher the viscosity of the stain, the slower the scraping speed, ensuring that the stain can be completely scraped away; the robot's forward speed is set to 0.9 times the scraping speed, slightly slower than the scraper retraction speed, to ensure that the scraper can continuously push the stain to the wet cleaning component and avoid stain leakage.

[0082] 2. Synchronously control the scraper assembly and robot movement to perform the scraping motion.

[0083] The scraper assembly can be controlled to retract at a set scraping speed, while simultaneously driving the robot to move forward at a set forward speed, thus achieving the scraping action from the outside to the inside. During the scraping process, the contact pressure between the scraper and the ground is monitored in real time by a pressure sensor. If the current pressure is greater than the maximum allowable pressure, the scraping action is immediately paused, the scraping speed is reduced to avoid damaging the scraper and the ground, and the scraping action is resumed after the pressure returns to normal.

[0084] In some feasible embodiments, the wet cleaning component of the robotic vacuum cleaner includes a replaceable / washable mop, a mop humidity sensor, and a pressure distribution sensor. The mop humidity sensor detects the saturation level of the mop, and the pressure distribution sensor ensures that the mop adheres tightly to the floor, improving the stain collection effect. Since the wet cleaning component plays a crucial role in stain collection during the scraping action of the robotic vacuum cleaner, it can achieve targeted stain collection through the following step S141: Step S141: Push the scraped-off stains onto the wet cleaning component.

[0085] During the scraping process, the scraper assembly is slowly moved towards the wet cleaning component, pushing the dissolved stains along with the cleaning solution directly to the wet cleaning component. The wet cleaning component then utilizes its adsorption function (such as the absorbency and stickiness of a damp cloth) to quickly collect the stains and cleaning solution, ensuring no residue remains on the floor. Simultaneously, the robot's movement must be kept stable during this process to prevent stains from scattering due to shaking, further improving cleaning effectiveness. Additionally, a cloth moisture sensor monitors the cloth's saturation level in real time. If saturation is detected, the scraping action is immediately paused, prompting the user to replace the cloth or activate the cloth's self-cleaning program to prevent secondary stain diffusion caused by a saturated cloth.

[0086] In another embodiment, to further improve the practicality and service life of the equipment, optimize the cleaning effect, and ensure that stains are completely removed and no cleaning fluid residue remains, this application also designs subsequent cleaning finishing and optimization steps. That is, after step S140, the cleaning control method 100 may also include the following three embodiments, which can be flexibly selected according to the actual equipment configuration: Example 1: Self-cleaning method and resetting of scraper assembly After the scraping action is completed, residual dirt and cleaning solution may remain on the surface of the scraper assembly. If not cleaned in time, the dirt will harden and bacteria will grow, potentially causing secondary contamination during subsequent use. Furthermore, prolonged exposure of the scraper may result in damage from impacts. Therefore, this embodiment achieves self-cleaning and resetting of the scraper assembly through the following steps S142-S143: Step S142: Control the scraper assembly to move from the extended position to the retracted position.

[0087] Before controlling the movement of the scraper assembly, it is possible to detect whether there are stains on the scraper assembly. When stains are detected on the scraper assembly, the wet cleaning unit is controlled to clean the scraper assembly.

[0088] Specifically, after the scraping action is completed, a visual sensor or a pressure sensor can be used to detect whether there are stains and cleaning fluid residues on the surface of the scraper assembly (such as using image recognition to determine whether there are stains on the scraper surface, or using pressure changes to determine whether there are stains adhering to it), ensuring a comprehensive understanding of the scraper's cleaning status.

[0089] Step S143: During or after the scraper assembly retraction, control the wet cleaning component to clean the scraper assembly.

[0090] Specifically, the sweeping robot of this application can be equipped with a wet cleaning component, such as a cylindrical roller, a flat cloth, a double-disc cloth, or a track. When stains are detected on the scraper component, the scraper component is first moved to a position in contact with the wet cleaning component. Then, the relative movement between the scraper component and the wet cleaning component can be controlled (such as the scraper component reciprocating or the wet cleaning component rotating) to allow the wet cleaning component to wipe and clean the surface of the scraper component to remove the stains on the scraper component until there are no stains or cleaning fluid residues on the surface of the scraper component. After cleaning, the scraper component is slowly retracted from the extended position to the preset storage position to complete the reset, avoiding collision damage caused by the exposed scraper, and without affecting the normal operation of the robot afterwards.

[0091] The beneficial effects of the above embodiments are as follows: automatic cleaning and reset of the scraper assembly are achieved, avoiding bacterial growth or secondary pollution caused by stains and cleaning fluid residue, and improving the cleanliness of the equipment; the storage-type reset design can protect the scraper assembly, extend its service life, and at the same time improve the practicality and convenience of the equipment, reducing the burden of manual cleaning of the scraper by the user.

[0092] Example 2: Secondary cleaning inspection, cleaning effect evaluation and closed-loop control To ensure that stains are completely removed without any cleaning solution residue and to achieve precise control over the cleaning effect, this embodiment implements cleaning effect evaluation and closed-loop control through the following steps S144-S147, and also includes cleaning solution residue control and drying monitoring functions: Step S144: Monitor the dissolution progress of the stain area in real time through the visual inspection module.

[0093] After the scraping action is completed, a high-definition image of the cleaned area is captured by a visual sensor, and combined with the ground humidity value detected by a humidity sensor, the progress of stain dissolution and the amount of cleaning solution residue are comprehensively monitored.

[0094] Step S145: Determine whether additional spray cleaning solution is needed based on the dissolution progress.

[0095] Image recognition algorithms are used to compare images of stains before and after cleaning to analyze whether any residual stains remain. Simultaneously, a humidity sensor detects the floor humidity level to determine if any cleaning solution residue remains. If the area or color intensity of residual stains exceeds a preset threshold, or if the floor humidity level is higher than a normal threshold, the cleaning is deemed incomplete, requiring additional cleaning solution spray. If the humidity level is within the threshold, the cleaning is considered successful.

[0096] Step S146: When it is determined that supplementary spraying is needed, control the spray nozzle to perform supplementary spraying operation.

[0097] If it is determined that there is residual stain or insufficient cleaning solution resulting in incomplete dissolution, record the location of the residue, control the spray nozzle to perform a supplementary spray operation according to the supplementary spray parameters (30%-50% of the original spray volume), and perform the scraping action again after the cleaning solution has fully acted.

[0098] Step S147: When it is determined that the dissolution is complete, drive the sweeping robot to perform a scraping action on the stained area.

[0099] If the stain is determined to be completely dissolved and without residue, drive the robot to perform the scraping action again to ensure that there are no stains or cleaning fluid residues on the ground. If the stain still cannot be completely removed after multiple (preferably 3) additional spraying and scraping, mark the location and notify the user to handle it manually to avoid the equipment working ineffectively for a long time.

[0100] In addition, this embodiment also includes cleaning solution residue control and drying monitoring functions, which can further optimize the cleaning effect, including the following steps: 1. Cleaning liquid residue control: The system uses a humidity sensor to detect the ground humidity in real time, and calculates the ideal spray volume based on the stain area and ground material to avoid excessive cleaning liquid from the source; at the same time, the optimized scraper design improves scraping efficiency and fully pushes the cleaning liquid and stains to the wet cleaning components to reduce residue on the ground; 2. Promoting drying: A. Physical drying: Control the reverse movement of the wet cleaning component to perform a secondary wiping of the floor and absorb residual cleaning solution; control the scraper component to lightly press the floor to assist in water absorption and accelerate floor drying; B. Environmental Adaptation: The system detects ambient temperature and humidity using environmental sensors and adjusts the cleaning fluid dosage accordingly (reduce the spray volume when the temperature is low to prevent the ground from freezing); reduce the spray volume when the ambient humidity is high; and appropriately increase the cleaning fluid action time in well-ventilated areas. C. Final inspection: Check the ground for watermarks using a vision system and record the drying time for self-learning optimization of subsequent cleaning strategies.

[0101] The beneficial effects of this embodiment are as follows: it realizes closed-loop feedback control of cleaning effect, and ensures that the stained area is completely removed through the process of "cleaning-evaluation-adjustment-re-cleaning", avoiding the problems of incomplete cleaning and cleaning solution residue; at the same time, the cleaning solution residue control and drying promotion functions further protect the floor material and improve the user experience; stains that cannot be removed are marked and prompted to the user, taking into account both cleaning effect and equipment efficiency.

[0102] Example 3: Self-learning optimization of cleaning strategies To continuously improve cleaning efficiency and accuracy, and to achieve adaptive adaptation to different environments and types of stains, allowing the robot to "get smarter with use" over long-term use, this cleaning control method also includes a self-learning optimization step for the cleaning strategy after step S140. This is achieved through the following steps S148-S149, with the core being the construction of an intelligent decision-making and learning system: Step S148: Record and store the current cleaning point location and the cleaning parameters being performed.

[0103] Specifically, the robot's positioning module records the exact location (such as coordinate information) of the current stain cleaning point, and stores all cleaning parameters executed during the cleaning process, including cleaning liquid type, concentration, spray volume, spray mode, action time, scraping speed, scraper extension, etc., forming a complete cleaning data archive, which is stored in the robot's memory for easy retrieval and analysis later.

[0104] The parameter optimization learning in this step focuses on the following optimization methods: 1. Spray volume optimization: Record the most effective amount of cleaning solution for different stain areas and thicknesses to avoid waste and insufficient application; 2. Optimized reaction time: Learn the optimal dissolution time for different types of stains under different ambient temperatures to improve dissolution efficiency; 3. Optimized scraping speed: Based on different stain viscosities, the scraping speed is optimized to balance cleaning effect and efficiency; 4. Path optimization: Optimize the scraping path of the scraper for different types and shapes of stains to reduce ineffective scraping actions.

[0105] Step S149: When a matching stain is detected again, the stored cleaning parameters are invoked to perform cleaning.

[0106] Specifically, the cleaning path and strategy of the robot vacuum cleaner can be optimized through self-learning based on the stored cleaning point locations and cleaning parameters. Matching stains refers to stains identified by the stain recognition system that match the current stain with stains in the historical records in terms of type (e.g., liquid stains, oily stains, solid residues, sticky substances, staining substances) and / or stubbornness (e.g., light, moderate, heavy). By matching stain type and / or stubbornness, the applicability of the historical cleaning parameters can be ensured, avoiding poor cleaning results or wasted resources due to parameter mismatches.

[0107] For example, after each cleaning session, it's necessary to record the location of the cleaning point, the scraper extension amount, cleaning time, movement speed, vibration parameters, etc. When encountering the same type or location of cleaning target again, historically successful parameters can be directly retrieved, avoiding the slow response caused by repeated trials. In this way, for the same cleaning point, parameters are continuously optimized after multiple cleanings until the optimal solution is found. Furthermore, by analyzing historical cleaning data, optimal cleaning parameters and cleaning paths can be selected for different types and levels of stubbornness of stains.

[0108] The self-learning optimization specifically includes: spray volume optimization, action time optimization, scraping speed optimization, and path optimization. Specifically, this invention employs the following steps to improve the learning mechanism and continuously optimize the cleaning strategy: 1. Success Case Records: Store parameter combinations that demonstrate good cleaning results to form an optimal parameter database, which can be directly referenced when encountering the same type of stain in the future; 2. Failure Case Analysis: Identify parameter combinations that result in poor cleaning performance, analyze the reasons for inefficiency (such as insufficient spray volume or insufficient action time), and optimize the corresponding parameters; 3. Incremental learning: As the number of cleaning cycles increases, the parameter database is continuously updated to optimize the cleaning strategy. 4. Transfer learning: Apply cleaning experience from one type of stain to similar types of stains to improve cleaning efficiency and adaptability.

[0109] The beneficial effects of this embodiment are as follows: it realizes the self-learning optimization capability of the cleaning strategy, continuously optimizes the cleaning parameter database by recording successful and unsuccessful cleaning cases, so that the robot can continuously adapt to different cleaning environments and stain types during long-term use, and the cleaning effect and efficiency are continuously improved; at the same time, based on the recording of cleaning point locations, the overall cleaning path is optimized to avoid repeated cleaning, reduce power consumption, and improve the robot's endurance.

[0110] In addition, to more clearly highlight the substantive features of this application, a simplified logic flowchart of the cleaning control method 100 of this application is presented below: The robot vacuum cleaner performs normal cleaning → The stain recognition system detects and identifies stains → The robot moves to the target location and adjusts its posture to position the stain between the scraper and the cloth → The scraper assembly extends and fits against the floor, creating a semi-enclosed cleaning space → Cleaning fluid is sprayed directionally through the scraper nozzles → The cleaning fluid fully works to dissolve the stains → The scraper assembly retracts and performs a scraping action, directionally pushing the stains and cleaning fluid to the wet cleaning component → The wet cleaning component absorbs and collects the stains → The scraper is checked for residue, performs self-cleaning, and resets → The cleaning effect is checked, and additional spraying and scraping are performed if necessary → Cleaning parameters are recorded, and self-learning optimization is performed → Cleaning is completed, and global cleaning continues.

[0111] Through the above technical solution, the present invention aims to propose a cleaning control method for a sweeping robot. By configuring an adaptive and retractable scraper assembly with a spray function, combined with accurate stain recognition, intelligent cleaning strategy, directional spraying of cleaning liquid, physical scraping and collection, closed-loop feedback control, self-cleaning reset, self-learning optimization, and a comprehensive abnormal protection mechanism, it effectively solves the core pain points of existing floor scrubbers, such as low automation, incomplete cleaning of stubborn stains, and easy diffusion and residue of cleaning liquid.

[0112] The present invention specifically includes the following beneficial effects: 1. Significantly enhanced cleaning power: Through a three-in-one cleaning mechanism of "spray-dissolve-scrape", the chemical dissolving action is combined with the physical scraping action. The cleaning effect on stubborn stains such as oil stains, dried stains, and sticky substances far exceeds the existing technical solutions that rely solely on wiping with a cloth, completely solving the problem of cleaning stubborn stains. 2. Intelligent adaptive cleaning: Based on the stain recognition system, the system comprehensively assesses the type, area, thickness, and viscosity of stains, and automatically matches the cleaning solution formula and spray parameters to achieve precise cleaning "tailored to the stain", avoiding waste or insufficient use of cleaning solution and improving cleaning efficiency. 3. High cleaning solution utilization and minimal residue: The stains are confined to a semi-enclosed cleaning space between the scraper and the cloth for treatment. The cleaning solution acts directly on the stained area, preventing it from spreading to the surrounding areas. The scraping action during the scraper retraction pushes the dissolved stains along with the cleaning solution onto the cloth, where it is absorbed, greatly reducing the amount of cleaning solution residue on the floor and protecting the floor material. 4. Anti-splash design: The array of spray holes on the inner side of the scraper allows the cleaning liquid to be sprayed directly onto the stained area. The scraper itself acts as a physical barrier, effectively preventing the cleaning liquid from splashing onto the baseboard, furniture legs, and other surrounding areas, thus protecting the home environment. 5. Self-learning optimization capability: By recording successful and unsuccessful cleaning cases, the cleaning parameter database is continuously optimized, making the robot smarter with long-term use, continuously improving cleaning effect and efficiency, and adapting to different cleaning scenarios; 6. Comprehensive anomaly protection: Integrates multiple safety protection mechanisms, including maximum spray volume limit, scraper load protection, anti-slip detection, and circuit waterproofing, to ensure safe and reliable operation of the equipment in various complex scenarios, extend equipment life, and reduce user maintenance costs.

[0113] On the other hand, based on the above-mentioned cleaning control method 100, this application also provides a cleaning control method 200 for a robotic vacuum cleaner, which organically combines stain-specific cleaning with global planar cleaning to achieve all-scenario, efficient cleaning by the robotic vacuum cleaner. The robotic vacuum cleaner is also equipped with an adaptive and retractable scraper assembly and has a spraying function. The cleaning control method 200 may include the following steps: Step S210: Use a robotic vacuum cleaner to perform a global cleaning.

[0114] Once started, the robot vacuum prioritizes the wet cleaning components and roller cleaning mechanism (if configured) to perform a global cleaning task. Following a preset global cleaning path, it thoroughly cleans the entire area to be cleaned (such as the living room, bedroom, kitchen, etc.), efficiently removing common stains such as dust and debris, completing basic cleaning of most areas, and ensuring overall cleaning efficiency. Throughout this process, the robot vacuum's stain recognition system remains active, scanning the area in real time to detect any potential stains, especially stubborn stains.

[0115] Step S220: If a stained area is detected in the area to be cleaned, stop the global cleaning.

[0116] When the robot vacuum's stain recognition system detects stubborn stains in the area to be cleaned during the overall cleaning process, it immediately stops advancing the overall cleaning path, pauses the operation of the roller cleaning mechanism (if configured) and the wet cleaning components, to prevent the mop from spreading the stains and to avoid premature spraying of cleaning fluid, thus preparing for subsequent specialized cleaning.

[0117] Step S230: The scraper assembly is invoked to perform local cleaning on the stained area using the cleaning control method 100 described above.

[0118] After the robot vacuum stops global cleaning, it automatically calls up the retractable scraper assembly and cleaning fluid storage system to start the complete process of the above-mentioned cleaning control method 100. This process involves sequentially executing steps such as "acquiring stain information and determining cleaning strategy, controlling the scraper extension and creating a cleaning space, spraying cleaning fluid to dissolve stains, performing scraping actions and collecting stains, scraper self-cleaning and resetting, and cleaning effect evaluation and closed-loop control". This allows for targeted localized cleaning of identified stubborn stain areas, ensuring that stains are completely removed and avoiding cleaning fluid residue and splashing.

[0119] Step S240: After local cleaning is completed, continue with overall cleaning.

[0120] After completing the localized cleaning of the current stained area according to cleaning control method 100, the robot vacuum cleaner automatically determines that the localized cleaning is complete, confirms that the scraper assembly has completed self-cleaning and returned to its storage position, and that there are no stains or cleaning fluid residues on the ground; then it restarts the wet cleaning component and the roller cleaning mechanism, continues to advance along the preset global cleaning path, completes the global cleaning of the remaining areas, and skips or quickly passes through already cleaned stained areas to avoid repeated cleaning and improve overall cleaning efficiency.

[0121] As can be seen, the aforementioned cleaning control method 200 integrates the aforementioned cleaning control method 100 into the overall cleaning process of the robot vacuum cleaner's main system, forming a closed-loop cleaning mode of "global cleaning - stain recognition - specialized cleaning - continued global cleaning." Its core advantage lies in balancing overall cleaning efficiency with the effectiveness of cleaning localized stains. It meets the needs of cleaning ordinary stains while efficiently handling stubborn stains, achieving full-scene cleaning coverage. This solves the pain point of incomplete cleaning of some stubborn stains, realizing full-scene cleaning with "global coverage + specialized cleaning," thereby enhancing the robot's overall cleaning capabilities and market competitiveness. Simultaneously, during this closed-loop cleaning process, status synchronization is also performed: sensors on the scraper assembly and wet cleaning assembly provide real-time feedback on scraper status, mop saturation, and cleaning progress to the robot's main control unit. Based on this feedback, the main control unit updates the overall cleaning map in real time, marking cleaned areas, uncleaned areas, and the location of stains to avoid repeated cleaning or missed areas. Furthermore, when scraper malfunctions or mop saturation occur, the main control unit can handle the abnormal status globally, pausing all current cleaning actions and prioritizing the execution of the abnormality protection program. Once the abnormality is resolved, the overall cleaning or targeted cleaning process can be resumed, ensuring the reliability and safety of the entire cleaning process.

[0122] On the other hand, this application also provides a robotic vacuum cleaner equipped with a retractable scraper assembly, which performs the cleaning control method for robotic vacuum cleaners as described above.

[0123] Specifically, such as Figure 2 As shown, the scraper assembly may include a telescopic drive unit 10 and a scraper body 20. The scraper body 20 may be connected to the telescopic drive unit 10 and includes a scraper element 21 for cleaning the floor by scraping action. The telescopic drive unit 10 may be configured to drive the scraper body 20 between a retracted position and an extended position. The scraper element 21 may be positioned to perform cleaning operations when the scraper body 20 is in the extended position.

[0124] Optionally, the telescopic drive unit includes a drive motor 11 and a transmission mechanism 12 driven by the drive motor.

[0125] Optionally, the transmission mechanism includes a linkage assembly hinged to the scraper body.

[0126] Optionally, the linkage assembly includes a drive linkage 13 and a passive linkage 14 arranged parallel to the drive linkage. The two ends of the drive linkage and the passive linkage are respectively used to hinge with the body of the sweeping robot and the scraper body to form a parallelogram linkage mechanism.

[0127] Optionally, the rotation axis of the driving link and the rotation axis of the passive link are both set approximately perpendicular to the ground.

[0128] Optionally, the scraper body includes a scraper support rod 22, and the scraping element is rotatably connected to the scraper support rod.

[0129] Optionally, it also includes a reset member 23, which applies a force to the scraper to give it a rotational tendency to perform a cleaning operation.

[0130] Optionally, the reset element is a torsion spring, which acts on the pivot connecting the scraper element and the scraper support rod.

[0131] Optionally, the scraper assembly is provided with an adaptive scraper strip 25 at the lateral end of the scraper body. The adaptive scraper strip is configured to extend and / or elastically deform along the length direction of the scraper body. The adaptive scraper strip is also configured to extend laterally to expand the lateral cleaning range after the scraper body extends. The function of the adaptive scraper strip is to provide additional cleaning capability in lateral areas that the scraper body cannot directly contact, achieving interference cleaning of corners and the roots of obstacles.

[0132] Furthermore, the adaptive squeegee can be made of flexible materials, such as rubber, silicone, or a brush, to elastically deform upon contact with the cleaning target (such as a corner or obstacle) to conform to the target while avoiding damage. The adaptive squeegee is connected to the squeegee body via an elastic element, giving it an elastic tendency to extend, ensuring it remains in an extended state without external force.

[0133] Optionally, it also includes a linkage structure configured to: in response to the scraper body moving to the retracted position, drive or allow the scraper to switch to an avoidance posture different from its cleaning posture in the extended position.

[0134] Optionally, the linkage structure includes mutually cooperating contact parts, which are respectively disposed on the telescopic drive unit and the scraper body. When the scraper body moves to the storage position, the scraping component is driven to rotate through contact engagement.

[0135] Optionally, in the extended position, the scraper body protrudes at least partially from the side profile of the robot body.

[0136] Optionally, during the movement of the scraper body from the storage position to the extension position, the scraper body performs a linear translation at least in one phase of the movement.

[0137] Optionally, the scraper is configured to perform cleaning operations as the scraper body moves from the retracted position to the extended position.

[0138] Optionally, the scraper is configured to perform cleaning operations as the scraper body moves from the extended position to the retracted position.

[0139] Optionally, when the scraper body moves from the storage position to the extension position, its trajectory has at least simultaneously a directional component opposite to the direction of travel of the sweeping robot and a directional component toward the side of the robot.

[0140] Additionally, the scraper assembly includes a telescopic drive unit 10 and a scraper body 20. The scraper body 20 can be drivenly connected to the telescopic drive unit 10, and the scraper body 20 may include a scraping element 21 for cleaning the floor; wherein, the telescopic drive unit 10 is configured to drive the scraper body 20 to perform a compound motion, the compound motion including a horizontal displacement component that causes the scraper body 20 to extend laterally and a vertical displacement component that causes the scraping element 21 to perform cleaning operations.

[0141] Optionally, the drive unit is configured to accept a single drive input to generate the composite motion.

[0142] Optionally, the drive unit includes a transmission linkage mechanism, the scraper body is hinged to the transmission linkage mechanism, and the transmission linkage mechanism converts the drive input into the composite motion of the scraper body.

[0143] Optionally, the transmission linkage mechanism is a parallelogram linkage mechanism.

[0144] Optionally, the scraping element is rotatably mounted on the scraper body.

[0145] Optionally, it also includes a biasing element that acts on the scraper to provide it with a biasing force that tends to perform the cleaning operation.

[0146] Optionally, the target surface for the cleaning operation is the ground or the surface of a side obstacle.

[0147] The beneficial effects of the sweeping robot provided by this invention can be referred to the above description of the cleaning control methods 100 and 200 for the sweeping robot, and will not be repeated here.

[0148] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0149] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning control method for a robotic vacuum cleaner, characterized in that, The sweeper robot is configured with a retractable squeegee assembly, and the squeegee assembly is provided with a spray hole. The cleaning control method comprises: Obtain stain information of the area to be cleaned, and determine a cleaning strategy; Control the squeegee assembly to move from the retracted position to the extended position, so that the squeegee assembly is in contact with the ground; According to the cleaning strategy, spray cleaning liquid to the ground through the spray hole, so that the cleaning liquid acts on the stain area; and Drive the sweeper robot to perform a scraping action on the stain area.

2. The cleaning control method of the sweeper robot according to claim 1, wherein: The stain information includes at least one of stain type, stain area, and stain thickness; and / or The cleaning strategy includes at least one of cleaning liquid type, cleaning liquid concentration, spray amount, spray mode, action time, and scraping speed.

3. The cleaning control method of the sweeper robot according to claim 2, wherein: The stain type includes at least one of liquid stain, oily stain, solid residue, viscous substance, and dyed substance.

4. The cleaning control method of the sweeper robot according to claim 2, wherein: The spray mode includes at least one of point spray, line spray, and surface spray. 5.The cleaning control method of the robot cleaner according to claim 1, wherein, The sweeper robot is also configured with a wet cleaning assembly, and the cleaning control method further comprises: After obtaining the stain information of the area to be cleaned, control the sweeper robot to move to a target position, so that the stain area is located between the squeegee assembly and the wet cleaning assembly; Control the squeegee assembly to extend to contact the ground, forming a cleaning space between the squeegee assembly and the wet cleaning assembly. 6.The cleaning control method of the robot cleaner according to claim 5, wherein, The driving of the sweeper robot to perform a scraping action on the stain area comprises: Control the squeegee assembly to move towards the wet cleaning assembly, and direct the scraped stains to the wet cleaning assembly. 7.The cleaning control method of the robot cleaner according to claim 1, wherein, The sweeper robot is also configured with a wet cleaning assembly, and the cleaning control method further comprises: Control the squeegee assembly to move from the extended position to the retracted position; During or after the squeegee assembly is retracted, control the wet cleaning assembly to clean the squeegee assembly. 8.The cleaning control method of the robot cleaner according to claim 7, wherein, The control of the wet cleaning assembly to clean the squeegee assembly comprises: Control the squeegee assembly to move to a position in contact with the wet cleaning assembly; and Control the relative motion between the squeegee assembly and the wet cleaning assembly to remove the stains attached to the squeegee assembly.

9. The cleaning control method of the sweeper robot according to claim 1, wherein: The sweeper robot is configured with a visual detection module, and after spraying cleaning liquid to the ground, the cleaning control method further comprises: Real-time monitoring of the dissolution progress of the stain area by the visual detection module; According to the dissolution progress, determine whether additional spraying of cleaning liquid is needed; When it is determined that additional spraying is needed, control the spray hole to perform additional spraying operation. 10.The cleaning control method of the robot cleaner according to claim 9, wherein, Further comprising: When it is determined that the dissolution is complete, drive the sweeper robot to perform a scraping action on the stain area. 11.The cleaning control method of the robot cleaner according to claim 1, wherein, Further comprising: Identify abnormal states of the scraper assembly during movement, including one or more of the following: abnormal cleaning fluid spraying, abnormal scraping process, and abnormal cleaning effect. Based on the abnormal state, a protection procedure is executed on the scraper assembly or an alarm is issued.

12. The cleaning control method for a sweeping robot according to claim 1, characterized in that, After driving the robotic vacuum cleaner to perform a scraping action on the stained area, the cleaning control method further includes: Record and store the current cleaning point location and the cleaning parameters being performed, including at least one of spray volume, action time, and scraping speed; When a matching stain is detected again, the stored cleaning parameters are invoked to perform the cleaning. 13.A method for cleaning control of a robot cleaner, the method comprising: The robotic vacuum cleaner is equipped with a retractable scraper assembly, which has spray nozzles. The cleaning control method includes: The robotic vacuum cleaner is used to perform global cleaning. If a stained area is detected in the area to be cleaned, the global cleaning process will be stopped. By invoking the scraper assembly and the spray hole, the stain cleaning control method of the sweeping robot according to any one of claims 1-11 is used to perform local cleaning on the stained area; After the local cleaning is completed, continue with the global cleaning.

14. A robotic vacuum cleaner configured with a retractable squeegee assembly, characterized in that, Perform the cleaning control method of the sweeping robot according to any one of claims 1-12; or perform the cleaning control method of the sweeping robot according to claim 13.

15. The robotic vacuum cleaner of claim 14, wherein, The scraper assembly includes: scraper body; and An adaptive scraper strip is disposed at the lateral end of the scraper body and extends along the length of the scraper body. The adaptive scraper strip is configured to extend laterally to expand the lateral cleaning range of the scraper assembly.

16. The robotic vacuum cleaner of claim 15, wherein, The adaptive scraper is made of a flexible material and is designed to elastically deform upon contact with the target being cleaned in order to conform to the target.

Images