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. The cleaning control method includes: acquiring stain information of the area to be cleaned; determining whether the stain is a stubborn stain based on the stain information; if the stain is determined to be a stubborn stain, controlling the scraper assembly to move from a retracted position to an extended position, so that the scraper assembly makes contact with the ground; and driving the robotic vacuum cleaner to perform a scraping action on the stubborn stain. Based on the configured retractable scraper assembly, this invention applies directional mechanical force to stubborn stains through the physical scraping action of the retractable scraper, achieving effective removal of dried and sticky stains.

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 development of intelligent home cleaning appliances, robotic vacuum cleaners have become the main equipment for daily floor cleaning. Regarding the treatment of stubborn stains on floors, existing technologies mainly include the following solutions: Spot cleaning technology for floor scrubbers. Existing floor scrubbers are equipped with manual or semi-automatic cleaning functions. The workflow of this technology is as follows: after discovering stains on the floor, the user manually operates the floor scrubber to repeatedly push and pull the stained area, removing the stains through the physical wiping action of the roller brush. The drawbacks of this solution are: it requires manual intervention and operation, has a low degree of automation, and the wiping action of the roller brush is limited in removing stubborn stains such as dried and sticky stains.

[0003] Robotic vacuum cleaners utilize a combination of visual recognition and mop cleaning technology. 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 cleans it by repeatedly wiping with a mopping module (such as a dual-disc mop, roller mop, tracked mop, or single-piece mop). The drawback of this technology is that relying solely on passive wiping with a mop cannot effectively remove stubborn stains physically, and its cleaning effect on dried stains and sticky substances is limited. Furthermore, the mop easily becomes saturated during repeated wiping, causing the stains to spread rather than be removed.

[0004] Currently, some robotic vacuum cleaners have fixed scrapers behind the mop to remove excess water from the floor. However, this scraper structure is fixed and has a single function, only assisting the mop and unable to actively target and remove stains. In particular, existing technologies lack an active, intelligent physical scraping mechanism for stubborn stains, resulting in incomplete cleaning of dried, sticky, and other stubborn stains, and easily causing stains to spread and cause secondary pollution. Summary of the Invention

[0005] The purpose of this application is to provide a sweeping robot and its cleaning control method, which aims to solve the technical problems of incomplete cleaning and stain spread when existing sweeping robots 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 being equipped with a retractable scraper assembly. The cleaning control method includes: acquiring stain information of an area to be cleaned; determining, based on the stain information, whether the stain is a stubborn stain; if the stain is determined to be a stubborn stain, controlling the scraper assembly to move from a retracted position to an extended position, so that the scraper assembly makes contact with the ground; and driving the robotic vacuum cleaner to perform a scraping action on the stubborn stain.

[0007] In some feasible embodiments, determining whether the stain is a stubborn stain based on the stain information includes: Obtain the historical cleaning record of the area to be cleaned, the historical cleaning record including at least one of the following: whether the area has been cleaned before, the number of times it has been cleaned, and the cleaning effect; and Based on the stain information and the historical cleaning records, determine whether the stain is a stubborn stain.

[0008] In some feasible embodiments, the stain information includes at least one of stain type, stain area, stain color, and stain texture.

[0009] In some feasible embodiments, the robotic vacuum cleaner is also equipped with a wet cleaning component, and after determining that the stain is a stubborn stain, the cleaning control method further includes: Controlling the scraper assembly to extend and make contact with the ground, and forming a cleaning space between the scraper assembly and the wet cleaning assembly; and Control the robot vacuum to move until the stubborn stains are contained within the cleaning space.

[0010] In some feasible embodiments, driving the robotic vacuum cleaner to perform a scraping motion on the stubborn stains includes: The scraper assembly is controlled to move towards the wet cleaning component, and the scraped dirt is pushed in a specific direction to the wet cleaning component for collection.

[0011] In some feasible embodiments, after determining that the stain is a stubborn stain, the cleaning control method further includes: Based on the stain information, the type and severity of the stain can be identified; and Based on the type and stubbornness of the stain, a scraping strategy is determined to drive the robot vacuum cleaner to perform the scraping action.

[0012] In some feasible embodiments, the scraping strategy includes at least one of scraping method, number of scraping times, scraper pressure, and moving speed; The scraping method includes at least one of single scraping, reciprocating scraping, and rotary scraping.

[0013] In some feasible embodiments, the robotic vacuum cleaner is also 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.

[0014] 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.

[0015] In some feasible embodiments, the robotic vacuum cleaner is equipped with a vision detection module, and after driving the robotic vacuum cleaner to perform a scraping action on the stubborn stains, the cleaning control method further includes: The visual detection module acquires image information of the cleaned area. Based on the image information, determine whether there are any stains remaining; If it is determined that there is still stain residue, the scraping action is performed again; Stop cleaning once you determine that the stains have been completely removed.

[0016] In some feasible embodiments, it also includes: Identify abnormal states of the scraper assembly during movement, including one or more of the following: overload state, jamming state, timeout state, and wet cleaning component saturation. 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 stubborn stains, 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 the following: scraping method, number of scrapings, scraper pressure, and moving speed; When a matching stubborn stain is identified 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, wherein the robotic vacuum cleaner is equipped with a retractable scraper assembly, and the cleaning control method includes: using the robotic vacuum cleaner to perform global cleaning; stopping the global cleaning when stubborn stains are detected in the area to be cleaned; invoking the scraper assembly to perform local cleaning on the stubborn stains using the cleaning control method for the robotic vacuum cleaner 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, the present invention provides a control method for a sweeping robot that can intelligently identify stubborn stains and start a special cleaning program. Based on the configured retractable scraper assembly, the retractable scraper applies directional mechanical force to stubborn stains through physical scraping action, thereby effectively removing dried and sticky stains.

[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: With the rapid iteration of the home intelligent cleaning industry, robot vacuums and mops have become core devices for home cleaning, and their cleaning performance directly determines the user experience. Currently, robot vacuums on the market mainly rely on wiping with a cloth and rolling with a roller to achieve cleaning. They have a good cleaning effect on ordinary stains such as daily dust and debris, but there are still obvious technical shortcomings when dealing with stubborn stains such as dried stains and sticky stains.

[0029] Current technologies for robotic vacuum cleaners lack active, intelligent physical scraping mechanisms for stubborn stains. Most rely solely on passive wiping with a cloth or the rolling friction of the rollers for cleaning, which fails to break down the adhesion of dried stains and sticky substances. This results in incomplete cleaning of stubborn stains, leaving them on the floor for extended periods. Furthermore, the lack of a directional collection mechanism allows scraped-off stains to spread, causing secondary pollution. This not only fails to improve cleaning effectiveness but also increases the burden of subsequent cleaning.

[0030] Furthermore, existing technologies fail to accurately identify the type and stubbornness of stains, employing a uniform cleaning strategy for all stains without adjusting cleaning methods and parameters based on stain characteristics. This results in low cleaning efficiency and wasted resources. Additionally, the protection mechanisms for abnormal cleaning components are inadequate, and the scraper assembly is prone to overload and jamming in complex environments, affecting the lifespan of the equipment. This further restricts the cleaning performance and user experience of robotic vacuum cleaners, becoming a significant bottleneck in the current upgrade of intelligent cleaning equipment.

[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 for cleaning stubborn stains. Through the physical scraping action of the scraper, directional mechanical force is applied to stubborn stains, effectively breaking down the adhesion of dried stains and sticky substances, resulting in a cleaning effect far exceeding that of existing technologies that rely solely on wiping with a cloth. Furthermore, the present invention can combine precise stain recognition, intelligent adaptive cleaning strategies, directional stain collection mechanisms, closed-loop feedback control, and a comprehensive anomaly protection mechanism to achieve refined and intelligent cleaning of stubborn stains, balancing cleaning effectiveness, equipment safety, and user experience.

[0032] 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.

[0034] Step S120: Determine whether the stain is a stubborn stain based on the stain information.

[0035] Step S130: If the stain is determined to be a stubborn stain, control the scraper assembly to move from the retracted position to the extended position so that the scraper assembly makes contact with the ground.

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

[0037] Through the above technical solution, the present invention provides a control method for a sweeping robot that can intelligently identify stubborn stains and start a special cleaning program. Based on the configured retractable scraper assembly, the retractable scraper applies directional mechanical force to stubborn stains through physical scraping action, thereby effectively removing dried and sticky stains.

[0038] The core of step S110 is to achieve accurate identification and positioning of stains, providing data support for subsequent determination of stubborn stains and formulation of cleaning strategies. Specifically, it includes three steps: stain identification, location positioning, and posture adjustment, thereby enabling accurate identification, accurate positioning, and accurate alignment.

[0039] In some feasible embodiments, to achieve stain recognition and classification, the robotic vacuum cleaner is equipped with a visual sensor (such as a high-definition camera) to collect real-time images of the area to be cleaned. Using a preset image recognition algorithm, stain information is extracted from the images. Simultaneously, the robot employs SLAM (Simultaneous Localization and Mapping) technology to accurately determine its relative position to the stain, calculate the optimal movement path, and drive the robot to a preset distance (preferably 5-10 cm) in front of the stain, ensuring that the scraper assembly is directly facing the stain area.

[0040] In some feasible embodiments, in order to improve the scraping effect, it is necessary to adjust the direction and posture of the robot so that the scraper can clean along the optimal direction: for example, for long strip stains, the scraper is controlled to be arranged along the long side of the stain, so that a larger stain area can be covered in one scraping and the cleaning efficiency can be improved; for dotted stubborn stains, the scraper is adjusted to face the center of the stain, so that the scraping force is concentrated on the core area of ​​the stain and the effect of breaking the adhesion of the stain is enhanced.

[0041] The beneficial effects of the above embodiments are as follows: through the synergistic effect of visual sensors and SLAM technology, accurate identification and positioning of stains are achieved, solving the problem of inaccurate cleaning caused by fuzzy stain identification and positioning deviation in the prior art; by adjusting the robot posture and scraper direction, it is ensured that the scraping action can act on the stain at the best angle, laying the foundation for the efficient removal of stubborn stains, while reducing ineffective movement and improving cleaning efficiency.

[0042] Step S120 requires determining whether a stain is a stubborn stain based on the stain information. This step is to avoid using high-cost stubborn stain cleaning strategies for ordinary stains, which would waste electricity and time. This step requires accurate identification of the stain type, distinguishing between ordinary stains and stubborn stains, to achieve "cleaning on demand" and improve cleaning efficiency and resource utilization.

[0043] In some feasible embodiments, stain information includes at least one of the following: stain type, stain area, stain color, stain texture, etc. Specifically, parameters such as stain color intensity (e.g., dark stains may be stubborn stains), texture features (e.g., dried stains have a rough texture, sticky stains have a reflective texture), and area size (e.g., large-area stains are more likely to be stubborn residues) can be extracted using image recognition algorithms and combined with preset judgment criteria to preliminarily determine whether it is a stubborn stain.

[0044] In some feasible embodiments, to improve the accuracy of the judgment, a comprehensive judgment can be made by combining historical cleaning records to avoid misjudgment or omission. Specifically, step S120 may also include the following steps S121-S122: Step S121: Obtain the historical cleaning records of the area to be cleaned.

[0045] Step S122: Determine whether the stain is a stubborn stain based on the stain information and historical cleaning records.

[0046] In some feasible embodiments, the historical cleaning record may include at least one of the following: whether the area has been cleaned, the number of times it has been cleaned, and the cleaning effect (such as whether there are still stains after cleaning). These records are stored in the robot vacuum's memory and can be quickly retrieved by matching the current cleaning area with the historical record through the positioning module.

[0047] For example, if an area has been cleaned multiple times but still has the same type of stains remaining, and the current stains are darker in color and have a rougher texture, then it can be identified as a stubborn stain; if an area is the first time a stain has appeared, and the stains are lighter in color and have a smoother texture, then it can be identified as a common stain, and regular cleaning methods can be used.

[0048] The beneficial effects of the above embodiments are: accurate identification of stubborn stains is achieved, avoiding the waste of resources caused by using complex cleaning strategies for ordinary stains. At the same time, by combining historical cleaning records, the probability of misjudgment is reduced, ensuring that stubborn stains can be accurately identified and treated in a targeted manner, improving the targeting and efficiency of cleaning, and further optimizing the user experience.

[0049] In step S130, if the stain is determined to be stubborn, the scraper assembly is controlled to move from the retracted position to the extended position, making the scraper assembly in contact with the ground. This step is the core of physically removing stubborn stains. Through scraper assembly extension control, cleaning space construction, directional pushing, and adaptive scraping strategies, it ensures that stubborn stains are effectively scraped off and do not spread. At the same time, a comprehensive abnormal protection mechanism is provided to ensure equipment safety.

[0050] In some feasible embodiments, the scraper assembly in this application may include an adaptive scraper strip, which is connected to the body of the sweeping robot via an elastic element (preferably a spring). The elastic force of the elastic element can ensure that the scraper assembly always maintains close 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 on stubborn stains; at the same time, the elastic connection can also play a buffering role, reducing hard collisions between the scraper and obstacles.

[0051] In some feasible embodiments, in order 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. The wet cleaning component can be, for example, a cylindrical roller, a flat cloth, a double-disc cloth, or a track, etc., and this invention is not limited to these. In the specific execution process, the robot vacuum can first be controlled to move to the target position, so that the stain is located in the area between the scraper component and the wet cleaning component; then, the scraper component is controlled to extend until it contacts the ground, creating a semi-enclosed cleaning space; finally, the robot vacuum is driven to perform a scraping action, so that the scraper component applies a physical scraping action to the stain, while simultaneously controlling the scraper component to slowly move towards the wet cleaning component, directionally pushing the scraped stain to the wet cleaning component.

[0052] In some feasible embodiments, in order to achieve targeted stain collection, after determining that the stain is a stubborn stain, step S130 may further include the following steps S131-S132: Step S131: 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.

[0053] Step S132: Control the robot vacuum to move until the stubborn stains are contained within the cleaning space.

[0054] Specifically, the first step is to control the robot vacuum to move to the target location, positioning stubborn stains between the scraper assembly and the wet cleaning assembly. Then, the scraper assembly needs to be slowly extended until it contacts the ground, a process controlled at a slow speed to avoid violent collisions. Simultaneously, a pressure sensor on the scraper assembly monitors the contact pressure in real time, dynamically adjusting the extension amount to ensure a tight fit between the scraper and the ground with appropriate pressure. When the pressure reaches a preset threshold, extension stops, ensuring good contact between the scraper and the ground (providing sufficient scraping pressure while avoiding excessive pressure that could damage the ground or the scraper). At this point, the scraper, the wet cleaning assembly, and the side structure of the robot vacuum together form a semi-enclosed cleaning space.

[0055] In some feasible embodiments, in order to further confine the stain within the space and prevent the stain from spreading to the surroundings during the scraping process, the robot can be driven to fine-tune its position based on the stain location information located by SLAM, so that the stubborn stain is precisely located in the cleaning space between the scraper assembly and the wet cleaning assembly, ensuring that the subsequent scraping action can scrape off all the stain and push it to the wet cleaning assembly.

[0056] Furthermore, the size of the cleaning space can be adaptively adjusted according to the area of ​​the stain to ensure that the stain is completely surrounded. During the scraping process, to avoid secondary pollution, the stain is preferably continuously pushed towards the robot's wet cleaning component by the scraper, preferably a wet cloth, which has a strong adsorption function and can quickly collect the scraped-off stain, preventing stain residue or spread. This design effectively solves the pain point of secondary pollution when cleaning stubborn stains in existing technologies, ensuring a clean and efficient cleaning process.

[0057] In some feasible embodiments, the present invention may further include an intelligent adaptive cleaning strategy, which can automatically select the optimal scraping method and scraping parameters based on the identification results of stain type and stubbornness, to achieve precise cleaning "tailored to the stain" and further improve the cleaning effect of stubborn stains. Specifically, after determining that the stain is a stubborn stain, the cleaning control method 100 of the present invention may further include steps S134-S135: Step S134: Identify the type and stubbornness of the stain based on the stain information.

[0058] Step S135: Determine a scraping strategy based on the type and stubbornness of the stains, and drive the robot vacuum cleaner to perform scraping actions based on the scraping strategy.

[0059] In some feasible embodiments, the stain type (such as dried stains, sticky stains, oil stains, etc.) is further refined through image recognition algorithms and stain information analysis. At the same time, the stubbornness of the stain (mildly stubborn, moderately stubborn, and severely stubborn) is determined based on the stain's color depth, texture roughness, area size, and historical cleaning records.

[0060] In some feasible embodiments, the scraping strategy may include adjusting at least one of the following: scraping method, number of scrapings, scraper pressure, and moving speed; the scraping method may include at least one of the following: single scraping, reciprocating scraping, and rotary scraping (if the scraper structure design allows it).

[0061] In practical applications, different scraping strategies should be adopted for different types and degrees of stubbornness of stains: For example, for lightly dried stains, a single scraping method should be used, with the scraper pressure controlled at a moderate level and the moving speed at a moderate level (preferably 8-12 cm / s) to ensure that the stains are removed quickly without damaging the ground; for moderately sticky stains, a reciprocating scraping method should be used, with the number of scrapings set at 2-3 times, pausing for 1-2 seconds after each scraping to allow the stains to detach from the ground, while reducing the moving speed (preferably 5-8 cm / s) to increase the contact time between the scraper and the stains; for heavily stubborn stains (such as long-term dried oil stains and dirt), a combination of reciprocating and rotating scraping should be used, with the number of scrapings set at 3-5 times, increasing the scraper pressure and reducing the moving speed (preferably 3-5 cm / s) to break the adhesion of the stains from different directions; in addition, for highly sticky stains, check whether the scraper is sticky with stains after each scraping, and if necessary, perform a scraper self-cleaning step in advance to prevent the spread of sticky stains.

[0062] In some feasible embodiments, considering the complexity of the environment to be cleaned, the scraper assembly may experience abnormal states such as overload, jamming, or timeout during movement. If not handled promptly, this can lead to problems such as scraper assembly damage or motor failure. Therefore, a robust abnormality protection mechanism is needed to handle and protect the scraper assembly during its movement.

[0063] In some feasible embodiments, the cleaning control method 100 may further include the following steps S136-S137: Step S136: Identify abnormal states of the scraper assembly during its movement.

[0064] Step S137: Based on the abnormal state, perform a protection procedure on the scraper assembly or issue an alarm.

[0065] In some feasible embodiments, the abnormal state mainly includes one or more of the following: overload state, jamming state, timeout state, etc. Among them, the overload state refers to the excessive resistance encountered by the scraper assembly when it extends, resulting in an abnormal increase in the drive motor current; the jamming state refers to the scraper assembly being stuck by a foreign object during extension or movement, and unable to move normally; the timeout state refers to the scraper assembly taking longer than a preset threshold to move from the retracted position to the target extension position, or staying at a certain position for too long, and being unable to complete the extension action.

[0066] For example, if the scraper encounters unusual resistance during extension or cleaning, it stops and retracts, attempting to readjust its position. If the cloth becomes saturated, cleaning is paused, prompting the user to replace the cloth or perform self-cleaning.

[0067] Specifically, in some feasible embodiments, the present invention designs corresponding protection measures for different abnormal states to ensure equipment safety: 1. In case of overload, the current of the drive motor can be monitored in real time through the current detection module. When the current exceeds the preset safety threshold, it is determined to be an overload, and the motor is immediately controlled to stop running to avoid motor burnout. At the same time, the scraper assembly is controlled to retract appropriately to reduce resistance. 2. For stuck conditions, an anti-stuck mechanism is required, including periodically controlling the scraper assembly to move in the opposite direction to use the reverse force to get rid of the foreign object stuck. If the reverse movement is ineffective, control the robot body to generate slight vibration to assist the scraper assembly in getting out of trouble. If the getting out of trouble fails multiple times, execute the stop program and issue an alarm. 3. For timeout conditions, a single-point cleaning timeout automatic exit mechanism can be set. If the scraper assembly fails to extend within the preset time or stays at a certain position for more than the threshold, the current cleaning process will be automatically exited to avoid damage caused by the equipment being in working state for a long time. At the same time, a limit on the number of retryes can be set (maximum 3 times). If all 3 retries fail, an alarm will be issued to remind the user to check the equipment or remove obstacles.

[0068] 4. For saturated cloth: The saturation level of the wet cleaning component is detected by a humidity sensor or weight sensor. When the saturation threshold is reached, cleaning is paused, and the user is prompted to replace the cloth or control the robot to perform the cloth self-cleaning action (if the self-cleaning function is configured).

[0069] The beneficial effects of this anomaly handling and protection procedure are as follows: it realizes a comprehensive anomaly protection mechanism, integrating multiple safety mechanisms such as overload protection, anti-jamming, timeout protection, and cloth saturation detection. It can promptly identify and handle various anomalies that occur when the scraper assembly is working in complex environments, ensuring the reliability and safety of the telescopic scraper, effectively extending the service life of the scraper assembly and the robot as a whole, and reducing the user's maintenance costs.

[0070] Step S140 involves driving the robotic vacuum cleaner to perform a scraping action on stubborn stains. After the scraper assembly extends, the cleaning space is created, and the scraping strategy is determined, the robotic vacuum cleaner is driven to perform a precise scraping action on stubborn stains according to the preset scraping strategy, ensuring that the stains are completely scraped off the ground. At the same time, it can also collect stains through directional pushing to avoid secondary pollution.

[0071] In some feasible embodiments, the robot vacuum cleaner can be equipped with wet cleaning components, such as cylindrical rollers, flat cloths, double-disc cloths, and tracks, which play a core role in collecting dirt during the process of driving the robot vacuum cleaner to perform scraping actions.

[0072] In some feasible embodiments, targeted stain collection is specifically achieved through the following step S141: Step S141: Control the scraper assembly to move towards the wet cleaning assembly, and push the scraped dirt to the wet cleaning assembly for collection.

[0073] In some feasible embodiments, to avoid secondary pollution during the scraping process, this step can push the scraped-off stains to the wet cleaning component. Specifically, during the scraping process, the stains are preferably continuously pushed towards the robot's wet cleaning component by the scraper. That is, by controlling the scraper component to move slowly towards the wet cleaning component, the scraped-off stains are continuously pushed to the wet cleaning component. Typically, the wet cleaning component (preferably a wet cloth) has a strong adsorption function, thereby utilizing the adsorption function of the wet cleaning component (such as the water absorption and stickiness of the wet cloth) to quickly collect the scraped-off stains, ensuring that there are no stains left on the ground and preventing stains from remaining or spreading. This design effectively solves the pain point of secondary pollution easily generated when cleaning stubborn stains in the prior art, ensuring that the cleaning process is clean and efficient. At the same time, during the pushing process, it is also necessary to control the robot to maintain stable movement to avoid stains scattering due to shaking, further improving the cleaning effect.

[0074] Once stubborn stains are completely removed, the scraper assembly is slowly retracted from its extended position to the preset storage position to avoid collision damage caused by exposed scrapers. This also reduces resistance during the robot's movement, ensuring the smoothness of the subsequent overall cleaning process. The robot then continues to perform cleaning tasks in other areas.

[0075] In some feasible embodiments, in order to further improve the practicality and service life of the equipment and optimize the cleaning effect, this application also designs subsequent cleaning finishing and optimization steps. That is, after step S140, the cleaning control method 100 of this application may also include the following three embodiments.

[0076] Example 1: Self-cleaning method and resetting of scraper assembly During or after the scraping action in step S140, to prevent stains adhering to the scraper assembly from sticking and hardening, thus affecting the subsequent cleaning effect, and to protect the scraper assembly, this cleaning control method also includes the self-cleaning and resetting of the scraper assembly, which can be achieved through the following steps S142-S143: Step S142: Control the scraper assembly to move from the extended position to the retracted position.

[0077] 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.

[0078] Specifically, the scraper assembly is first extended and scraped to clean stubborn stains through the aforementioned steps. During or after the scraping process, a visual sensor or pressure sensor is used to detect whether stains are attached to the surface of the scraper assembly (e.g., image recognition is used to determine whether there are stains on the scraper surface, or pressure changes are used to determine whether there are stains stuck together).

[0079] Step S143: During or after the scraper assembly retraction, control the wet cleaning component to clean the scraper assembly.

[0080] Specifically, the sweeping robot of this application may also be equipped with wet cleaning components, such as cylindrical rollers, flat cloths, double-disc cloths, and tracks.

[0081] In some feasible embodiments, when stains are detected on the scraper assembly, the scraper assembly is first moved to a position where it contacts the wet cleaning component. Then, the relative movement between the scraper assembly and the wet cleaning component (such as reciprocating movement of the scraper assembly or rotation of the wet cleaning component) is controlled to allow the wet cleaning component to wipe and clean the surface of the scraper assembly to remove the stains attached to the scraper assembly until there are no stains left on the surface of the scraper assembly. After cleaning is completed, the scraper assembly is controlled to retract to the storage position to complete the reset.

[0082] The beneficial effects of this embodiment are: it realizes automatic cleaning and resetting of the scraper assembly, avoids stains from sticking and hardening on the scraper, ensures that the subsequent cleaning effect is not affected, reduces the maintenance cost of manual scraper cleaning, extends the service life of the scraper assembly, and improves the practicality and convenience of the equipment.

[0083] Example 2: Cleaning effect evaluation and closed-loop control To ensure that stubborn stains are thoroughly removed and to avoid user complaints due to incomplete cleaning, the robotic vacuum cleaner is equipped with a visual detection module. After the robotic vacuum cleaner performs a scraping action on the stubborn stains in step S140, this cleaning control method also includes a cleaning effect evaluation and closed-loop adjustment step, which is achieved through the following steps S144-S147: Step S144: Obtain image information of the cleaned area through the visual inspection module.

[0084] After the scraping action is completed, the robot is driven to move to a suitable position and uses a vision sensor to capture high-definition images of the cleaned area to obtain image information for subsequent cleaning effect evaluation.

[0085] Step S145: Determine whether there are any stains remaining based on the image information.

[0086] Image recognition algorithms can be used to compare images of stains before and after cleaning to analyze whether there are residual stains. If the area or color intensity of the residual stains exceeds a preset threshold, it is determined that the cleaning is not thorough and there are residual stains; if it does not exceed the threshold, it is determined that the stains have been completely removed.

[0087] Step S146: If it is determined that there is stain residue, perform the scraping action again.

[0088] If stains are found to be present, adjust the scraping strategy according to the condition of the stains (such as increasing the number of scrapes, increasing the pressure of the scraper, or adjusting the scraping direction), and perform the scraping action again until the stains are below the preset threshold.

[0089] Step S147: When it is determined that the stains have been completely removed, the cleaning process is terminated.

[0090] If the stain is determined to be removed, the current stubborn stain cleaning process is terminated, the scraper assembly is reset, and the robot continues to perform the overall cleaning task. If the stain still cannot be completely removed after multiple (preferably 3) adjustments to the scraping strategy, the location is marked and an alarm is issued to prompt the user to handle it manually, thus avoiding prolonged ineffective operation of the equipment.

[0091] The beneficial effects of this embodiment are as follows: it realizes closed-loop feedback control of cleaning effect, and ensures that stubborn stains are completely removed through the process of "cleaning-evaluation-adjustment-re-cleaning", avoiding the problem of incomplete cleaning; at the same time, it marks and prompts users for stains that cannot be removed, improving user experience and taking into account both cleaning effect and equipment efficiency.

[0092] 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 stubborn stains, after step S140, this cleaning control method also includes a self-learning optimization step for the cleaning strategy, which is achieved through the following steps S148-S149: Step S148: Record and store the current cleaning point location and the cleaning parameters being performed.

[0093] Specifically, the robot vacuum cleaner records the exact location (such as coordinate information) of the current corner cleaning point through the positioning module, and at the same time stores all cleaning parameters executed during this cleaning process, including swiping method, number of swiping times, swiping pressure, swiping extension amount, swiping blade angle, robot moving speed, vibration parameters, cleaning time, etc., forming a cleaning data archive, which is stored in the robot's memory for easy retrieval and analysis later.

[0094] Step S149: When a matching stubborn stain is identified again, the stored cleaning parameters are invoked to perform cleaning.

[0095] 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.

[0096] For example, after each cleaning, it is necessary to record the location of the cleaning point, the scraper extension amount, cleaning time, moving speed, vibration parameters, etc. When encountering the same type or location of cleaning target again, the parameters of the past success can be directly called, avoiding defects such as slow response caused by repeated attempts. In this way, for the same cleaning point, the parameters are continuously optimized after multiple cleanings until the optimal solution is found.

[0097] In addition, by analyzing historical cleaning data, optimal cleaning parameters and paths can be selected for different types and levels of stubbornness of stains. For example, for dried stains, the best combination of scraper pressure, number of scrapes, and moving speed can be selected; for sticky stains, the scraping method and self-cleaning timing can be optimized. When cleaning the same type and level of stubbornness of stains in subsequent cleaning sessions, the optimal parameters can be directly applied to improve cleaning efficiency and effectiveness.

[0098] Meanwhile, based on the recording of cleaning point locations, the overall cleaning path is optimized to avoid repeated cleaning of the same area, reduce power consumption, and improve the robot's battery life. The locations of recurring and difficult-to-remove stains are marked to provide a reference for subsequent cleaning and can periodically remind users to handle them manually, further optimizing the cleaning effect.

[0099] The beneficial effects of this embodiment are as follows: it realizes self-learning optimization of cleaning strategy. By memorizing cleaning points and successfully learned cleaning parameters, the system can continuously adapt to different cleaning environments and stain types, continuously optimize cleaning paths and cleaning strategies, achieve more efficient and accurate operations in subsequent cleaning, further improve user experience, reduce power consumption, and enhance the robot's battery life and market competitiveness.

[0100] In summary, through the above technical solutions, this invention aims to propose a cleaning control method for a robotic vacuum cleaner. By configuring an adaptive and retractable scraper assembly, combined with accurate stain recognition, intelligent adaptive cleaning strategies, directional stain collection mechanisms, closed-loop feedback control, and a comprehensive anomaly protection mechanism and self-learning optimization function, it effectively solves the core pain points of existing robotic vacuum cleaners, such as incomplete cleaning of stubborn stains, easy generation of secondary pollution, unintelligent cleaning strategies, and inadequate equipment protection.

[0101] Specifically, it includes the following beneficial effects: 1. Significantly improved ability to remove stubborn stains. Through the physical scraping action of the scraper, directional mechanical force is applied to stubborn stains, which can effectively break the adhesion of dried stains and the stickiness of sticky substances, and the cleaning effect far exceeds that of existing technical solutions that rely solely on wiping with a cloth.

[0102] 2. Intelligent Adaptive Cleaning Strategy. Based on the identification results of stain type and stubbornness, it automatically selects the best scraping method (single scraping, repeated scraping, rotational scraping) and scraping parameters (pressure, speed, number of times) to achieve precise cleaning "tailored to the stain".

[0103] 3. Targeted stain collection. The cleaning space formed between the scraper and the cloth, and the directional scraping action of the scraper towards the cloth, ensure that the scraped stains are pushed to the cloth for collection, preventing the stains from spreading in all directions during the cleaning process.

[0104] 4. Closed-loop feedback control. After cleaning, the cleaning effect is re-evaluated by a visual sensor, and the cleaning strategy is automatically adjusted according to the residue, forming a closed-loop control of "cleaning-evaluation-adjustment-re-cleaning" to ensure that stubborn stains are completely removed.

[0105] 5. Self-learning and optimization capabilities. Records the location and effect of each cleaning, marks recurring and difficult-to-remove stains, provides a reference for subsequent cleaning, and can prompt users to handle them manually.

[0106] 6. Comprehensive anomaly protection mechanism. Integrates anomaly handling mechanisms such as scraper jam detection and cloth saturation detection to ensure safe and reliable operation of the equipment in complex environments.

[0107] 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 specialized cleaning of stubborn stains with global planar cleaning to achieve all-scenario, efficient cleaning by the robotic vacuum cleaner. The robotic vacuum cleaner is also equipped with an adaptively retractable scraper assembly. The cleaning control method 200 may include the following steps: Step S210: Use a robotic vacuum cleaner to perform a global cleaning.

[0108] 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. During this process, the robot vacuum's vision sensors and SLAM positioning module remain active, scanning the area to be cleaned in real time to detect any potential stains, especially stubborn stains.

[0109] Step S220: If stubborn stains are detected in the area to be cleaned, stop the global cleaning.

[0110] When the robot vacuum's vision sensor detects stains in the area to be cleaned during the overall cleaning process, it immediately pauses the overall cleaning path and calls steps S110-S120 to obtain stain information and, in conjunction with historical cleaning records, determines whether the stain is a stubborn stain. If it is determined to be a common stain, it resumes overall cleaning and removes it using conventional cleaning methods. If it is determined to be a stubborn stain, it proceeds to the subsequent localized specialized cleaning process.

[0111] Step S230: The scraper assembly is invoked to perform localized cleaning of stubborn stains using the cleaning control method 100 described above.

[0112] After pausing global cleaning, the robotic vacuum cleaner automatically activates the retractable scraper assembly, initiating the complete process of the aforementioned cleaning control method 100. This involves sequentially executing steps such as "acquiring stain information and location, identifying stubborn stains, controlling scraper extension and cleaning space construction, performing adaptive scraping actions, and targeted stain collection," providing targeted, localized deep cleaning for the identified stubborn stains. During this process, the scraper assembly and the wet cleaning assembly work together, while the roller cleaning mechanism temporarily ceases operation. The scraper assembly focuses on physically removing stubborn stains, while the wet cleaning assembly focuses on collecting the scraped-off stains, ensuring that stubborn stains are thoroughly removed and do not spread.

[0113] Step S240: After local cleaning is completed, continue with overall cleaning.

[0114] After completing the localized cleaning of stubborn stains according to cleaning control method 100, the robot vacuum cleaner automatically determines that the localized cleaning is finished. Then, it controls the scraper assembly to complete self-cleaning and reset (execute the above steps S142-S143) and retracts the scraper assembly to the storage position. After the scraper assembly is reset, the wet cleaning assembly and roller cleaning mechanism are restarted and continue to advance along the preset global cleaning path to complete the global cleaning of the remaining area until the entire area to be cleaned is cleaned.

[0115] As can be seen, the cleaning control method 200 integrates the cleaning control method 100 into the overall cleaning process of the main system of the robot vacuum cleaner, forming a closed-loop cleaning mode of "global cleaning - stain recognition - stubborn stain determination - specialized cleaning - continued global cleaning". Its core advantage lies in taking into account both the efficiency of global cleaning and the cleaning effect of stubborn stains. It retains the high efficiency of global cleaning of traditional robot vacuum cleaners, and solves the pain point of incomplete cleaning of stubborn stains through the precise use of the scraper component, realizing full-scene cleaning of "global coverage + stubborn stain specialization".

[0116] Simultaneously, during this closed-loop cleaning process, status synchronization is also performed: sensors in 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 stubborn 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.

[0117] The beneficial effects of cleaning control method 200 are as follows: it organically integrates deep cleaning of stubborn stains (method 100) with global surface cleaning, achieving coverage of cleaning needs in all scenarios; through an automated closed-loop process, it can complete the entire process from cleaning ordinary stains to special treatment of stubborn stains without human intervention, improving user convenience; at the same time, through status synchronization and global handling of anomalies, it ensures the smoothness of the cleaning process and the safety of the equipment, further improving the intelligence level of the robot vacuum cleaner and the user cleaning experience, making the product more competitive in the market.

[0118] 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.

[0119] 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.

[0120] Optionally, the telescopic drive unit includes a drive motor 11 and a transmission mechanism 12 driven by the drive motor.

[0121] Optionally, the transmission mechanism includes a linkage assembly hinged to the scraper body.

[0122] 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.

[0123] Optionally, the rotation axis of the driving link and the rotation axis of the passive link are both set approximately perpendicular to the ground.

[0124] Optionally, the scraper body includes a scraper support rod 22, and the scraping element is rotatably connected to the scraper support rod.

[0125] 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.

[0126] Optionally, the reset element is a torsion spring, which acts on the pivot connecting the scraper element and the scraper support rod.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] Optionally, in the extended position, the scraper body protrudes at least partially from the side profile of the robot body.

[0132] 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.

[0133] Optionally, the scraper is configured to perform cleaning operations as the scraper body moves from the retracted position to the extended position.

[0134] Optionally, the scraper is configured to perform cleaning operations as the scraper body moves from the extended position to the retracted position.

[0135] 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.

[0136] 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.

[0137] Optionally, the drive unit is configured to accept a single drive input to generate the composite motion.

[0138] 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.

[0139] Optionally, the transmission linkage mechanism is a parallelogram linkage mechanism.

[0140] Optionally, the scraping element is rotatably mounted on the scraper body.

[0141] 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.

[0142] Optionally, the target surface for the cleaning operation is the ground or the surface of a side obstacle.

[0143] 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.

[0144] 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.

[0145] 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 robotic vacuum cleaner is equipped with a retractable scraper assembly, and the cleaning control method includes: Obtain stain information for the area to be cleaned; Based on the stain information, determine whether the stain is a stubborn stain; If the stain is determined to be a stubborn stain, the scraper assembly is controlled to move from the retracted position to the extended position, so that the scraper assembly makes contact with the ground; and The robot vacuum cleaner is driven to perform a scraping action on the stubborn stains.

2. The cleaning control method for a sweeping robot according to claim 1, characterized in that, The step of determining whether the stain is a stubborn stain based on the stain information includes: Obtain the historical cleaning record of the area to be cleaned, the historical cleaning record including at least one of the following: whether the area has been cleaned before, the number of times it has been cleaned, and the cleaning effect; and Based on the stain information and the historical cleaning records, determine whether the stain is a stubborn stain.

3. The cleaning control method for a sweeping robot according to claim 1 or 2, characterized in that, The stain information includes at least one of the following: stain type, stain area, stain color, and stain texture.

4. The cleaning control method for a sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner is also equipped with a wet cleaning component. After determining that the stain is a stubborn stain, the cleaning control method further includes: Controlling the scraper assembly to extend and make contact with the ground, and forming a cleaning space between the scraper assembly and the wet cleaning assembly; and Control the robot vacuum to move until the stubborn stains are contained within the cleaning space.

5. The cleaning control method for a sweeping robot according to claim 4, characterized in that, The process of driving the robotic vacuum cleaner to perform a scraping action on the stubborn stains includes: The scraper assembly is controlled to move towards the wet cleaning component, and the scraped dirt is pushed in a specific direction to the wet cleaning component for collection.

6. The cleaning control method for a sweeping robot according to claim 1, characterized in that, After determining that the stain is a stubborn stain, the cleaning control method further includes: Based on the stain information, the type and severity of the stain can be identified; and Based on the type and stubbornness of the stain, a scraping strategy is determined to drive the robot vacuum cleaner to perform the scraping action.

7. The cleaning control method for a sweeping robot according to claim 6, characterized in that, The scraping strategy includes at least one of the following: scraping method, number of scraping times, scraper pressure, and moving speed; The scraping method includes at least one of single scraping, reciprocating scraping, and rotary scraping.

8. The cleaning control method for a sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner is also equipped with a wet cleaning component. During or after the scraping action, the cleaning control method further includes: 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.

9. The cleaning control method for a sweeping robot according to claim 8, characterized in that, The control of the wet cleaning component 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.

10. The cleaning control method for a sweeping robot according to claim 1, characterized in that, The robotic vacuum cleaner is equipped with a vision detection module. After driving the robotic vacuum cleaner to perform a scraping action on the stubborn stains, the cleaning control method further includes: The visual detection module acquires image information of the cleaned area. Based on the image information, determine whether there are any stains remaining; If it is determined that there is still stain residue, the scraping action is performed again; Stop cleaning once you determine that the stains have been completely removed.

11. The cleaning control method for a sweeping robot according to claim 1, characterized in that, Also includes: Identify abnormal states of the scraper assembly during movement, including one or more of the following: overload state, jamming state, timeout state, and wet cleaning component saturation. 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 motion on the stubborn stains, 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 the following: scraping method, number of scrapings, scraper pressure, and moving speed; When a matching stubborn stain is identified again, the stored cleaning parameters are invoked to perform the cleaning.

13. A cleaning control method for a robotic vacuum cleaner, characterized in that, The robotic vacuum cleaner is equipped with a retractable scraper assembly, and the cleaning control method includes: The robotic vacuum cleaner is used to perform global cleaning. If stubborn stains are detected in the area to be cleaned, the global cleaning process will be stopped. The scraper assembly is invoked to perform localized cleaning of the stubborn stains using the cleaning control method of the sweeping robot according to any one of claims 1-12; After the local cleaning is completed, continue with the global cleaning.

14. A robotic vacuum cleaner, equipped with a retractable scraper 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 sweeping robot according to claim 14, characterized in that, 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 sweeping robot according to claim 15, characterized in that, 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.

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