Control method for cleaning robot, cleaning robot, base station, cleaning system, and computer storage medium

Abstract

The present application discloses a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium. The cleaning robot comprises a robot body and cleaning members movably mounted on the robot body. The cleaning members each has a preset first position and a preset second position. When in the first position, each cleaning member is farther away from the centerline of the robot body compared to when the cleaning member is in the second position. The control method comprises: each cleaning member executes a first movement from a first position toward a second position; and when the first movement ends and a current position of each cleaning member has not reached the second position, the cleaning member executes a second movement toward the second position. The control method of the present application can effectively enable each cleaning member to return from the first position to the second position. The movement of the cleaning members during retraction is smooth, which can prevent subsequent cleaning operations of the cleaning members from being affected by insufficient retraction of the cleaning members caused by factors such as mounting errors, actuation errors, or obstruction by obstacles.

Description

Control method of cleaning robot, cleaning robot, base station, cleaning system, and computer storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, and more particularly, to a control method of a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium. BACKGROUND

[0002] With the improvement of the automation level of household appliances, the application prospect of cleaning robots is becoming more and more extensive. Cleaning robots such as sweeping robots and mopping robots are used for cleaning in households, large places, and other occasions. A cleaning robot usually includes a cleaning piece that can rotate to mop a surface to be cleaned. Currently, the cleaning piece of some cleaning robots can move outward along a direction away from the center line of the width of the robot body and can also move back to a preset position along a direction close to the center line of the width of the robot body, so as to improve the cleaning effect of the cleaning robot on positions such as walls, corners, or gaps. However, the current cleaning piece may not be able to move back to the position due to reasons such as assembly errors and being blocked by obstacles during the moving back process, which affects the subsequent cleaning action of the cleaning piece. SUMMARY

[0003] The present application provides a control method of a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium.

[0004] The present application provides a control method of a cleaning robot, the cleaning robot including a robot body and a cleaning piece movably installed on the robot body, the cleaning piece having a preset first position and a preset second position, the cleaning piece being farther away from the center line of the width of the robot body when being at the first position than when being at the second position; the control method including: the cleaning piece performing a first movement in a direction from the first position to the second position; and in a case where the first movement ends and a current position of the cleaning piece does not reach the second position, the cleaning piece performing a second movement in a direction to the second position.

[0005] In some embodiments, the cleaning robot further includes a connecting shaft, the second movement including rotation of the cleaning piece around the connecting shaft in a first direction; and the cleaning piece performing the second movement in the direction to the second position including: self-rotation of the cleaning piece in a second direction to drive the cleaning piece to rotate around the connecting shaft in the first direction, the second direction being opposite to the first direction.

[0006] In some embodiments, the cleaning robot further comprises a connecting shaft, the second movement comprises a rotation of the cleaning member about the connecting shaft in a first direction relative to the body; and the performing of the second movement of the cleaning member towards the second position comprises: rotating the body in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body, the second direction being opposite to the first direction.

[0007] In some embodiments, during the rotating of the body in the second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body, the cleaning member does not rotate by itself.

[0008] In some embodiments, the cleaning robot further comprises a connecting shaft, the second movement comprises a rotation of the cleaning member about the connecting shaft in a first direction; and the performing of the second movement of the cleaning member towards the second position comprises: rotating the cleaning member in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction, the second direction being opposite to the first direction; and rotating the body in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body.

[0009] In some embodiments, the rotating of the body in the second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body comprises: rotating the body in the second direction to enable an acting force of an obstacle on the cleaning member to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body.

[0010] In some embodiments, the cleaning robot further comprises a cleaning assembly and a first driving assembly, the cleaning assembly comprises the cleaning member, the first driving assembly is installed in the body and comprises a first driving member, a power output member, a swing transmission member and the connecting shaft, the first driving member is connected with the power output member, the swing transmission member is connected with the power output member, and the connecting shaft is arranged in part of the swing transmission member; and the performing of the second movement of the cleaning member towards the second position further comprises: stopping the first driving member from outputting power.

[0011] In some embodiments, the cleaning robot further comprises a second driving assembly and a cleaning assembly, the second driving assembly comprises a second driving member and a self-rotation transmission member cooperating with the second driving member, the cleaning assembly comprises a loading member, a rotation shaft rotatably installed on the loading member, and the cleaning member fixedly installed on the rotation shaft, the rotation shaft is connected with the self-rotation transmission member; the cleaning member rotates in a second direction, comprising: the second driving member drives the self-rotation transmission member to drive the rotation shaft to rotate in the second direction; and the rotation shaft rotates to drive the cleaning member to rotate in the second direction.

[0012] In some embodiments, the cleaning robot further comprises a power assembly and a driving wheel, the power assembly is installed on the body and cooperates with the driving wheel; the body rotates in a second direction, comprising: the power assembly drives the driving wheel to drive the body to rotate in the second direction.

[0013] In some embodiments, the cleaning robot comprises a cleaning assembly and a first driving assembly, the cleaning assembly comprises the cleaning member, the first driving assembly is installed in the body and comprises a first driving member, a power output member, an oscillation transmission member, and a connecting shaft, the first driving member is connected with the power output member, the oscillation transmission member is connected with the power output member, and the connecting shaft penetrates part of the oscillation transmission member; the cleaning member performs a first movement from the first position to the second position, comprising: the first driving member drives the power output member to rotate in a second direction; and the power output member drives the oscillation transmission member to drive the cleaning assembly to rotate in a first direction around the connecting shaft.

[0014] In some embodiments, the cleaning robot further comprises an oscillation transmission member, the oscillation transmission member comprises a first transmission member and a second transmission member, the first transmission member and the second transmission member have a cooperating state and a disengaging state; the control method further comprises: determining that the first movement is completed when the first transmission member and the second transmission member are in the disengaging state.

[0015] In some embodiments, the cleaning robot further comprises a first driving assembly, the first driving assembly is installed in the body and comprises a first driving member, a power output member, the oscillation transmission member, and a lifting transmission member, the first driving member is connected with the power output member, the first transmission member is connected with the power output member and is driven by the first driving member to rotate synchronously, and the power output member always cooperates with the lifting transmission member.

[0016] In some embodiments, the cleaning robot further comprises a detection assembly; and the control method further comprises: detecting, by the detection assembly, whether the current position of the cleaning element reaches the second position.

[0017] In some embodiments, the cleaning robot further comprises a cleaning assembly rotatable relative to the body, the cleaning assembly comprising a loading element and the cleaning element rotatably mounted to the loading element; the detection assembly comprises a detection element and a detection target, both of which are arranged in the body, and the detection target is capable of changing the signal detected by the detection element; and the detecting, by the detection assembly, whether the current position of the cleaning element reaches the second position comprises: determining whether the current position of the cleaning element reaches the second position by the change of the signal detected by the detection element.

[0018] In some embodiments, one of the detection element and the detection target is fixed relative to the body, and the other of the detection element and the detection target is arranged on the loading element and rotatable relative to the body; the detection element comprises a transmitter and a receiver; and the determining whether the current position of the cleaning element reaches the second position by the change of the signal detected by the detection element comprises: the transmitter emits a signal; the receiver confirms that the cleaning element reaches the second position when the receiver does not receive the signal; and the receiver confirms that the cleaning element does not reach the second position when the receiver receives the signal.

[0019] In some embodiments, the control method further comprises: when the second motion ends and the current position of the cleaning element still does not reach the second position, performing the second motion again in the direction of the second position by the cleaning element.

[0020] In some embodiments, the control method further comprises: when the number of times of performing the second motion reaches a preset number of times and the current position of the cleaning element still does not reach the second position, issuing a prompt information.

[0021] In some embodiments, the cleaning robot further comprises a lifting transmission component, the lifting transmission component comprising a lifting element for lifting the cleaning element; and the control method further comprises: when the cleaning element reaches the second position, moving the lifting element upward in the height direction of the body.

[0022] In some embodiments, the cleaning robot further comprises a cleaning assembly comprising a carrier, a rotating shaft rotatably mounted on the carrier, the cleaning member fixedly mounted on the rotating shaft, and a connecting member, the lifting member is provided with an opening and a matching portion in communication with the opening, at least a part of the rotating shaft passes through the opening into the matching portion when the cleaning member moves to the second position in a first direction, and the connecting member is located on a side opposite to the cleaning member with respect to the matching portion; the lifting member moves upward in the body height direction until the matching portion abuts against the connecting member.

[0023] In some embodiments, the cleaning robot further comprises a first driving assembly comprising a first driving member, a power output member, and a lifting transmission component, the lifting transmission component further comprises a linkage member connected with the lifting member and the power output member; the first driving member is connected with the power output member, the power output member is connected with an input end of the linkage member, the lifting member is connected with an output end of the linkage member, and the lifting member moves upward in the body height direction until abutting against the connecting member, comprising: the first driving member drives the power output member to rotate in a second direction; and the power output member drives the linkage member to move the lifting member upward until the matching portion abuts against the connecting member.

[0024] In some embodiments, the control method further comprises: performing a third movement of the cleaning member from the second position towards the first position to reach the first position.

[0025] In some embodiments, the cleaning robot comprises a cleaning assembly comprising the cleaning member and a first driving assembly mounted in the body and comprising a first driving member, a power output member, a swinging transmission component, and a connecting shaft, the first driving member is connected with the power output member, the swinging transmission component is connected with the power output member, and the connecting shaft is arranged in part of the swinging transmission component; the cleaning member performs a third movement from the second position towards the first position to reach the first position, comprising: the first driving member drives the power output member to rotate in a first direction; and the power output member drives the swinging transmission component to rotate the cleaning assembly around the connecting shaft in a second direction until the cleaning member reaches the first position.

[0026] In some embodiments, the cleaning member comprises a wiping member.

[0027] The cleaning robot provided by the embodiments of the present application comprises a body, a cleaning member movably mounted on the body, and a controller. The cleaning member is configured to contact a surface to be cleaned to clean the surface to be cleaned, and the cleaning member has a preset first position and a preset second position. The controller is configured to execute the control method described in the above embodiments.

[0028] The base station provided by the embodiments of the present application is configured to cooperate with the cleaning robot described in the above embodiments, and comprises a parking position configured to accommodate the cleaning robot.

[0029] The cleaning system provided by the embodiments of the present application comprises the cleaning robot described in the above embodiments, and a base station configured to cooperate with the cleaning robot described in the above embodiments, and the base station comprises a parking position configured to accommodate the cleaning robot.

[0030] The computer storage medium provided by the embodiments of the present application stores a computer program, and when the computer program is executed by one or more processors, the control method described in the above embodiments is implemented.

[0031] In the control method of the cleaning robot, the cleaning robot, the base station, the cleaning system, and the computer storage medium provided by the embodiments of the present application, after the cleaning member performs the first movement in the process of retracting the cleaning member from the first position to the second position, if the current position of the cleaning member does not reach the second position, the cleaning member can further perform the second movement in the direction of the second position, so that the cleaning member can approach or reach the second position. The control method of the present application can effectively retract the cleaning member from the first position to the second position, and the movement of the cleaning member in the retracting process is relatively smooth, which can avoid the problem that the cleaning member cannot be retracted to the position due to reasons such as assembly error, actuation error, and being blocked by an obstacle, and affect the subsequent cleaning action of the cleaning member.

[0032] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings.

[0034] FIG. 1 is a perspective view of a cleaning robot according to some embodiments of the present application;

[0035] FIG. 2 is a structural schematic view of a front surface of a cleaning module in the cleaning robot of FIG. 1;

[0036] FIG. 3 is a structural schematic diagram of a partial structure of the cleaning module of FIG. 2;

[0037] FIG. 4 is a structural schematic diagram of a back surface of the cleaning module in the cleaning robot of FIG. 1;

[0038] FIG. 5 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0039] FIG. 6 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0040] FIG. 7 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0041] FIG. 8 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0042] FIG. 9 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0043] FIG. 10 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0044] FIG. 11 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0045] FIG. 12 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0046] FIG. 13 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0047] FIG. 14 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0048] FIG. 15 is a structural schematic diagram of a cleaning system according to an embodiment of the present application;

[0049] FIG. 16 is a structural schematic diagram of a computer storage medium according to an embodiment of the present application.

[0050] Main element symbol explanation: 1000, cleaning system; 300, base station; 100, cleaning robot; 3000, computer storage medium; 3001, computer program; 3003, processor; 10, body; 30, cleaning module; 31, cleaning assembly; 311, cleaning piece; 313, loading piece; 3131, groove; 315, rotating shaft; 317, connecting piece; 33, first driving assembly; 331, first driving piece; 333, power output piece; 335, swing transmission part; 3351, first transmission piece; 3352, second transmission piece; 3353, third transmission piece; 3354, fourth transmission piece; 3355, fifth transmission piece; 3356, sixth transmission piece; 3357, protrusion; 336, connecting shaft; 337, lifting transmission part; 3371, linkage piece; 3373, lifting piece; 3374, opening; 3375, matching part; 35, second driving assembly; 351, second driving piece; 353, rotation transmission part; 37, detection assembly; 371, detection piece; 3711, transmitter; 3713, receiver; 373, to-be-detected piece; 50, controller. DETAILED DESCRIPTION

[0051] The embodiments of the present application will be further described below with reference to the drawings. The same or similar reference numerals are used throughout the drawings and the same or similar functions and operations are represented by the same or similar reference numerals since the first drawing to the last drawing. In addition, the embodiments of the present application described below with reference to the drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0052] With the improvement of the automation level of household appliances, the application prospect of cleaning robots is becoming more and more extensive, and cleaning robots such as sweeping robots and mopping robots will be used in household indoor, large-scale places and other occasions. The cleaning robot usually comprises a cleaning piece, and the cleaning piece can rotate to mop the surface to be cleaned. At present, the cleaning piece of some cleaning robots can move outward along the direction away from the center line of the width of the body and can also move inward along the direction close to the center line of the width of the body to return to the preset position, so as to improve the cleaning effect of the cleaning robot on the wall edge, corner or gap. However, the current cleaning piece cannot be returned to the position due to reasons such as assembly error and being blocked by obstacles during the returning process, which affects the subsequent cleaning action of the cleaning piece. In order to solve this problem, the present application provides a control method of a cleaning robot (shown in FIG. 6), a cleaning robot 100 (shown in FIG. 1), a base station 300 (shown in FIG. 15), a cleaning system 1000 (shown in FIG. 15), and a computer storage medium 3000 (shown in FIG. 16).

[0053] Referring to FIG. 1, FIG. 2, FIG. 5 and FIG. 6, the present application provides a control method of a cleaning robot 100, the cleaning robot 100 comprising a body 10 and a cleaning member 311 movably installed on the body 10, the cleaning member 311 having a preset first position and a preset second position, the cleaning member 311 being farther away from a center line of a width of the body 10 when in the first position than when in the second position; the control method comprising:

[0054] 02: the cleaning member 311 performs a first movement in a direction from the first position to the second position; and

[0055] 05: when the first movement ends and a current position of the cleaning member 311 does not reach the second position, the cleaning member 311 performs a second movement in a direction to the second position.

[0056] Specifically, referring to FIG. 1, the cleaning robot 100 is a device for cleaning a to-be-cleaned surface. The to-be-cleaned surface can be, but is not limited to, a ground, a carpet, a marble surface or a glass surface, etc. The cleaning robot 100 can be a sweeping robot, a mopping robot or a sweeping-mopping integrated robot, etc. The sweeping robot can be used for sweeping the to-be-cleaned surface, the mopping robot can be used for wiping the to-be-cleaned surface, and the sweeping-mopping integrated robot can integrate the functions of the above two robots, i.e., the sweeping-mopping integrated robot can be used for sweeping the to-be-cleaned surface and also can be used for wiping the to-be-cleaned surface. The cleaning robot 100 of the present application is described by taking the mopping robot as an example. The width of the body 10 refers to a connecting line between two sides of the cleaning robot 100, and the width direction of the body 10 is perpendicular to the advancing direction of the cleaning robot 100.

[0057] Referring to FIG. 1 and FIG. 2, the cleaning robot comprises a body 10 and a cleaning module 30 connected to each other, and the cleaning module 30 comprises a cleaning member 311. The cleaning member 311 is installed on the bottom of the body 10 and can move relative to the body 10. In some embodiments, the cleaning member 311 comprises a wiping member. In the case that the cleaning robot 100 cleans the to-be-cleaned surface, the wiping member is used to directly contact the to-be-cleaned surface, and the wiping member rotates relative to the body 10 to wipe the to-be-cleaned surface to clean the to-be-cleaned surface.

[0058] The cleaning member 311 can move relative to the body 10 to change the position relative to the body 10. In the case where the cleaning member 311 is in the second position, the projection of the body 10 can substantially completely cover the projection of the cleaning member 311 in the height direction of the body 10. In the case where the cleaning robot 100 cleans a general flat surface, the cleaning member 311 can be in the second position. The second position can be the standard position of the cleaning member 311 when the cleaning robot 100 is in a normal operation, and the second position can be a fixed position. In the case where the cleaning member 311 is in the second position, the cleaning member 311 can maintain an efficient and stable operation state in a normal cleaning task. Preferably, after the cleaning member 311 completes a cleaning task in the first position, the cleaning member 311 can be timely returned to the second position. When the cleaning robot 100 is started next time, the cleaning member 311 can quickly rotate to clean the surface to be cleaned, and the cleaning member 311 does not need to be returned first and then rotated, and the cleaning efficiency of the cleaning member 311 on the surface to be cleaned is higher.

[0059] The cleaning robot 100 of the present application includes two cleaning members 311, which are substantially disc-shaped or substantially triangular in structure. In the case where both cleaning members 311 are in the second position, the two cleaning members 311 can engage with each other, that is, there is almost no gap between the two cleaning members 311. At this time, in the case where the cleaning robot 100 cleans the surface to be cleaned, the two cleaning members 311 can clean every position of the surface to be cleaned, and the two cleaning members 311 will not leave a gap in the cleaning process, which can ensure the cleaning effect. In the process of returning at least one cleaning member 311 from the first position to the second position, if at least one cleaning member 311 cannot accurately reach the second position, a gap will exist between the two cleaning members 311. At this time, in the case where the cleaning robot 100 cleans the surface to be cleaned, the surface to be cleaned located in the gap can not be cleaned, and the cleaning effect of the cleaning robot 100 is poor.

[0060] In addition, generally after the cleaning member 311 cleans the surface to be cleaned and the cleaning member 311 is in the second position, the lifting member 3373 of the cleaning robot 100 can drive the cleaning module 30 of the cleaning robot 100 to lift, so that the cleaning member 311 is lifted to be spaced from the surface to be cleaned. In the process of returning the cleaning member 311 from the first position to the second position, if the cleaning member 311 cannot accurately reach the second position, the cleaning module 30 of the cleaning robot 100 cannot accurately cooperate with the lifting member 3373 of the cleaning robot 100, so that the cleaning member 311 cannot be lifted to be spaced from the surface to be cleaned. Thus, in the case where the cleaning member 311 completes the first movement and has not reached the second position, the cleaning member 311 can continue to perform the second movement to ensure that the cleaning member 311 can reach the second position.

[0061] When the cleaning member 311 is in the first position, the cleaning member 311 can extend outward relative to the body 10 so that at least a part of the cleaning member 311 extends from the periphery of the body 10. When the cleaning robot 100 cleans a cleaning environment such as a wall edge, a corner, and a gap, the cleaning member 311 can extend outward relative to the body 10 from the second position to the first position, and the cleaning member 311 can clean areas that are difficult for the body 10 to reach directly, and the cleaning effect of the cleaning member 311 on the cleaning surface is better. As the cleaning environment changes, the cleaning member 311 can move relative to the body 10 to switch between the first position and the second position, and the cleaning member 311 can accurately and efficiently move from one position to another position that is more suitable for performing a cleaning task, so that the cleaning effect of the cleaning member 311 on each position of the cleaning surface is better, and the overall performance of the cleaning robot 100 and the user's use experience are improved.

[0062] In an embodiment, the first position can be a fixed position, that is, the distance of the cleaning member 311 moving from the second position to the first position is the same each time. At this time, the control of the cleaning robot 100 on the movement of the cleaning member 311 is relatively simple. In another embodiment, the first position is a predetermined position interval. In multiple outward extension strokes of the cleaning member 311 moving from the second position to the first position, the distance range between the cleaning member 311 in the second position and the cleaning member 311 in the first position can be [L1, L2]. Wherein, in one outward extension stroke, when the distance between the cleaning member 311 in the second position and the cleaning member 311 in the first position is L1, the distance of the cleaning member 311 moving from the second position to the first position is the shortest, and the part of the cleaning member 311 extending from the periphery of the body 10 is less. In another outward extension stroke, when the distance between the cleaning member 311 in the second position and the cleaning member 311 in the first position is L2, the distance of the cleaning member 311 moving from the second position to the first position is the longest, and the part of the cleaning member 311 extending from the periphery of the body 10 is more. When the first position is a predetermined position interval, the movement of the cleaning member 311 is more flexible, and the cleaning member 311 can be suitable for cleaning needs in different scenarios.

[0063] When the cleaning member 311 in the first position completes cleaning, the cleaning member 311 needs to be retracted to the lower side of the body 10, and the cleaning member 311 can perform a first movement to return to the second position. In some embodiments, the cleaning robot 100 further comprises a connecting shaft 336, and the cleaning member 311 can rotate relative to the body 10 about the connecting shaft 336. In the first movement, the cleaning member 311 can rotate about the connecting shaft 336 in a first direction X, so that the cleaning member 311 can move from the first position to the direction of the second position. As shown in FIG. 1, from the top view of the cleaning robot 100, the first direction X can be the clockwise direction.

[0064] Please refer to FIG. 5 and FIG. 6, when the cleaning member 311 performs the first movement, and the current position of the cleaning member 311 does not reach the second position, i.e., there is a certain distance between the current position of the cleaning member 311 and the second position, at this time, the cleaning member 311 performs the second movement. In the second movement, the cleaning member 311 can rotate around the connecting shaft 336 in the first direction X, so that the cleaning member 311 can continue to move in the direction of the second position, so that the cleaning member 311 can approach or reach the second position.

[0065] In the control method of the cleaning robot 100 in the embodiments of the present application, during the retraction of the cleaning member 311 from the first position to the second position, after the cleaning member 311 performs the first movement, when the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 can also perform the second movement in the direction of the second position, so that the cleaning member 311 can approach or reach the second position. The control method of the present application can effectively retract the cleaning member 311 from the first position to the second position, and the movement of the cleaning member 311 during the retraction is smooth, which can avoid the problem that the cleaning member 311 cannot be retracted to the position due to factors such as assembly error and being blocked by obstacles, and affect the subsequent cleaning action of the cleaning member 311.

[0066] Please refer to FIG. 2, FIG. 6 and FIG. 7, further, in some embodiments, the control method further comprises:

[0067] 01: The cleaning member 311 performs the third movement in the direction from the second position to the first position, so as to reach the first position.

[0068] In the third movement, the cleaning member 311 can rotate around the connecting shaft 336 in the second direction Y opposite to the first direction X, as shown in FIG. 1-3, from the top view of the cleaning robot 100, the second direction Y can be the counterclockwise direction. When the cleaning robot 100 needs to clean the wall edge, corner or gap, etc., the cleaning member 311 can perform the third movement, at this time, the cleaning member 311 in the second position can expand outward relative to the body 10 to reach the first position. When the cleaning member 311 reaches the first position, the cleaning member 311 can effectively contact and clean the wall edge, corner or gap, etc., and the cleaning effect of the cleaning member 311 on the cleaning surface is good.

[0069] Referring to FIG. 2, FIG. 4, FIG. 6 and FIG. 8, in some embodiments, the cleaning robot 100 comprises a cleaning assembly 31 rotatable relative to the body 10, and a first driving assembly 33 installed in the body 10 and comprising a first driving member 331, a power output member 333, a swing transmission member 335 and a connecting shaft 336, the cleaning assembly 31 comprising a cleaning member 311, the first driving member 331 connected with the power output member 333, the swing transmission member 335 connected with the power output member 333, and the connecting shaft 336 penetrating through part of the swing transmission member 335; step 01, the cleaning member 311 performs a third movement from the second position to the first position, comprising:

[0070] 011: the first driving member 331 drives the power output member 333 to rotate in the first direction X; and

[0071] 013: the power output member 333 drives the swing transmission member 335 to drive the cleaning assembly 31 to rotate around the connecting shaft 336 in the second direction Y until the cleaning member 311 reaches the first position.

[0072] The cleaning assembly 31 is connected with the first driving assembly 33, and the cleaning assembly 31 is connected with the connecting shaft 336. The first driving assembly 33 is used to drive the cleaning assembly 31 to rotate around the connecting shaft 336 relative to the body 10, so that the cleaning member 311 can be switched between the first position and the second position. The first driving member 331 is used to drive the power output member 333 to move, and the power output member 333 is used to drive the swing transmission member 335 to move. At least part of the swing transmission member 335 sleeved on the connecting shaft 336 is connected with the cleaning assembly 31. When the swing transmission member 335 moves, the at least part of the swing transmission member 335 can drive the cleaning assembly 31 to rotate around the connecting shaft 336. The first driving member 331 of the present application can be a motor, and the power output member 333 can be a gear. The gear is connected with the output shaft of the motor. When the motor is started, the output shaft of the motor can drive the gear to rotate together, and the gear can drive the swing transmission member 335 to move.

[0073] When the cleaning member 311 performs the third movement, the first driving member 331 is started, and the first driving member 331 can drive the power output member 333 to rotate in the first direction X. When the power output member 333 rotates in the first direction X, the power output member 333 can drive the swing transmission member 335 to move, so that at least part of the swing transmission member 335 sleeved on the connecting shaft 336 can rotate around the connecting shaft 336 in the second direction Y. When the at least part of the swing transmission member 335 rotates, the cleaning assembly 31 around the connecting shaft 336 can be driven to rotate in the second direction Y, so that the cleaning member 311 can move in the direction of the first position. When the cleaning member 311 reaches the first position, the first driving member 331 stops driving the power output member 333 to rotate, so that the swing transmission member 335 stops driving the cleaning assembly 31 to rotate around the connecting shaft 336. When the cleaning member 311 is at the first position, the cleaning member 311 can rotate to clean the surface to be cleaned, and the direction of the rotation of the cleaning member 311 can be the first direction X or the second direction Y.

[0074] Referring to FIGS. 2, 4, 6 and 8, in some embodiments, step 02, the cleaning member 311 performs the first movement from the first position to the direction of the second position, including:

[0075] 021: The first driving member 331 drives the power output member 333 to rotate in the second direction Y; and

[0076] 023: The power output member 333 drives the swing transmission member 335 to drive the cleaning assembly 31 to rotate around the connecting shaft 336 in the first direction X.

[0077] When the cleaning member 311 at the first position completes the cleaning of the wall edge, corner or gap, and the cleaning member 311 needs to be retracted to the second position, the cleaning member 311 performs the first movement. The first driving member 331 is started, and the first driving member 331 can drive the power output member 333 to rotate in the second direction Y. When the power output member 333 rotates in the second direction Y, the power output member 333 can drive the swing transmission member 335 to move, so that at least part of the swing transmission member 335 sleeved on the connecting shaft 336 can rotate around the connecting shaft 336 in the first direction X. When the at least part of the swing transmission member 335 rotates, the cleaning assembly 31 around the connecting shaft 336 can be driven to rotate in the first direction X, so that the cleaning member 311 can move in the direction of the second position. When the cleaning member 311 performs the first movement, the first driving member 331 stops driving the power output member 333 to rotate, so that the swing transmission member 335 stops driving the cleaning assembly 31 to rotate around the connecting shaft 336.

[0078] Please refer to FIG. 2 to FIG. 4, in some embodiments, the swing transmission component 335 comprises a first transmission member 3351 and a second transmission member 3352, the first transmission member 3351 and the second transmission member 3352 have a matched state and a disengaged state.

[0079] The first transmission member 3351 is fixedly connected with the upper surface of the power output member 333, and the first transmission member 3351 and the power output member 333 can rotate synchronously. The first transmission member 3351 and the second transmission member 3352 of the present application are both half teeth. When the first transmission member 3351 rotates to mesh with or contact the second transmission member 3352 in the process of rotating the power output member 333, the first transmission member 3351 and the second transmission member 3352 are in the matched state. When the first transmission member 3351 continues to rotate to the position where the first transmission member 3351 and the second transmission member 3352 are separated, the first transmission member 3351 and the second transmission member 3352 are in the disengaged state.

[0080] Please refer to FIG. 2, FIG. 3 and FIG. 4, in some embodiments, the swing transmission component 335 further comprises a third transmission member 3353, a fourth transmission member 3354, a fifth transmission member 3355 and a sixth transmission member 3356. One end of the third transmission member 3353 is connected with the second transmission member 3352, the other end of the third transmission member 3353 is connected with the fourth transmission member 3354, the fourth transmission member 3354 is sleeved on the connecting shaft 336, the fifth transmission member 3355 and the sixth transmission member 3356 are both sleeved on at least part of the fourth transmission member 3354, and the opposite ends of the fifth transmission member 3355 are respectively connected with the fourth transmission member 3354 and the sixth transmission member 3356. The third transmission member 3353 can be a connecting rod, and the third transmission member 3353 is used for transmitting the driving force of the second transmission member 3352 to the fourth transmission member 3354. The fourth transmission member 3354 can rotate around the connecting shaft 336, and at least partially matches with the cleaning assembly 31, and the fourth transmission member 3354 is used for driving the cleaning assembly 31 to rotate around the connecting shaft 336 in the first direction X. The fifth transmission member 3355 can be a torsion spring, and when the fourth transmission member 3354 rotates, the fifth transmission member 3355 can drive the sixth transmission member 3356 to rotate together. The sixth transmission member 3356 is provided with a protrusion 3357, the protrusion 3357 matches with the groove 3131 on the cleaning assembly 31, and the sixth transmission member 3356 can drive the cleaning assembly 31 to rotate around the connecting shaft 336.

[0081] When the first transmission member 3351 and the second transmission member 3352 are in the engaged state, the first transmission member 3351 can drive the second transmission member 3352 to rotate, the second transmission member 3352 can drive the third transmission member 3353 to move, the third transmission member 3353 can drive the fourth transmission member 3354 to rotate, the fourth transmission member 3354 drives the sixth transmission member 3356 to rotate through the fifth transmission member 3355, so that the swing transmission member 335 can drive the cleaning assembly 31 to rotate around the connecting shaft 336, so that the cleaning member 311 can be switched between the first position and the second position. After the first transmission member 3351 and the second transmission member 3352 are disengaged, the second transmission member 3352 does not rotate, so that the swing transmission member 335 stops driving the cleaning assembly 31 to rotate around the connecting shaft 336, and at this time the cleaning member 311 can be stably positioned in the first position or the second position. When the first transmission member 3351 and the second transmission member 3352 are disengaged and the cleaning member 311 is in the second position, the first driving member 331 continues to drive the first transmission member 3351 to rotate, and the first transmission member 3351 can drive the lifting member 3373 of the cleaning robot 100 to rise, so that the lifting member 3373 of the cleaning robot 100 can drive the cleaning member 311 to rise to be spaced apart from the surface to be cleaned. When the first transmission member 3351 and the second transmission member 3352 are both half teeth, when the first transmission member 3351 and the second transmission member 3352 are engaged, the swing transmission member 335 can drive the cleaning member 311 to rotate around the connecting shaft 336, and when the first transmission member 3351 and the second transmission member 3352 are disengaged, the lifting member 3373 can drive the cleaning member 311 to rise.

[0082] When the cleaning member 311 performs the third movement, the first driving member 331 drives the power output member 333 to rotate in the first direction X, and the power output member 333 drives the first transmission member 3351 to rotate in the first direction X. When the first transmission member 3351 and the second transmission member 3352 are in the engaged state (the first transmission member 3351 and the second transmission member 3352 are engaged), the second transmission member 3352 rotates in the second direction Y, so that the third transmission member 3353 can move leftward. The third transmission member 3353 drives the fourth transmission member 3354 to rotate in the second direction Y around the connecting shaft 336, and the sixth transmission member 3356 also rotates in the second direction Y around the connecting shaft 336, so that the cleaning assembly 31 can be driven by the sixth transmission member 3356 to rotate in the second direction Y, and thus the cleaning member 311 can move toward the first position. When the first transmission member 3351 continues to rotate in the first direction X, the first transmission member 3351 and the second transmission member 3352 are in the disengaged state (the first transmission member 3351 and the second transmission member 3352 are spaced apart), and at this time, the cleaning member 311 reaches the first position. The second transmission member 3352 does not rotate, so that the swing transmission part 335 stops driving the cleaning assembly 31 to continue rotating in the second direction Y around the connecting shaft 336, and the cleaning member 311 can be stably positioned at the first position.

[0083] Referring to FIGS. 2, 6 and 7, in some embodiments, the control method further comprises:

[0084] 03: determining that the first movement is ended when the first transmission member 3351 and the second transmission member 3352 are in the disengaged state.

[0085] When the cleaning member 311 performs the first movement, the first driving member 331 drives the power output member 333 to rotate in the second direction Y, and the power output member 333 drives the first transmission member 3351 to rotate in the second direction Y. When the first transmission member 3351 and the second transmission member 3352 are in the matching state (the first transmission member 3351 and the second transmission member 3352 are in contact), the first transmission member 3351 drives the second transmission member 3352 to rotate in the first direction X, so that the third transmission member 3353 can move to the right. The third transmission member 3353 drives the fourth transmission member 3354 to rotate in the first direction X around the connecting shaft 336, and the fourth transmission member 3354 can drive the cleaning assembly 31 to rotate in the first direction X around the connecting shaft 336, so that the cleaning member 311 can move towards the second position. When the first transmission member 3351 continues to rotate in the second direction Y, and the first transmission member 3351 and the second transmission member 3352 are in the unmatching state (the first transmission member 3351 and the second transmission member 3352 are spaced apart), the second transmission member 3352 does not rotate, so that the swing transmission member 335 stops driving the cleaning assembly 31 to continue to rotate in the first direction X around the connecting shaft 336, and the cleaning member 311 cannot continue to move relative to the main body 10. Thus, the first movement ends.

[0086] In one example, when the first transmission member 3351 and the second transmission member 3352 start to match, the first driving member 331 (motor) rotates for a predetermined number of revolutions, and then the matching process of the first transmission member 3351 and the second transmission member 3352 ends, that is, the first driving member 331 (motor) rotates for a predetermined number of revolutions, and then the first transmission member 3351 and the second transmission member 3352 are un-matched. The predetermined number of revolutions can be, but is not limited to, 0.5 revolutions, 1 revolution, 2 revolutions, or 4 revolutions, etc., and the predetermined number of revolutions can be set according to actual conditions.

[0087] In another example, when the first transmission member 3351 and the second transmission member 3352 start to match, the first driving member 331 (motor) rotates for a predetermined time, and then the matching process of the first transmission member 3351 and the second transmission member 3352 ends, that is, the first driving member 331 (motor) rotates for a predetermined time, and then the first transmission member 3351 and the second transmission member 3352 are un-matched. The predetermined time can be, but is not limited to, 5s, 7s, or 10s, etc., and the predetermined time can be set according to actual conditions.

[0088] Referring to Fig. 2, in some embodiments, the first driving assembly 33 further comprises a lifting transmission component 337, the power output 333 is always in cooperation with the lifting transmission component 337. During the rotation of the power output 333, at least part of the lifting transmission component 337 can move in the height direction of the body 10 relative to the body 10. When the cleaning member 311 is in the first position, the second position or between the first position and the second position, and needs to clean the surface to be cleaned, the lifting transmission component 337 is not in cooperation with the cleaning assembly 31 when it moves in the height direction of the body 10, so that the cleaning member 311 can keep in contact with the surface to be cleaned, and the cleaning member 311 can effectively clean the surface to be cleaned. After the cleaning task of the cleaning member 311 is completed, and the cleaning member 311 returns to the second position, at least part of the lifting transmission component 337 can move up to cooperate with the cleaning assembly 31, and the lifting transmission component 337 can drive the cleaning assembly 31 to move up together, so that the cleaning member 311 is spaced from the surface to be cleaned.

[0089] Referring to Figs. 4, 6 and 7, further, in some embodiments, the cleaning robot 100 further comprises a detection assembly 37; the control method further comprises:

[0090] 04: detecting, by the detection assembly 37, whether the current position of the cleaning member 311 reaches the second position.

[0091] Wherein, after the first movement is completed, the detection assembly 37 detects whether the current position of the cleaning member 311 is the second position. In the case that the detection assembly 37 detects that the current position of the cleaning member 311 has reached the second position, the retraction process of the cleaning member 311 is completed, and the cleaning member 311 does not need to continue to perform the second movement. In the case that the detection assembly 37 detects that the current position of the cleaning member 311 has not reached the second position, the cleaning member 311 needs to perform the second movement to continue to move in the direction close to the second position.

[0092] Referring to Figs. 2, 4, 6 and 8, in some embodiments, the cleaning assembly 31 comprises a loading member 313, and the cleaning member 311 is rotatably installed on the loading member 313; the detection assembly 37 comprises a detection member 371 and a detection target 373, and the detection member 371 and the detection target 373 are both arranged in the body 10, and the detection target 373 can change the signal detected by the detection member 371. Step 04: detecting, by the detection assembly 37, whether the current position of the cleaning member 311 reaches the second position, comprising:

[0093] 041: determining whether the current position of the cleaning member 311 reaches the second position by the change of the signal detected by the detection member 371.

[0094] In the cleaning assembly 31 rotates relative to the body 10 around the connecting shaft 336, the relative position of the cleaning member 311 and the loading member 313 remains relatively fixed. In the case that the cleaning member 311 is in the first position or the second position, the cleaning member 311 can rotate relative to the loading member 313 to clean the surface to be cleaned.

[0095] One of the detection member 371 and the detected member 373 can be mounted on the loading member 313, and the other is fixed relative to the body 10. In the case that the cleaning member 311 does not reach the second position after the first movement ends, there is no cooperation (interval) between the detection member 371 and the detected member 373, so that the signal detected by the detection member 371 does not change. In the case that the cleaning member 311 reaches the second position after the first movement ends, the detection member 371 cooperates with the detected member 373, and the detected member 373 blocks the light that the detection member 371 can receive, resulting in a change in the signal detected by the detection member 371.

[0096] In some embodiments, within a preset time period, it is determined whether the current position of the cleaning member 311 reaches the second position. The preset time period can be, but is not limited to, 1s, 2s, 4s, or 6s, etc. Exemplarily, in the case that the preset time period is 4s, after the first movement ends, the timing starts, and in the case that the signal detected by the detection member 371 changes within 4s, it can be determined that the current position of the cleaning member 311 has reached the second position. In the case that the signal detected by the detection member 371 does not change within 4s, it can be determined that the current position of the cleaning member 311 has not reached the second position.

[0097] Please refer to FIG. 2, FIG. 4, FIG. 6 and FIG. 9. Specifically, in some embodiments, one of the detection member 371 and the detected member 373 is fixed relative to the body 10, and the other of the detection member 371 and the detected member 373 is arranged on the loading member 313 and can rotate relative to the body 10 along with the loading member 313; the detection member 371 comprises a transmitter 3711 and a receiver 3713; and step 041 comprises:

[0098] 0411: The transmitter 3711 transmits a signal;

[0099] 0413: In the case that the receiver 3713 does not receive the signal, it is determined that the cleaning member 311 reaches the second position; and

[0100] 0415: In the case that the receiver 3713 receives the signal, it is determined that the cleaning member 311 does not reach the second position.

[0101] The detector can be in a state of always being turned on, or the detector can be turned on after the first movement ends. Illustratively, the transmitter 3711 can emit a light signal, and the receiver 3713 can receive the light signal emitted by the transmitter 3711. After the detector is turned on, the receiver 3713 can receive the light signal emitted by the transmitter 3711.

[0102] In one embodiment, the detection member 371 is fixed relative to the machine body 10, and the object to be detected 373 is arranged on the loading member 313 and can rotate with the loading member 313. In another embodiment, the object to be detected 373 is fixed relative to the machine body 10, and the detection member 371 is arranged on the loading member 313 and can rotate with the loading member 313. When the cleaning member 311 reaches the second position after the first movement ends, the detection member 371 cooperates with the object to be detected 373, the object to be detected 373 can be located between the transmitter 3711 and the receiver 3713, and the object to be detected 373 can block the light signal emitted by the transmitter 3711. Within a preset time period, the receiver 3713 cannot receive the light signal from the transmitter 3711, that is, the signal detected by the receiver 3713 changes (from having to not having), so that it can be confirmed that the cleaning member 311 has reached the second position.

[0103] When the cleaning member 311 does not reach the second position after the first movement ends, the object to be detected 373 is not located between the transmitter 3711 and the receiver 3713, that is, the object to be detected 373 cannot block the light signal emitted by the transmitter 3711. Within a preset time period, the receiver 3713 can still receive the light signal from the transmitter 3711, that is, the signal detected by the receiver 3713 does not change (always able to detect the light signal), so that it can be confirmed that the cleaning member 311 does not reach the second position.

[0104] Please refer to FIGS. 2, 4, 6 and 10, in some embodiments, step 05, the cleaning member 311 performs a second movement in the direction of the second position, including:

[0105] 053: The cleaning member 311 rotates in the second direction Y to drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336.

[0106] In the first embodiment, the first transmission member 3351 and the second transmission member 3352 are both half teeth, when the first transmission member 3351 and the second transmission member 3352 are engaged, the swing transmission member 335 can drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336 to perform the first movement. When the first transmission member 3351 and the second transmission member 3352 are separated, the swing transmission member 335 cannot continue to drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336, at this time, under the condition that the cleaning member 311 rotates in the second direction Y, the cleaning member 311 can be driven to rotate in the first direction X around the connecting shaft 336 to perform the second movement.

[0107] After the first movement, the receiver 3713 can still receive the signal, and if it is confirmed that the cleaning member 311 does not reach the second position, the cleaning member 311 performs the second movement. When the cleaning member 311 rotates in the second direction Y while being in contact with the surface to be cleaned, a frictional force is generated between the cleaning member 311 and the surface to be cleaned, and the direction of the frictional force is opposite to the second direction Y, i.e., the direction of the frictional force is the first direction X. The frictional force between the cleaning member 311 and the surface to be cleaned drives the cleaning assembly 31 to rotate around the connecting shaft 336 in the first direction X, so that the cleaning member 311 can rotate relative to the robot body 10 in the first direction X, and the cleaning member 311 can move towards the second position to be retracted to the second position without the user handling, thereby improving the ability of the cleaning robot 10 to handle abnormal situations. At this time, in the case where the cleaning member 311 rotates in the second direction Y to drive the cleaning member 311 to rotate around the connecting shaft 336 in the first direction X, the first driving member 331 does not need to be started, and the motion amplitude of the entire cleaning robot 100 is small, so that the cleaning robot 100 can make the cleaning member 311 perform the second movement even in a small space, and the application scenarios of the cleaning robot 10 are more.

[0108] Please refer to FIG. 2, FIG. 3, FIG. 6 and FIG. 11. Specifically, in some embodiments, the cleaning robot 100 further comprises a second driving assembly 35, the second driving assembly 35 is connected with the cleaning assembly 31, the second driving assembly 35 comprises a second driving member 351 and a self-rotation transmission component 353 cooperating with the second driving member 351, the cleaning assembly 31 comprises a rotating shaft 315 rotatably installed on the loading member 313, the cleaning member 311 is fixedly installed on the rotating shaft 315, and the rotating shaft 315 is connected with the self-rotation transmission component 353; step 053, the cleaning member 311 rotates in the second direction Y, comprising:

[0109] 0531: the second driving member 351 drives the self-rotation transmission component 353 to drive the rotating shaft 315 to rotate in the second direction Y; and

[0110] 0533: the rotating shaft 315 rotates to drive the cleaning member 311 to rotate in the second direction Y.

[0111] The second driving assembly 35 is a structure for driving the cleaning member 311 to rotate. The second driving member 351 can be a motor, the self-rotation transmission component 353 can be connected with the output shaft of the motor, and the self-rotation transmission component 353 is located in the loading member 313 and can be fixedly connected with the rotating shaft 315. The self-rotation transmission component 353 can comprise at least two meshing gears, and the output shaft of the motor (the second driving member 351) can drive the at least two meshing gears to rotate, so that the gears can drive the rotating shaft 315 to rotate relative to the loading member 313. The rotating shaft 315 rotates to drive the cleaning member 311 to rotate.

[0112] In the case that the cleaning member 311 is in the first position or the second position to clean the surface to be cleaned, in one embodiment, in the case that the output shaft of the second driving member 351 rotates forwardly, the self-rotation transmission member 353 can drive the rotating shaft 315 to rotate in the first direction X, and the rotating shaft 315 can drive the cleaning member 311 to self-rotate in the first direction X. In another embodiment, in the case that the output shaft of the second driving member 351 rotates reversely, the self-rotation transmission member 353 can drive the rotating shaft 315 to rotate in the second direction Y, and the rotating shaft 315 can drive the cleaning member 311 to self-rotate in the second direction Y. The rotating directions of the output shaft rotating forwardly and reversely are opposite. In the case of self-rotation, the cleaning member 311 can clean the surface to be cleaned.

[0113] In the case that the cleaning member 311 needs to perform the second motion, the second driving member 351 can drive the plurality of gears in the self-rotation transmission member 353 to rotate, and the gears drive the rotating shaft 315 to rotate in the second direction Y, and the rotating shaft 315 can drive the cleaning member 311 to rotate in the second direction Y. The friction between the cleaning member 311 and the surface to be cleaned can drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336, so that the cleaning member 311 can perform the second motion to make the cleaning member 311 return to the second position.

[0114] Please refer to FIG. 2, FIG. 6 and FIG. 10, in another embodiment, step 05, the cleaning member 311 performs the second motion in the direction of the second position, including:

[0115] 055: The machine body 10 rotates in the second direction Y to drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336 relative to the machine body 10.

[0116] Since the first transmission member 3351 and the second transmission member 3352 are both half teeth, when the first transmission member 3351 and the second transmission member 3352 are engaged, the swing transmission member 335 can drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336 to perform the first motion. When the first transmission member 3351 and the second transmission member 3352 are disengaged, the swing transmission member 335 cannot continue to drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336, at this time, in the case that the machine body 10 rotates in the second direction Y, the cleaning member 311 can be driven to rotate in the first direction X around the connecting shaft 336 to perform the second motion.

[0117] In the case that the cleaning member 311 rotates in the first direction X around the connecting shaft 336 relative to the machine body 10, it means that the cleaning member 311 can rotate in the first direction X around the connecting shaft 336 while following the machine body 10 to rotate in the second direction Y relative to the surface to be cleaned, at this time, the cleaning member 311 can change the position relative to the machine body 10.

[0118] In one example, when the machine body 10 is rotated in the second direction Y with the cleaning member 311 in contact with the surface to be cleaned, the machine body 10 can drive the cleaning assembly 31 to rotate in the second direction Y together, i.e. the cleaning member 311 can rotate in the second direction Y relative to the surface to be cleaned. A frictional force between the cleaning member 311 and the surface to be cleaned can be generated, and the direction of the frictional force is opposite to the second direction Y, i.e. the direction of the frictional force is the first direction X. The frictional force between the cleaning member 311 and the surface to be cleaned can drive the cleaning assembly 31 to rotate in the first direction X about the connecting shaft 336 relative to the machine body 10, so that the cleaning member 311 can rotate in the first direction X relative to the machine body 10, and the cleaning member 311 can move towards the second position to return to the second position.

[0119] In one example, when the machine body 10 is rotated in the second direction Y with the cleaning member 311 in contact with the surface to be cleaned, the machine body 10 can drive the cleaning assembly 31 to rotate in the second direction Y together, i.e. the cleaning member 311 can rotate in the second direction Y relative to the surface to be cleaned. A frictional force between the cleaning member 311 and the surface to be cleaned can be generated, and the direction of the frictional force is opposite to the second direction Y, i.e. the direction of the frictional force is the first direction X. The frictional force between the cleaning member 311 and the surface to be cleaned can drive the cleaning assembly 31 to rotate in the first direction X about the connecting shaft 336 relative to the machine body 10, so that the cleaning member 311 can rotate in the first direction X relative to the machine body 10, and the cleaning member 311 can move towards the second position to return to the second position.

[0120] In one example, when the machine body 10 is rotated in the second direction Y with the cleaning member 311 in contact with the surface to be cleaned, the machine body 10 can drive the cleaning assembly 31 to rotate in the second direction Y together, i.e. the cleaning member 311 can rotate in the second direction Y relative to the surface to be cleaned. A frictional force between the cleaning member 311 and the surface to be cleaned can be generated, and the direction of the frictional force is opposite to the second direction Y, i.e. the direction of the frictional force is the first direction X. The frictional force between the cleaning member 311 and the surface to be cleaned can drive the cleaning assembly 31 to rotate in the first direction X about the connecting shaft 336 relative to the machine body 10, so that the cleaning member 311 can rotate in the first direction X relative to the machine body 10, and the cleaning member 311 can move towards the second position to return to the second position.

[0121] 0551: The machine body 10 is rotated in the second direction Y to drive the cleaning member 311 to rotate in the first direction X about the connecting shaft 336 relative to the machine body 10 by the force of the obstacle on the cleaning member 311.

[0122] In another example, in the case that there is an obstacle around the cleaning robot 100, when the main body 10 rotates along the second direction Y, the main body 10 can drive the cleaning assembly 31 to rotate along the second direction Y together, i.e., the cleaning member 311 can rotate along the second direction Y relative to the surface to be cleaned. Since the cleaning member 311 has not reached the second position at this time, the cleaning member 311 can still have a part of the structure beyond the periphery of the main body 10. When the cleaning member 311 rotates along the second direction Y relative to the surface to be cleaned, the part of the structure of the cleaning member 311 beyond the periphery of the main body 10 collides with the obstacle first at this time, the cleaning member 311 will exert a force on the obstacle, and the obstacle will exert a counterforce on the cleaning member 311, the cleaning member 311 stops rotating with the main body 10, and the main body 10 continues to rotate along the second direction Y. In this way, the cleaning member 311 can rotate along the first direction X relative to the main body 10 around the connecting shaft 336, so that the cleaning member 311 can move towards the second position to make the cleaning member 311 return to the second position. In this embodiment, the cleaning member 311 can be in contact with the surface to be cleaned, or the cleaning member 311 can be spaced from the surface to be cleaned. At this time, the main body 10 rotates along the second direction Y, and the cleaning member 311 can collide with the obstacle to generate a force.

[0123] Referring to FIG. 2, preferably, in some embodiments, the cleaning member 311 does not rotate during the process that the main body 10 rotates along the second direction Y to drive the cleaning member 311 to rotate along the first direction X relative to the main body 10 around the connecting shaft 336. At this time, the second driving member 351 stops driving the rotation of the self-rotation transmission member 353, so that the self-rotation transmission member 353 does not drive the rotation of the rotating shaft 315, and the rotating shaft 315 does not drive the self-rotation of the cleaning member 311.

[0124] In the case that the cleaning member 311 does not rotate, there is no interference between the rotation of the main body 10 and the rotation of the cleaning member 311, and the problem of error of the cleaning robot 100 can be avoided. In addition, if the cleaning member 311 rotates simultaneously during the process that the main body 10 rotates along the second direction Y, the friction between the cleaning member 311 and the surface to be cleaned is not enough to drive the cleaning member 311 to rotate along the first direction X around the connecting shaft 336, and the cleaning member 311 cannot effectively perform the second motion.

[0125] Referring to FIG. 2, FIG. 6 and FIG. 11, specifically, in some embodiments, the cleaning robot 100 further comprises a power assembly and a driving wheel, both of which are installed on the main body 10, and the power assembly cooperates with the driving wheel; and step 055, the main body 10 rotates along the second direction Y, comprising:

[0126] 0553: The power assembly drives the driving wheel to drive the main body 10 to rotate along the second direction Y.

[0127] When the cleaning member 311 needs to perform the second movement, the power assembly is activated to drive the driving wheel to rotate, thereby driving the body 10 to rotate along the second direction Y. The rotation of the body 10 along the second direction Y can drive the cleaning member 311 to rotate around the connecting shaft 336 along the first direction X relative to the body 10, thereby enabling the cleaning member 311 to perform the second movement to return to the second position.

[0128] Referring to FIGS. 2, 6 and 10, in some embodiments, step 05, the cleaning member 311 performs the second movement towards the second position, includes:

[0129] 053: the cleaning member 311 rotates along the second direction Y to drive the cleaning member 311 to rotate around the connecting shaft 336 along the first direction X; and

[0130] 055: the body 10 rotates along the second direction Y to drive the cleaning member 311 to rotate around the connecting shaft 336 along the first direction X relative to the body 10.

[0131] Referring to FIGS. 2, 6 and 10, in some embodiments, step 05, the cleaning member 311 performs the second movement towards the second position, includes:

[0132] At this time, if the cleaning member 311 rotates along the first direction X under the action of the friction force between the cleaning member 311 and the surface to be cleaned when the body 10 rotates along the second direction Y, the cleaning member 311 can reach the second position. In this case, the body 10 does not need to rotate along the second direction Y, and the motion range of the cleaning robot 100 is small. If the cleaning member 311 does not reach the second position under the action of the friction force after the cleaning member 311 rotates along the second direction Y, in one example, the body 10 can rotate along the second direction Y, so that the cleaning member 311 can move toward the second position under the action of the friction force again, and the cleaning member 311 can effectively reach the second position after performing the second motion. In another example, when the surface to be cleaned is relatively smooth, the friction force between the cleaning member 311 and the surface to be cleaned is small, and the cleaning member 311 cannot return to the second position after rotating, the body 10 can rotate along the second direction Y, so that the cleaning member 311 rotates along the first direction X relative to the body 10 around the connecting shaft 336 under the action of the friction force between the cleaning member 311 and the obstacle, and the cleaning member 311 can effectively move toward the second position, so that the cleaning member 311 returns to the second position. In this way, the success rate of the cleaning member returning to the second position can be improved.

[0133] Please refer to FIG. 2, FIG. 6 and FIG. 10, in another embodiment, when the cleaning member 311 needs to perform the second motion, the power assembly is first started, and the power assembly drives the driving wheel to drive the body 10 to rotate along the second direction Y. When the body 10 drives the cleaning member 311 to rotate along the second direction Y, the friction force between the cleaning member 311 and the surface to be cleaned drives the cleaning member 311 to rotate along the first direction X relative to the body 10 around the connecting shaft 336. When the power assembly stops driving the body 10 to rotate, the second driving member 351 is started to drive the self-rotation transmission member 353 to drive the rotating shaft 315 to rotate along the first direction X, so that the rotating shaft 315 drives the cleaning member 311 to rotate along the second direction Y. When the cleaning member 311 rotates along the second direction Y, the friction force between the cleaning member 311 and the surface to be cleaned drives the cleaning member 311 to rotate along the first direction X around the connecting shaft 336.

[0134] At this time, if the cleaning member 311 rotates along the first direction X under the action of the friction force between the cleaning member 311 and the surface to be cleaned when the body 10 rotates along the second direction Y, the cleaning member 311 can reach the second position. In this case, the cleaning member 311 does not need to rotate along the second direction Y, and the motion of the cleaning robot 100 is simple. If the cleaning member 311 does not reach the second position under the action of the friction force after the body 10 rotates along the second direction Y, the cleaning member 311 can rotate along the second direction Y, so that the cleaning member 311 can move toward the second position under the action of the friction force again, and the cleaning member 311 can effectively reach the second position after performing the second motion.

[0135] Referring to FIG. 2, FIG. 4, FIG. 6 and FIG. 10, in some embodiments, step 05, the second movement of the cleaning member 311 towards the second position further comprises:

[0136] 051: The first driving member 331 stops outputting power.

[0137] In some embodiments, the cleaning assembly 31 further comprises a connecting member 317, which is respectively arranged at opposite ends of the rotating shaft 315 with the cleaning member 311, and is spaced apart from the loading member 313. The lifting transmission component 337 comprises a lifting member 3373, at least a part of which is located between the connecting member 317 and the top of the loading member 313. After the first driving member 331 drives the lifting member 3373 to move upwards to make the lifting member 3373 contact the connecting member 317, when the lifting member 3373 continues to move upwards, the lifting member 3373 can drive the cleaning member 311 to move upwards, so that the cleaning member 311 is spaced apart from the surface to be cleaned.

[0138] In the case that the distance between the lifting member 3373 and the connecting member 317 in the height direction of the machine body 10 is small, after the first movement is completed, the first driving member 331 stops outputting power, at this time, the lifting member 3373 will not be driven to move upwards by the power output member 333, so that the lifting member 3373 will not contact the connecting member 317 and drive the cleaning member 311 to move upwards. Thus, the cleaning member 311 can maintain contact with the surface to be cleaned. When the cleaning member 311 needs to perform the second movement, the cleaning member 311 rotates in the second direction Y, or the machine body 10 rotates in the second direction Y, the cleaning member 311 can generate a friction force with the surface to be cleaned, which can drive the cleaning member 311 to rotate in the first direction X around the connecting shaft 336, so that the cleaning member 311 can effectively perform the second movement.

[0139] In other embodiments, in the case that the distance between the lifting member 3373 and the connecting member 317 in the height direction of the machine body 10 is large, after the first movement is completed, the first driving member 331 can also continue to output power. At this time, the first driving member 331 can drive the lifting member 3373 to move upwards, but the lifting member 3373 will not contact and drive the connecting member 317 to move upwards when moving upwards, so that the cleaning member 311 can maintain contact with the surface to be cleaned, and the cleaning member 311 can effectively perform the second movement.

[0140] Referring to FIG. 2, FIG. 4, FIG. 6 and FIG. 12, in some embodiments, the control method further comprises:

[0141] 07: In the case that the second movement is completed and the current position of the cleaning member 311 has not reached the second position, the cleaning member 311 performs the second movement again towards the second position.

[0142] In the second motion, the detection component 37 can detect whether the current position of the cleaning member 311 reaches the second position again. If the detection component 37 detects that the current position of the cleaning member 311 reaches the second position within a preset time period, the retraction process of the cleaning member 311 ends, and the cleaning member 311 does not need to perform the second motion again. If the detection component 37 detects that the current position of the cleaning member 311 does not reach the second position within the preset time period, the cleaning member 311 needs to perform the second motion again, and the cleaning member 311 continues to move towards the second position to ensure that the cleaning member 311 can return to the second position.

[0143] In some embodiments, the control method further includes the following steps, as shown in FIGS. 2, 4, 6 and 12.

[0144] 09: If the number of times of performing the second motion reaches a preset number of times and the current position of the cleaning member 311 still does not reach the second position, a prompt information is sent.

[0145] The preset number of times can be one, two, three, four or more, but is not limited to the above. For example, if the preset number of times is three, after the first second motion is performed, if the detection component 37 detects that the current position of the cleaning member 311 reaches the second position within a preset time period, the retraction process of the cleaning member 311 ends, and if the detection component 37 detects that the current position of the cleaning member 311 does not reach the second position within the preset time period, the cleaning member 311 performs the second second motion again. After the second second motion is performed, if the detection component 37 detects that the current position of the cleaning member 311 reaches the second position within a preset time period, the retraction process of the cleaning member 311 ends, and if the detection component 37 detects that the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 performs the third second motion again. After the third second motion is performed, if the detection component 37 detects that the current position of the cleaning member 311 reaches the second position, the retraction process of the cleaning member 311 ends. If the detection component 37 detects that the current position of the cleaning member 311 does not reach the second position within a preset time period, the cleaning robot 100 sends a prompt information.

[0146] The prompt information is used to remind the user to maintain the cleaning robot 100 when the cleaning element 311 has a problem during the retraction process and the cleaning element 311 cannot be automatically retracted to the second position. The ways in which the cleaning robot 100 issues the prompt information include, but are not limited to, a sound prompt, a light prompt, a display screen prompt, or a shutdown prompt. In the case where the cleaning robot 100 issues the prompt information through a sound prompt, in one example, the cleaning robot 100 can inform the user of the problem through voice broadcasting. In another example, the cleaning robot 100 can issue a specific alarm sound to remind the user, for example, the alarm sound includes, but is not limited to, a continuous beep, a long beep, or a short beep. In the case where the cleaning robot 100 issues the prompt information through a light prompt, the indicator light on the cleaning robot 100 can emit red light, yellow light, or rapidly flash to remind the user. In the case where the cleaning robot 100 issues the prompt information through a display screen prompt, the display screen of the cleaning robot 100 can display information such as “cleaning element 311 retraction failure” or “machine failure” to prompt the user. In the case where the cleaning robot 100 issues the prompt information through a shutdown prompt, the cleaning robot 100 can stop working to remind the user.

[0147] Referring to FIGS. 2, 6, and 12, in some embodiments, the lifting transmission component 337 includes a lifting element 3373 for lifting the cleaning element 311, and the control method further includes:

[0148] 010: In the case where the cleaning element 311 reaches the second position, the lifting element 3373 moves upward in the height direction of the body 10.

[0149] The lifting element 3373 can move upward in the height direction of the body 10 relative to the body 10. When the lifting element 3373 moves upward to cooperate with the cleaning assembly 31, the lifting element 3373 drives the cleaning assembly 31 to move upward in the height direction of the body 10, so that the cleaning element 311 is spaced apart from the surface to be cleaned.

[0150] In the case where the detection assembly 37 detects that the current position of the cleaning element 311 has reached the second position, the power output element 333 transmits driving force to the lifting transmission component 337, so that the lifting element 3373 can move upward in the height direction of the body 10, and the lifting element 3373 can drive the cleaning assembly 31 to move upward in the height direction of the body 10, so that the cleaning element 311 can be spaced apart from the surface to be cleaned.

[0151] The cleaning element 311 will be contaminated by some dirt after cleaning the surface to be cleaned. If the cleaning element 311 contacts the surface to be cleaned which has been cleaned at this time, the cleaning element 311 can contaminate the surface to be cleaned again. In the case that the cleaning element 311 is retracted to the second position and the cleaning element 311 is spaced from the surface to be cleaned, the cleaning element 311 can be prevented from causing secondary contamination to the surface to be cleaned which has been cleaned, and the cleaning effect of the cleaning robot 100 on the surface to be cleaned is better. In addition, in the case that the cleaning element 311 is spaced from the surface to be cleaned, the friction between the cleaning robot 100 and the surface to be cleaned is smaller when the cleaning robot 100 moves on the surface to be cleaned, and the movement of the cleaning robot 100 is smoother. In the case that the cleaning element 311 is spaced from the surface to be cleaned, the obstacle crossing ability of the cleaning robot 100 can be improved when the cleaning robot 100 encounters a threshold or uneven position. Furthermore, in the case that the cleaning element 311 is spaced from the surface to be cleaned, it is beneficial to keep the cleaning element 311 dry and ventilated, which can effectively reduce the breeding of bacteria and the generation of odor on the cleaning element 311, prolong the service life of the cleaning element 311, and keep the cleaning robot 100 clean and tidy as a whole.

[0152] Please refer to FIG. 2, FIG. 6 and FIG. 13. In some embodiments, the lifting element 3373 is provided with an opening 3374 and a matching portion 3375 in communication with the opening 3374. In the case that the cleaning element 311 moves to the second position along the first direction X, at least part of the rotating shaft 315 passes through the opening 3374 into the matching portion 3375, and the connecting element 317 and the cleaning element 311 are located on opposite sides of the matching portion 3375, respectively. In step 010, the lifting element 3373 moves upward in the height direction of the machine body 10, including:

[0153] 0101: The lifting element 3373 moves upward in the height direction of the machine body 10 until the matching portion 3375 abuts against the connecting element 317.

[0154] In the case that the cleaning element 311 reaches the second position, the rotating shaft 315 can pass through the opening 3374 into the matching portion 3375, i.e., the rotating shaft 315 can pass through the matching portion 3375. The matching portion 3375 is used to cooperate with the connecting element 317 to drive the connecting element 317 to move upward in the height direction of the machine body 10, so as to space the cleaning element 311 from the surface to be cleaned.

[0155] When the cleaning member 311 reaches the second position, the matching part 3375 is located between the top of the loading member 313 and the connecting member 317. During the process that the power output member 333 drives the lifting member 3373 to move upward, the matching part 3375 gradually moves upward and contacts the connecting member 317. During the process that the matching part 3375 continues to move upward, the matching part 3375 can drive the connecting member 317 to move upward, so that the cleaning assembly 31 as a whole moves upward along the height direction of the fuselage 10 until the cleaning member 311 is spaced apart from the surface to be cleaned. The lifting member 3373 can stop driving the connecting member 317 to move upward.

[0156] Please refer to FIG. 2, FIG. 3, FIG. 6 and FIG. 14. Specifically, in some embodiments, the lifting transmission component 337 further includes a linkage member 3371. The power output member 333 is connected to the input end of the linkage member 3371, and the lifting member 3373 is connected to the output end of the linkage member 3371. In step 0101, the lifting member 3373 moves upward along the height direction of the fuselage 10 until it abuts against the connecting member 317, including:

[0157] 01011: The first driving member 331 drives the power output member 333 to rotate in the second direction Y; and

[0158] 01013: The power output member 333 drives the linkage member 3371 to drive the lifting member 3373 to move upward until the matching part 3375 abuts against the connecting member 317.

[0159] When the cleaning member 311 reaches the second position, the first driving member 331 is started, and the driving force of the first driving member 331 is transmitted to the power output member 333 to make the power output member 333 rotate in the second direction Y. The input end of the linkage member 3371 can be a gear, and the output end of the linkage member 3371 can be a lead screw connected to the input end of the linkage part. One end of the lifting member 3373 is sleeved on the lead screw, and the other end (the matching part 3375) of the lifting member 3373 is used to cooperate with the connecting member 317. The first linkage part is engaged with the power output member 333, so that the first linkage part can rotate in the first direction X. The first linkage part can drive the second linkage part to rotate, and the rotation of the second linkage part can drive the lifting member 3373 to move upward along the height direction of the fuselage 10. During the process that the lifting member 3373 moves upward, the matching part 3375 can abut against the connecting member 317. At this time, the lifting member 3373 continues to move upward, and the matching part 3375 can drive the connecting member 317 to move upward, so that the cleaning member 311 can move upward to be spaced apart from the surface to be cleaned.

[0160] Referring to FIG. 1, in some embodiments, the cleaning robot 100 further comprises a controller 50 configured to perform the control method of the above embodiments. For example, the controller 50 is configured to perform the method in 02 and 05, i.e., the cleaning member 311 performs a first movement in a direction from the first position to the second position; after the first movement is completed, and if the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 performs a second movement in a direction to the second position. The controller 50 is further configured to perform the method in 021, 023, 03, 04, 041, 0411, 0413, 0415, 053, 0531, 0533, 055, 0553, 0551, 057, 07, 09, 010, 0101, 01011 and 01013.

[0161] Referring to FIG. 15, the embodiments of the present application provide a base station 300 configured to cooperate with the cleaning robot 100 of the above embodiments, the base station 300 comprises a parking position configured to accommodate the cleaning robot 100. The base station 300 can be configured to supply power to the cleaning robot 100 and clean the cleaning robot 100.

[0162] In the base station 300 of the embodiments of the present application, during the process of retracting the cleaning member 311 from the first position to the second position, after the cleaning member 311 performs the first movement, if the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 can further perform a second movement in a direction to the second position, so that the cleaning member 311 can approach or reach the second position. The control method of the present application can effectively retract the cleaning member 311 from the first position to the second position, and the movement of the cleaning member 311 during the retracting process is smooth, which can avoid the problem that the cleaning member 311 cannot be retracted to the position due to assembly error, actuation error, obstruction by obstacles, etc., and affect the subsequent cleaning action of the cleaning member 311.

[0163] Referring to FIG. 15, the embodiments of the present application provide a cleaning system 1000 comprising the cleaning robot 100 and the base station 300 of the above embodiments, the base station 300 is configured to cooperate with the cleaning robot 100 of the above embodiments, and the base station 300 comprises a parking position configured to accommodate the cleaning robot 100.

[0164] In the cleaning system 1000 of the embodiments, during the retraction of the cleaning member 311 from the first position to the second position, after the first movement of the cleaning member 311, if the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 can further perform a second movement in the direction of the second position, so that the cleaning member 311 can approach or reach the second position. The control method of the embodiments can effectively retract the cleaning member 311 from the first position to the second position, and the movement of the cleaning member 311 during the retraction is relatively smooth, which can avoid the problem that the cleaning member 311 cannot be retracted to the position due to reasons such as assembly error, actuation error, and being blocked by an obstacle, and affect the subsequent cleaning action of the cleaning member 311.

[0165] Referring to FIG. 16, the embodiments provide a computer storage medium 3000, which stores a computer program 3001. When the computer program 3001 is executed by one or more processors 3003, the control method of the above embodiments is implemented.

[0166] For example, when the computer program 3001 is executed by the processor 3003, the following control method can be implemented:

[0167] 02: The cleaning member 311 performs a first movement in the direction from the first position to the second position; and

[0168] 05: After the first movement ends, if the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 performs a second movement in the direction of the second position.

[0169] For another example, when the computer program 3001 is executed by the processor 3003, the control method in 021, 023, 03, 04, 041, 0411, 0413, 0415, 053, 0531, 0533, 055, 0553, 0551, 057, 07, 09, 010, 0101, 01011, and 01013 can also be implemented.

[0170] In the computer storage medium 3000 of the embodiments, during the retraction of the cleaning member 311 from the first position to the second position, after the first movement of the cleaning member 311, if the current position of the cleaning member 311 does not reach the second position, the cleaning member 311 can further perform a second movement in the direction of the second position, so that the cleaning member 311 can approach or reach the second position. The control method of the embodiments can effectively retract the cleaning member 311 from the first position to the second position, and the movement of the cleaning member 311 during the retraction is relatively smooth, which can avoid the problem that the cleaning member 311 cannot be retracted to the position due to reasons such as assembly error, actuation error, and being blocked by an obstacle, and affect the subsequent cleaning action of the cleaning member 311.

[0171] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The illustrative appearances of the above- described terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, descriptions of a particular feature, structure, material, or characteristic in

[0172] Any process or method described in a flowchart or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) of the process, and alternate implementations are possible. The various embodiments of the application can be implemented in software, hardware, or a combination thereof, and can be realized in a centralized fashion in one computer system or in a distributed fashion where different elements are spread across several computer systems. Any kind of computer system or other apparatus adapted for carrying out the methods described herein is suited. A typical combination of hardware and software could be a general purpose computer system with a computer program that, when being loaded and executed, carries out the methods described herein. Alternatively, a custom made hardware

[0173] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be embodied in computer executable code that can be implemented by one or more computer systems or other processing systems. The code can be stored as machine readable code in a computer readable storage medium, which can include any medium that participates in providing data (for example, information) that could be accessed by a computer or other processing system. Examples of a computer readable storage medium include, but are not limited to, read only memory (ROM), random access memory (RAM), magnetic disk storage, optical storage, flash memory, and other types of storage medium known in the art. The computer readable storage medium can be tangible and non-transitory. The computer readable storage medium can be a computer readable storage medium that stores data for use by or in connection with an instruction execution system, apparatus, or device.

[0174] It should be understood that parts of the present application can be realized in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be realized in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, any of the following technologies known in the art or their combinations can be used: discrete logic circuit with logic gates for implementing logic functions on data signals, application specific integrated circuit with appropriate combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0175] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof. In addition, each functional unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software function module. The integrated module, if realized in the form of a software function module and sold or used as an independent product, can also be stored in a computer readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0176] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body and a cleaning member movably mounted on the body, the cleaning member having a preset first position and a preset second position, the cleaning member being farther away from a center line of the body width when in the first position than when in the second position; The control method comprises: The cleaning member performs a first movement in the direction of the second position from the first position; And When the first movement ends and the current position of the cleaning member does not reach the second position, the cleaning member performs a second movement in the direction of the second position.

2. The control method according to claim 1, characterized by The cleaning robot further comprises a connecting shaft, and the second movement comprises rotation of the cleaning member about the connecting shaft in a first direction; The cleaning member performs a second movement in the direction of the second position, comprising: The cleaning member rotates in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction, the second direction being opposite to the first direction.

3. The control method according to claim 1, characterized by The cleaning robot further comprises a connecting shaft, and the second movement comprises rotation of the cleaning member about the connecting shaft in a first direction relative to the body; The cleaning member performs a second movement in the direction of the second position, comprising: The body rotates in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body, the second direction being opposite to the first direction.

4. The control method according to claim 3, characterized by, During the rotation of the body in the second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body, the cleaning member does not rotate.

5. The control method according to claim 1, characterized by The cleaning robot further comprises a connecting shaft, and the second movement comprises rotation of the cleaning member about the connecting shaft in a first direction; The cleaning member performs a second movement in the direction of the second position, comprising: The cleaning member rotates in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction, the second direction being opposite to the first direction; and The body rotates in a second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body.

6. The control method according to any one of claims 3 to 5, characterized by, The rotation of the body in the second direction to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body, comprising: The rotation of the body in the second direction is to enable an acting force of the cleaning member on the obstacle to drive the cleaning member to rotate about the connecting shaft in the first direction relative to the body.

7. The control method according to any one of claims 2 to 5, characterized by, The cleaning robot further comprises a cleaning assembly and a first driving assembly, the cleaning assembly comprising the cleaning member, the first driving assembly being mounted in the body and comprising a first driving member, a power output member, an oscillation transmission member and the connecting shaft, the first driving member being connected with the power output member, the oscillation transmission member being connected with the power output member, and the connecting shaft being arranged in part of the oscillation transmission member; The cleaning member performs a second movement in the direction of the second position, further comprising: The first driving member stops outputting power.

8. The control method according to claim 2 or 5, characterized by, The cleaning robot further comprises a second driving assembly and a cleaning assembly, the second driving assembly comprises a second driving member and a self-rotation transmission member matched with the second driving member, the cleaning assembly comprises a loading member, a rotating shaft rotatably installed on the loading member, and the cleaning member fixedly installed on the rotating shaft, and the rotating shaft is connected with the self-rotation transmission member; The cleaning member rotates in a second direction, comprising: The second driving member drives the self-rotation transmission member to drive the rotating shaft to rotate in the second direction; And The rotating shaft drives the cleaning member to rotate in the second direction.

9. The control method according to any one of claims 3 to 5, characterized by, The cleaning robot further comprises a power assembly and a driving wheel, both of which are installed on the body, and the power assembly is matched with the driving wheel; the body rotates in a second direction, comprising: The power assembly drives the driving wheel to drive the body to rotate in the second direction.

10. The control method according to claim 1, characterized by The cleaning robot comprises a cleaning assembly and a first driving assembly, the cleaning assembly comprises the cleaning member, the first driving assembly is installed in the body, and comprises a first driving member, a power output member, a swing transmission member, and a connecting shaft, the first driving member is connected with the power output member, the swing transmission member is connected with the power output member, and the connecting shaft penetrates part of the swing transmission member; The cleaning member performs a first movement in the direction from the first position to the second position, comprising: The first driving member drives the power output member to rotate in a second direction; And The power output member drives the swing transmission member to drive the cleaning assembly to rotate in a first direction around the connecting shaft.

11. The control method according to claim 1, characterized by, The cleaning robot further comprises a swing transmission member, the swing transmission member comprises a first transmission member and a second transmission member, and the first transmission member and the second transmission member have a matched state and an un-matched state; the control method further comprises: In the case that the first transmission member and the second transmission member are in the un-matched state, it is determined that the first movement is ended.

12. The control method according to claim 11, characterized by, The cleaning robot further comprises a first driving assembly, the first driving assembly is installed in the body, and comprises a first driving member, a power output member, the swing transmission member, and a lifting transmission member, the first driving member is connected with the power output member, the first transmission member is connected with the power output member and is driven by the first driving member to rotate synchronously, and the power output member always keeps matched with the lifting transmission member.

13. The control method according to claim 1, characterized by, The cleaning robot further comprises a detection assembly; the control method further comprises: Detecting, by the detection assembly, whether the current position of the cleaning member reaches the second position.

14. The control method according to claim 13, characterized by, The cleaning robot further comprises a cleaning assembly capable of rotating relative to the body, the cleaning assembly comprises a loading member and the cleaning member rotatably installed on the loading member; the detection assembly comprises a detection member and a detection target, both of which are arranged in the body, and the detection target can change the signal detected by the detection member, and the detection of whether the current position of the cleaning member reaches the second position by the detection assembly comprises: The change of the signal detected by the detecting member is used to determine whether the current position of the cleaning member reaches the second position.

15. The control method according to claim 14, characterized by One of the detecting member and the member to be detected is fixed relative to the body, and the other of the detecting member and the member to be detected is arranged on the loading member and can follow the loading member to rotate relative to the body. The detecting member comprises a transmitter and a receiver. The change of the signal detected by the detecting member is used to determine whether the current position of the cleaning member reaches the second position. The transmitter transmits a signal. If the receiver does not receive the signal, it is determined that the cleaning member reaches the second position. If the receiver receives the signal, it is determined that the cleaning member does not reach the second position.

16. The control method according to claim 1, characterized by Further comprising: If the second motion ends and the current position of the cleaning member still does not reach the second position, the cleaning member performs the second motion again in the direction of the second position.

17. The control method according to claim 16, characterized by Further comprising: If the number of times of performing the second motion reaches a preset number and the current position of the cleaning member still does not reach the second position, a prompt information is sent.

18. The control method according to claim 1, characterized by, The cleaning robot further comprises a lifting transmission component, the lifting transmission component comprises a lifting member for lifting the cleaning member, and further comprises: If the cleaning member reaches the second position, the lifting member moves upward in the direction of the height of the body.

19. The control method according to claim 18, characterized by The cleaning robot further comprises a cleaning assembly, the cleaning assembly comprises a loading member, a rotating shaft rotatably arranged on the loading member, the cleaning member fixedly arranged on the rotating shaft, and a connecting member, the lifting member is provided with an opening and a matching portion in communication with the opening, at least part of the rotating shaft passes through the opening and enters the matching portion if the cleaning member moves in a first direction to reach the second position, and the connecting member and the cleaning member are respectively located on two opposite sides of the matching portion. The lifting member moves upward in the direction of the height of the body, comprising: The lifting member moves upward in the direction of the height of the body until the matching portion abuts against the connecting member.

20. The control method according to claim 19, wherein The cleaning robot further comprises a first driving assembly, the first driving assembly comprises a first driving member, a power output member, and a lifting transmission component, the lifting transmission component further comprises a linkage member connected with the lifting member and the power output member; the first driving member is connected with the power output member, the power output member is connected with the input end of the linkage member, and the lifting member is connected with the output end of the linkage member; the lifting member moves upward in the direction of the height of the body until abutting against the connecting member, comprising: The first driving member drives the power output member to rotate in a second direction; The power output member drives the linkage member to drive the lifting member to move upward until the matching portion abuts against the connecting member.

21. The control method according to claim 1, characterized by, The control method further comprises: The cleaning member performs a third motion in the direction from the second position to the first position to reach the first position.

22. The control method according to claim 21, characterized by The cleaning robot comprises a cleaning assembly including the cleaning member and a first driving assembly installed in the body and comprising a first driving member, a power output member, an oscillating transmission member and a connecting shaft, the first driving member being connected with the power output member, the oscillating transmission member being connected with the power output member, and the connecting shaft being arranged through part of the oscillating transmission member; The cleaning member performs a third movement from the second position towards the first position to reach the first position, comprising: The first driving member drives the power output member to rotate in a first direction; And The power output member drives the oscillating transmission member to drive the cleaning assembly to rotate around the connecting shaft in a second direction until the cleaning member reaches the first position.

23. The control method according to claim 1, characterized by, The cleaning member comprises a wiping member.

24. A cleaning robot characterized by, Comprise: a body; a cleaning member movably installed on the body, the cleaning member being used to contact with a surface to be cleaned to clean the surface to be cleaned, the cleaning member having a preset first position and a preset second position; and a controller used to perform the control method according to any one of claims 1-23.

25. A base station, comprising: The base station is used in cooperation with the cleaning robot according to claim 24, and comprises a parking position for accommodating the cleaning robot.

26. A cleaning system characterized by, Comprise: the cleaning robot according to claim 24; and the base station used in cooperation with the cleaning robot according to claim 24, and comprising a parking position for accommodating the cleaning robot.

27. A computer storage medium, comprising, The computer program is stored in a computer readable storage medium, and when the computer program is executed by one or more processors, the control method according to any one of claims 1-23 is realized.

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