Cleaning robot and control method thereof

Abstract

The application relates to a cleaning robot and a control method thereof. The cleaning robot comprises a main body, a rolling brush module, an edge brush module, a mopping module and a control module connected with the main body, wherein the cleaning robot comprises a mopping mode, the mopping mode comprises a first mopping mode and a second mopping mode, in the first mopping mode, the edge brush module contacts a cleaning area and performs edge brush sweeping work, the mopping module contacts the cleaning area and performs mopping work, and the rolling brush module does not contact the cleaning area; in the second mopping mode, the mopping module contacts the cleaning area and performs mopping work, and neither the rolling brush module nor the edge brush module contacts the cleaning area; and the control module is configured to control the cleaning robot to selectively enter the first mopping mode or the second mopping mode according to a predetermined logic when the cleaning robot enters the mopping mode. The cleaning robot can reduce or even eliminate secondary pollution of the ground by the edge brush module and the rolling brush module during mopping work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, in particular to a cleaning robot and a control method thereof. BACKGROUND

[0002] A cleaning robot is a kind of intelligent household appliance, which can automatically complete floor cleaning work by means of certain artificial intelligence technology. The cleaning robot can include a rolling brush module, an edge brush module, a dust collection module, and a mopping module. The rolling brush module and the edge brush module can be used to perform floor sweeping work to concentrate floor debris at the air inlet; the dust collection module can be used to perform dust collection work to store floor debris in a dust storage box; and the mopping module can be used to perform mopping work.

[0003] In the conventional technology, when the cleaning robot performs mopping work, the rolling brush module and the edge brush module work synchronously, at this time, the dust attached to the rolling brush module and the edge brush module also contacts the wet ground, causing the ground to be secondarily contaminated. SUMMARY

[0004] Therefore, it is necessary to provide a cleaning robot and a control method thereof to avoid secondary contamination of the ground during mopping.

[0005] In a first aspect, an embodiment of the present application provides a cleaning robot, comprising a main body, and a rolling brush module, an edge brush module, a mopping module, and a control module connected to the main body, wherein:

[0006] The cleaning robot comprises a mopping mode, the mopping mode comprising a first mopping mode and a second mopping mode. In the first mopping mode, the edge brush module contacts a cleaning area and performs edge brush sweeping work, the mopping module contacts the cleaning area and performs mopping work, and the rolling brush module does not contact the cleaning area. In the second mopping mode, the mopping module contacts the cleaning area and performs mopping work, and the rolling brush module and the edge brush module do not contact the cleaning area.

[0007] The control module is configured to control the cleaning robot to selectively enter the first mopping mode or the second mopping mode according to a predetermined logic when the cleaning robot enters the mopping mode.

[0008] In one embodiment, the control of the cleaning robot to selectively enter the first mopping mode or the second mopping mode according to a predetermined logic comprises:

[0009] When the working scene of the cleaning robot is a preset working scene, the cleaning robot is controlled to enter the first mopping mode.

[0010] When the working scene of the cleaning robot is not the preset working scene, the control module controls the cleaning robot to enter the second mopping mode.

[0011] In one of the embodiments, the working scene includes an edge-following working scene or an obstacle-avoiding working scene.

[0012] In one of the embodiments, the control module controls the cleaning robot to move along a preset working path in the edge-following working scene or the obstacle-avoiding working scene, and the distance between the cleaning robot and the edge of the obstacle is greater than or equal to a preset distance during the movement of the cleaning robot along the working path.

[0013] In one of the embodiments, the control module controls the cleaning robot to keep the distance between the cleaning robot and the edge of the obstacle equal to the preset distance during the movement of the cleaning robot along the working path.

[0014] In one of the embodiments, the preset distance is 10 mm.

[0015] In one of the embodiments, when the cleaning robot enters the first mopping mode, the control module controls the brush module to perform brush cleaning work at a first brush rotating speed.

[0016] The cleaning robot further includes a cleaning mode, in which the control module controls the brush module to perform brush cleaning work at a second brush rotating speed, and the first brush rotating speed is lower than the second brush rotating speed.

[0017] In one of the embodiments, the cleaning robot further includes a fan.

[0018] When the cleaning robot enters the first mopping mode, the control module controls the fan to rotate.

[0019] When the cleaning robot enters the second mopping mode, the control module controls the fan not to rotate.

[0020] In one of the embodiments, when the cleaning robot enters the first mopping mode, the control module controls the fan to rotate at a first fan rotating speed.

[0021] The cleaning robot further includes a cleaning mode, in which the control module controls the fan to rotate at a second fan rotating speed, and the first fan rotating speed is lower than the second fan rotating speed.

[0022] In one of the embodiments, the cleaning robot further includes a first lifting device and a second lifting device.

[0023] When the cleaning robot enters the first mopping mode or the second mopping mode, the first lifting device drives the roller brush module to move towards the main body to a first preset position, which is a position where the roller brush module does not contact the cleaning area;

[0024] When the cleaning robot enters the first mopping mode, the second lifting device drives the side brush module to move away from the main body until it contacts the cleaning area;

[0025] When the cleaning robot enters the second mopping mode, the second lifting device drives the side brush module to move towards the main body to a second preset position, which is a position where the side brush module does not contact the cleaning area.

[0026] In one embodiment, when the cleaning robot enters the first mopping mode or the second mopping mode, the control module controls the roller brush module to move to a third preset position of the cleaning robot, which is a position where the roller brush module does not contact the cleaning area;

[0027] When the cleaning robot enters the first mopping mode, the control module controls the side brush module to move away from the main body until it contacts the cleaning area;

[0028] When the cleaning robot enters the second mopping mode, the control module controls the side brush module to move to a fourth preset position of the cleaning robot, which is a position where the side brush module does not contact the cleaning area.

[0029] In one embodiment, the cleaning robot further comprises a sweeping mode, in which the side brush module contacts the cleaning area and performs side brush sweeping work, the roller brush module contacts the cleaning area and performs roller brush sweeping work, and the mopping module does not contact the cleaning area;

[0030] The control module is configured to control the cleaning robot to selectively enter the sweeping mode or the mopping mode according to the obtained mode-related information.

[0031] In one embodiment, the cleaning robot further comprises a sweeping and mopping mode, in which the side brush module contacts the cleaning area and performs side brush sweeping work, the mopping module contacts the cleaning area and performs mopping work, and the roller brush module contacts the cleaning area and performs roller brush sweeping work;

[0032] The control module is configured to control the cleaning robot to selectively enter one of the sweeping mode, the mopping mode and the cleaning mode according to the acquired mode-related information.

[0033] In a second aspect, the embodiments of the present application provide a control method of a cleaning robot, the cleaning robot comprising a mopping mode, the mopping mode comprising a first mopping mode and a second mopping mode, the method comprising:

[0034] In the case of entering the mopping mode, detecting a working scene;

[0035] When the working scene is a preset working scene, entering the first mopping mode, in the first mopping mode, controlling a side brush module to contact a cleaning area and perform a side brush sweeping work, controlling a mopping module to contact the cleaning area and perform a mopping work, and controlling a roller brush module not to contact the cleaning area;

[0036] When the working scene is not the preset working scene, entering the second mopping mode, in the second mopping mode, controlling the mopping module to contact the cleaning area and perform the mopping work, and controlling the roller brush module and the side brush module not to contact the cleaning area.

[0037] In one of the embodiments, the working scene comprises an edge-following working scene or an obstacle-avoiding working scene;

[0038] In the edge-following working scene or the obstacle-avoiding working scene, moving along a preset working path, and in the process of moving along the working path, a distance from an edge of an obstacle or an edge of an obstacle is greater than or equal to a preset distance.

[0039] The cleaning robot and the control method thereof, in which at least two mopping modes are provided in the cleaning robot, in the case of entering the mopping mode, when the control module selectively enters the first mopping mode according to a preset logic, the control module controls the side brush module to contact the cleaning area and perform the side brush sweeping work, thereby assisting in sweeping dust in the cleaning area and improving the cleaning effect, and meanwhile, in the first mopping mode, the control module controls the roller brush module not to contact the cleaning area, thereby reducing secondary pollution to the cleaning area in the mopping work. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0041] Figure 1 a cleaning robot in an embodiment when performing a sweeping operation;

[0042] Figure 2 a cleaning robot in a conventional technology when performing a mopping operation;

[0043] Figure 3 a cleaning robot in an embodiment;

[0044] Figure 4 a cleaning robot in an embodiment when operating in a first mopping mode;

[0045] Figure 5 a cleaning robot in an embodiment when operating in a second mopping mode;

[0046] Figure 6 a cleaning robot in an embodiment when operating in a first mopping mode;

[0047] Figure 7 a control method of a cleaning robot in an embodiment. DETAILED DESCRIPTION

[0048] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0049] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are used for explanation purposes only and are not intended to be limiting.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0051] Figure 1 An exemplary diagram showing a cleaning robot when performing a sweeping operation is shown. As shown in FIG. 1, a cleaning robot 100 is shown. The cleaning robot 100 includes a body 110, a plurality of wheels 120, a cleaning unit 130, a sensor 140, and a control unit 150. Figure 1As shown, the cleaning robot comprises a mopping module, a rolling brush module, and an edge brush module. When the cleaning robot performs cleaning work, the mopping module does not contact the cleaning area (e.g. the ground, the surface of a window), and stops mopping work. Meanwhile, the rolling brush module contacts the cleaning area and performs rolling brush cleaning work, and the edge brush module contacts the cleaning area and performs edge brush cleaning work.

[0052] Figure 2 An exemplary schematic diagram of a cleaning robot in the prior art when performing mopping work is shown. As shown, Figure 2 As shown, in the prior art, when the cleaning robot performs mopping work, the mopping module contacts the cleaning area and performs mopping work. Meanwhile, the rolling brush module contacts the cleaning area and performs rolling brush cleaning work, and the edge brush module contacts the cleaning area and performs edge brush cleaning work. At this time, the rolling brush module and the edge brush module continuously contact the cleaning area, so that dust attached thereto also contacts the wet cleaning area, causing the cleaning area to be secondarily contaminated.

[0053] Figure 3 An exemplary schematic diagram of the structure of a cleaning robot in the present application is shown. The cleaning robot can be an intelligent robot with mopping and sweeping functions, for example, a floor cleaning robot, a wall climbing robot, a service robot, etc. In the present embodiment, the cleaning robot can be an automatic mopping and sweeping all-in-one machine. As shown, Figure 3 As shown, the cleaning robot comprises a main body (not identified), a mopping module, an edge brush module, a rolling brush module, a sensing module, a dust box module, a control module, etc. connected to the main body. Figure 3

[0054] The main body refers to the main structure of the body of the cleaning robot, for supporting and / or loading various components of the cleaning robot.

[0055] The mopping module can be arranged at a fixed position at the bottom of the cleaning robot, for example, at the front end, the middle position, etc. of the bottom. The mopping module can comprise a mopping lifting device, a mopping board, and a mop that can cover the lower surface of the mopping board. The mopping lifting device is used to drive the mopping module to move towards the direction of the main body of the cleaning robot, or to move away from the main body of the cleaning robot, for example, to lift the mopping module upwards so that the mopping module does not contact the ground, or to lower the mopping module downwards so that the mopping module contacts the ground.

[0056] The rolling brush module can be arranged at a fixed position at the bottom of the cleaning robot, for example, at the rear end, the middle position, etc. of the bottom. The bristles of the rolling brush module are arranged in a certain arrangement manner, for example, in a mountain peak shape, an arc shape, etc. The rolling brush module is used to clean the cleaning area. Further, a dust suction port can be arranged at the adjacent position of the rolling brush module. When the rolling brush module performs cleaning work, dust enters the dust box module through the dust suction port. ​

[0057] The edge brush module is arranged at the edge of the cleaning robot and exceeds the body of the cleaning robot by a certain size. The bristles of the edge brush module are arranged in a certain arrangement manner, for example, in a circular, semi-circular or the like manner. The edge brush module is used to clean dust at the edge of a wall or furniture that cannot be approached by the cleaning robot.

[0058] The control module can be implemented by an embedded digital signal processor, a microprocessor, a specific integrated circuit, a central processing unit or the like. The control module can correspondingly control the mopping module, the edge brush module and the roller brush module to work or stop working according to a preset logic.

[0059] In addition, the cleaning robot can further include a communication module, a power module and a walking module. The communication module is electrically connected to the control module and is configured to send a message to an external device, for example, a current working progress to the external device. The power module is connected to the control module, the sensing module and the communication module and is configured to provide electric energy for each module. The walking module is configured to support and drive the cleaning robot to automatically walk, for example, a roller, a universal wheel or a track installed at the bottom of the cleaning robot.

[0060] Specifically, the control module acquires mode related information. If the mode related information points to the mopping mode, the control module controls the cleaning robot to enter the mopping mode. The mode related information can be any of the following information:

[0061] (1) An instant mode instruction. For example, an instant mode instruction is triggered by a mode switching button arranged on the cleaning robot or sent to the cleaning robot by an external device (for example, a mobile terminal, a matching device of the cleaning robot or the like).

[0062] (2) Preset information containing mode instruction information. For example, partition information set by a user on an application, which is configured to configure a mode of each partition information and a cleaning sequence or a cleaning time of each area. The cleaning robot can autonomously select to enter a corresponding mode according to a partition where the cleaning robot is located.

[0063] (3) Logic information of a pre-stored automatic switching mode. For example, the cleaning robot can automatically select a working mode according to recognized environmental information, for example, if it is recognized that the cleaning robot is currently located in a bedroom, a cleaning mode is selected; if it is recognized that the cleaning robot is currently located in a kitchen and a bathroom, a mopping mode is selected.

[0064] In the mopping mode, the control module selectively controls the cleaning robot to enter the first mopping mode or the second mopping mode according to preset logic. The preset logic can be implemented based on the working scene in which the cleaning robot is currently located, the received mode control instruction, etc. If the control module determines to enter the first mopping mode according to the preset logic, the control module controls the side brush module to move away from the main body until the side brush module contacts the cleaning area and performs the side brush sweeping work, controls the mopping module to move away from the main body until the mopping module contacts the cleaning area and performs the mopping work, and controls the roller brush module not to contact the cleaning area. If the control module determines to enter the second mopping mode according to the preset logic, the control module controls the mopping module to move away from the main body until the mopping module contacts the cleaning area and performs the mopping work, and controls the side brush module and the roller brush module not to contact the cleaning area.

[0065] Figure 4 An exemplary schematic diagram of the cleaning robot working in the first mopping mode is shown. Figure 4 As shown, when the cleaning robot is controlled to enter the first mopping mode, the control module controls the side brush module to move away from the main body until the side brush module contacts the cleaning area and performs the side brush sweeping work, controls the mopping module to move away from the main body until the mopping module contacts the cleaning area and performs the mopping work, and controls the roller brush module not to contact the cleaning area and stop the roller brush sweeping work.

[0066] Figure 5 An exemplary schematic diagram of the cleaning robot working in the second mopping mode is shown. Figure 5 As shown, when the cleaning robot is controlled to enter the second mopping mode, the control module controls the mopping module to move away from the main body until the mopping module contacts the cleaning area and performs the mopping work, and controls the side brush module and the roller brush module not to contact the cleaning area and stop the sweeping work.

[0067] In one embodiment, the first mopping mode or the second mopping mode can be preconfigured as a default mopping mode. When the control module obtains the information related to the mode pointing to the mopping mode, the cleaning robot is directly controlled to perform the mopping work according to the default mopping mode. During the working process in the default mopping mode, the control module controls the cleaning robot to switch between the first mopping mode and the second mopping mode based on the preset logic.

[0068] The above cleaning robot, at least two mopping modes are provided in the cleaning robot, in the case that the cleaning robot enters the mopping mode, when the control module selectively enters the first mopping mode according to the preset logic, the control module controls the side brush module to contact the cleaning area and perform the side brush sweeping work, so as to assist in sweeping the dust in the cleaning area and improve the cleaning effect; meanwhile, in the first mopping mode, the roller brush module is controlled not to contact the cleaning area, so as to reduce the secondary pollution to the cleaning area during the mopping work.

[0069] In one embodiment, the cleaning robot further comprises a sweeping mode. The control module is configured to control the cleaning robot to selectively enter the sweeping mode or the mopping mode according to the acquired mode-related information.

[0070] Specifically, the control module acquires the mode-related information, and if the mode-related information points to the sweeping mode, the control module controls the cleaning robot to enter the sweeping mode. In the sweeping mode, the control module controls the brush module to contact the cleaning area and perform the brush sweeping work, controls the roller brush module to contact the cleaning area and perform the roller brush sweeping work, and controls the mopping module not to contact the cleaning area.

[0071] In this embodiment, the cleaning robot is additionally provided with the sweeping mode, so that the cleaning robot can perform the sweeping work alone and can also perform the mopping work, thereby making the function of the cleaning robot more comprehensive and meeting the diversified needs of users.

[0072] In one embodiment, the cleaning robot further comprises a sweeping and mopping mode. The control module is configured to control the cleaning robot to selectively enter one of the sweeping and mopping mode, the mopping mode and the sweeping mode according to the acquired mode-related information.

[0073] Specifically, the control module acquires the mode-related information, and if the mode-related information points to the sweeping and mopping mode, the control module controls the cleaning robot to enter the sweeping and mopping mode. In the sweeping and mopping mode, the control module controls the brush module to contact the cleaning area and perform the brush sweeping work, controls the roller brush module to contact the cleaning area and perform the roller brush sweeping work, and controls the mopping module to contact the cleaning area and perform the mopping work.

[0074] In this embodiment, the cleaning robot is additionally provided with the sweeping and mopping mode, so that the cleaning robot can perform the sweeping work alone, can perform the mopping work, and can also perform the sweeping and mopping simultaneously, thereby making the function of the cleaning robot more comprehensive and meeting the diversified needs of users.

[0075] In one embodiment, the preset logic can be implemented based on the working scene currently occupied by the cleaning robot. In this case, the cleaning robot can further comprise a sensing module. The sensing module is electrically connected with the control module and is used to detect the working scene information of the cleaning robot. The sensing module can be arranged at a fixed position of the cleaning robot, for example, the top, side, corner, etc. of the cleaning robot. The sensing module can be implemented in a hardware or a combination of multiple hardware, for example, using one or a combination of multiple kinds of sensors such as an infrared sensor, an edge sensor, an ultrasonic sensor, a laser radar, an image acquisition device, etc. After the cleaning robot enters the mopping mode, the sensing module detects the working scene information of the cleaning robot and sends the detected working scene information to the control module.

[0076] The control module detects and identifies the working scene information. If it is determined according to the working scene information that the working scene where the cleaning robot is located is a preset working scene, the cleaning robot is controlled to enter a first mopping mode. If it is determined according to the working scene information that the working scene where the cleaning robot is located is not the preset working scene, the cleaning robot is controlled to enter a second mopping mode.

[0077] In one embodiment, the sensing module can detect the current working scene information of the cleaning robot in real time during the mopping work of the cleaning robot, and send the current working scene information to the control module in real time. The control module determines the current working scene where the cleaning robot is located according to the current working scene information, and controls the cleaning robot to enter the mopping mode matched with the current working scene, so as to realize the autonomous switching between the first mopping mode and the second mopping mode.

[0078] In this embodiment, the sensing module is arranged on the cleaning robot, and the working scene information where the cleaning robot is located is detected by the sensing module, so that the control module can automatically control the mopping mode that the cleaning robot can enter according to the working scene information, so that the mopping mode is more adaptive to the working scene of the cleaning robot, and the automation degree of the cleaning robot is also improved.

[0079] In one embodiment, the preset working scene includes an edge-following working scene or an obstacle-avoiding working scene. The edge-following working scene refers to that the cleaning robot performs mopping work in an edge-following mode (for example, wall edge or furniture edge). The obstacle-avoiding working scene refers to that the cleaning robot performs mopping work in an obstacle-avoiding scene. If the control module determines that the cleaning robot is in the edge-following working scene or the obstacle-avoiding working scene, the cleaning robot is controlled to enter the first mopping mode, so that the edge brush module can clean the dust on the edge or the edge of the obstacle, thereby improving the cleaning effect of the cleaning robot.

[0080] In one embodiment, in the conventional technology, if the cleaning robot is close to an object (for example, wall edge or furniture) during mopping work, it will leave marks on the object, and if it keeps a certain distance, some dust cannot be cleaned, thereby existing the dilemma of dirtying the adjacent object or leaving dust. In this embodiment, the working path of the cleaning robot in the edge-following working scene or the obstacle-avoiding working scene is configured in the control module in advance, so that the distance between the cleaning robot and the edge or the edge of the obstacle is greater than or equal to the preset distance during the movement of the cleaning robot along the working path.

[0081] Specifically, when the control module determines that the cleaning robot is in the edge-following working scenario or the obstacle-avoiding working scenario, the control module controls the cleaning robot to enter the first mopping mode. The control module determines a current distance between the cleaning robot and the edge or the obstacle edge according to the working scenario information detected by the sensing device. If the current distance is less than the preset distance, the control module controls the walking module to move away from the edge or the obstacle edge until the current distance is greater than or equal to the preset distance.

[0082] In the embodiment, by causing the brush module to perform the cleaning work in the first mopping mode and controlling the distance between the cleaning robot and the edge or the obstacle edge to be greater than or equal to the preset distance, the cleaning robot in the first mopping mode can clean the edge or the obstacle edge and will not leave marks on the object.

[0083] In one embodiment, the control module controls the cleaning robot to keep the distance between the cleaning robot and the edge or the obstacle edge equal to the preset distance during the cleaning robot moves along the working path.

[0084] Specifically, the control module determines a current distance between the cleaning robot and the edge or the obstacle edge according to the working scenario information detected by the sensing device. If the current distance is greater than the preset distance, the control module controls the cleaning robot to move towards the edge or the obstacle edge until the current distance is equal to the preset distance. If the current distance is less than the preset distance, the control module controls the cleaning robot to move away from the edge or the obstacle edge until the current distance is equal to the preset distance, so that the distance between the cleaning robot and the edge or the obstacle edge is always equal to the preset distance, and the brush module can clean the dust within the preset distance range.

[0085] Figure 6 An exemplary working schematic diagram of the cleaning robot in the first mopping mode is shown. As shown in Figure 6 the first working scenario is the edge-following working scenario or the obstacle-avoiding working scenario, and the preset distance is 10 mm. In the first mopping mode, the distance between the cleaning robot and the edge or the obstacle edge (such as the wall edge, furniture leg edge, obstacle edge, etc.) is always equal to 10 mm. The brush module is used to clean the dust in the 10 mm gap. Figure 6

[0086] Further, the brush module can include a plurality of brush assemblies, for example, one brush assembly is installed on each side edge of the cleaning robot. In this case, the control module can control the brush assembly on the side where the edge or the obstacle edge exists at the preset distance position to perform the brush cleaning work, and the brush assembly on the side where the edge or the obstacle edge does not exist at the preset distance position does not contact the cleaning area.

[0087] ​In the embodiment, by making the edge brush module perform cleaning work in the first mopping mode, and controlling the distance between the cleaning robot and the edge of the side or obstacle to be always equal to the preset distance, the cleaning robot in the first mopping mode can clean the edge of the side or obstacle, and will not leave marks on the object.

[0088] In one embodiment, when the cleaning robot enters the first mopping mode, the control module controls the edge brush module to perform edge brush cleaning work at a first edge brush rotating speed.

[0089] Specifically, the first edge brush rotating speed of the edge brush module in the first mopping mode can be configured in the control module in advance. When the control module controls the cleaning robot to enter the first mopping mode, the edge brush module is controlled to contact the cleaning area and perform edge brush cleaning work at the first edge brush rotating speed. The first preset rotating speed is lower than a second edge brush rotating speed of the edge brush module in the cleaning mode.

[0090] Further, the user can also configure the first edge brush rotating speed of the edge brush module in the first mopping mode, for example, to select from low speed, normal speed, and high speed.

[0091] In the embodiment, by making the edge brush module rotate slowly in the first mopping mode to perform edge brush cleaning work, the dust attached to the edge brush module can be prevented from contacting the cleaning area, thereby avoiding secondary pollution of the cleaning area.

[0092] In one embodiment, the cleaning robot further comprises a fan electrically connected to the control module. When the control module determines that the cleaning robot enters the first mopping mode, an opening signal is sent to the fan to control the fan to be in a working state in the first mopping mode, so that the small amount of dust cleaned by the edge brush module can be sucked away by the fan, thereby better achieving the cleaning effect in the first mopping mode. Since the edge brush module and the roller brush module do not perform cleaning work in the second mopping mode, the control module can send a closing signal to the fan to make the fan in a closed state in the second mopping mode, thereby saving power and achieving the effect of silent mopping.

[0093] In one embodiment, the first fan rotating speed of the fan in the first mopping mode can be configured in the control module in advance. When the control module controls the cleaning robot to enter the first mopping mode, an opening signal is sent to the fan to control the fan to rotate at the first fan rotating speed. The first fan rotating speed is lower than a second fan rotating speed of the fan in the cleaning mode.

[0094] Further, the user can also configure the first fan rotating speed of the fan in the first mopping mode, for example, to select from low speed, normal speed, and high speed.

[0095] Further, the fan can be in a closed state in the first mopping mode, so as to achieve a quiet mopping effect.

[0096] In the embodiment, the fan rotates slowly in the first mopping mode, so as to clean a small amount of dust swept by the edge brush module and meet the low noise requirement of the mopping mode.

[0097] In one embodiment, the cleaning robot further comprises a first lifting device for moving the rolling brush module and a second lifting device for moving the edge brush module.

[0098] Specifically, the first lifting device is arranged on the rolling brush module, and the second lifting device is arranged on the edge brush module. When the control module controls the cleaning robot to enter the first mopping mode or the second mopping mode, the first lifting device is controlled to move the rolling brush module to the first preset position close to the main body. The first preset position is a position at which the rolling brush module does not contact the cleaning area. When the control module controls the cleaning robot to enter the sweeping mode or the mop-sweeping mode, the first lifting device is controlled to move the rolling brush module away from the main body until the rolling brush module contacts the cleaning area.

[0099] When the control module controls the cleaning robot to enter the first mopping mode, the second lifting device is controlled to move the edge brush module away from the main body until the edge brush module contacts the cleaning area and performs the edge brush sweeping work. When the control module controls the cleaning robot to enter the second mopping mode, the second lifting device is controlled to move the edge brush module to the second preset position close to the main body. The second preset position is a position at which the edge brush module does not contact the cleaning area.

[0100] In the embodiment, the edge brush module and the rolling brush module are controlled to contact or not contact the cleaning area under the driving of the lifting device, so that the movement of the edge brush module and the rolling brush module is more stable, and the use durability of the cleaning robot is improved.

[0101] In one embodiment, the rolling brush module and the edge brush module can also move by themselves.

[0102] Specifically, when the control module controls the cleaning robot to enter the first mopping mode or the second mopping mode, the rolling brush module is controlled to move to the third preset position of the cleaning robot. The third preset position is a position at which the rolling brush module does not contact the cleaning area. When the control module controls the cleaning robot to enter the sweeping mode or the mop-sweeping mode, the rolling brush module is controlled to move away from the main body until the rolling brush module contacts the cleaning area.

[0103] When the control module controls the cleaning robot to enter the first mopping mode, the control brush module is controlled to move away from the main body until it contacts the cleaning area and performs the brush sweeping work. When the control module controls the cleaning robot to enter the second mopping mode, the control brush module is controlled to move towards the main body to the fourth preset position of the cleaning robot, which is a position where the control brush module does not contact the cleaning area.

[0104] In this embodiment, by allowing the control brush module and the rolling module to move to contact or not to contact the cleaning area, the overall structure of the cleaning robot can be simplified, the weight of the cleaning robot can be reduced, and the endurance time of the cleaning robot can be prolonged.

[0105] In one embodiment, as shown in Figure 7 A control method of a cleaning robot is provided, which is applied to the cleaning robot of any of the above embodiments and includes the following steps:

[0106] In step S710, the working scene is detected when the cleaning robot enters the mopping mode.

[0107] Specifically, the control module obtains mode-related information, and if the mode-related information indicates the mopping mode, the control module controls the cleaning robot to enter the mopping mode. The implementation of the mode-related information can refer to the above embodiments of the cleaning robot, which will not be described in detail here. The cleaning robot can be provided with a sensing module for detecting the working scene information of the cleaning robot. The sensing module can include one or a combination of an infrared sensor, an edge sensor, an ultrasonic sensor, a laser radar, and an image acquisition device. After the cleaning robot enters the mopping mode, the control module in the cleaning robot controls the sensing module to detect the surrounding environment of the cleaning robot to obtain the working scene information.

[0108] In step S720, when the working scene is a preset working scene, the first mopping mode is entered, in which the control brush module contacts the cleaning area and performs the brush sweeping work, the mopping module contacts the cleaning area and performs the mopping work, and the rolling brush module does not contact the cleaning area.

[0109] Specifically, the sensing module sends the working scene information to the control module. The control module detects and identifies the working scene information, and controls the cleaning robot to enter the first mopping mode when it is determined that the working scene of the cleaning robot is a preset working scene. In the first mopping mode, the control module controls the control brush module to move away from the main body of the cleaning robot until it contacts the cleaning area and performs the brush sweeping work, controls the mopping module to move away from the main body of the cleaning robot until it contacts the cleaning area and performs the mopping work, and controls the rolling brush module not to contact the cleaning area.

[0110] When the working scene is not the preset working scene, the second mopping mode is entered in step S730, in which the mopping module is controlled to contact the cleaning area and perform the mopping work, and the rolling brush module and the side brush module are both controlled not to contact the cleaning area.

[0111] Specifically, when it is determined that the working scene in which the cleaning robot is located is not the preset working scene, the cleaning robot is controlled to enter the second mopping mode. In the second mopping mode, the control module controls the side brush module and the rolling brush module not to contact the cleaning area and stop the sweeping work, and controls the mopping module to move away from the main body until it contacts the cleaning area and performs the mopping work.

[0112] The control method of the cleaning robot described above provides at least two mopping modes in the cleaning robot. When the cleaning robot enters the mopping mode, the control module selectively enters the first mopping mode according to the preset logic. The control module controls the side brush module to contact the cleaning area and perform the side brush sweeping work, thereby assisting in sweeping dust in the cleaning area and improving the cleaning effect. Meanwhile, the rolling brush module is controlled not to contact the cleaning area in the first mopping mode, thereby reducing secondary pollution to the cleaning area during the mopping work.

[0113] In an embodiment, the working scene includes an edge-following working scene or an obstacle-avoiding working scene. In the edge-following working scene or the obstacle-avoiding working scene, the cleaning robot moves along a preset working path, and the distance from the edge of the obstacle or the edge of the obstacle is greater than or equal to a preset distance during the movement along the working path. Specifically, the working mode in the edge-following working scene or the obstacle-avoiding working scene can refer to the embodiments of the cleaning robot described above, which will not be described in detail here.

[0114] It should be understood that although each step in the above flowchart is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the above flowchart can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0115] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0116] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0117] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises a main body, a rolling brush module, an edge brush module, a mopping module, a control module, a first lifting device, and a mopping lifting device connected to the main body. The cleaning robot comprises a mopping mode, which comprises a first mopping mode and a second mopping mode. In the first mopping mode, the edge brush module contacts a cleaning area and performs edge brush cleaning work, the mopping module contacts the cleaning area and performs mopping work, and the rolling brush module does not contact the cleaning area. In the second mopping mode, the mopping module contacts the cleaning area and performs mopping work, and neither the rolling brush module nor the edge brush module contacts the cleaning area. The first lifting device drives the rolling brush module to move towards the main body to achieve non-contact with the cleaning area. The mopping lifting device drives the mopping module to move away from the main body to achieve contact with the cleaning area. The control module is configured to control the cleaning robot to selectively enter the first mopping mode or the second mopping mode according to a predetermined logic when the cleaning robot enters the mopping mode. The control of the cleaning robot to selectively enter the first mopping mode or the second mopping mode according to a predetermined logic comprises: When the working scenario of the cleaning robot is a preset working scenario, the cleaning robot is controlled to enter the first mopping mode. When the working scenario of the cleaning robot is not the preset working scenario, the cleaning robot is controlled to enter the second mopping mode. The preset working scenario comprises an edge-following working scenario or an obstacle-avoiding working scenario. The control module controls the cleaning robot to move along a preset working path in the edge-following working scenario or the obstacle-avoiding working scenario, and the distance between the cleaning robot and the edge of the obstacle is greater than or equal to a preset distance during the movement of the cleaning robot along the preset working path. The cleaning robot further comprises a fan. When the cleaning robot enters the first mopping mode, the control module controls the fan to rotate. When the cleaning robot enters the second mopping mode, the control module controls the fan not to rotate.

2. The cleaning robot according to claim 1, wherein, The control module controls the cleaning robot to keep the distance between the cleaning robot and the edge of the obstacle equal to the preset distance during the movement of the cleaning robot along the working path.

3. The cleaning robot according to claim 1, wherein, The preset distance is 10 mm.

4. The cleaning robot according to claim 1, wherein, When the cleaning robot enters the first mopping mode, the control module controls the edge brush module to perform edge brush cleaning work at a first edge brush rotating speed. The cleaning robot further comprises a cleaning mode, in which the control module controls the edge brush module to perform edge brush cleaning work at a second edge brush rotating speed, and the first edge brush rotating speed is lower than the second edge brush rotating speed.

5. The cleaning robot according to claim 1, wherein, When the cleaning robot enters the first mopping mode, the control module controls the fan to rotate at a first fan rotating speed. The cleaning robot further comprises a cleaning mode, in which the control module controls the fan to rotate at a second fan rotating speed, and the first fan rotating speed is lower than the second fan rotating speed.

6. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a second lifting device; When the cleaning robot enters the first mopping mode or the second mopping mode, the first lifting device drives the roller brush module to move towards the main body to a first preset position, which is a position where the roller brush module does not contact the cleaning area; When the cleaning robot enters the first mopping mode, the second lifting device drives the side brush module to move away from the main body until it contacts the cleaning area; When the cleaning robot enters the second mopping mode, the second lifting device drives the side brush module to move towards the main body to a second preset position, which is a position where the side brush module does not contact the cleaning area.

7. The cleaning robot according to claim 1, wherein, When the cleaning robot enters the first mopping mode or the second mopping mode, the control module controls the roller brush module to move to a third preset position of the cleaning robot, which is a position where the roller brush module does not contact the cleaning area; When the cleaning robot enters the first mopping mode, the control module controls the side brush module to move away from the main body until it contacts the cleaning area; When the cleaning robot enters the second mopping mode, the control module controls the side brush module to move to a fourth preset position of the cleaning robot, which is a position where the side brush module does not contact the cleaning area.

8. The cleaning robot of claim 1, wherein, The cleaning robot further comprises a sweeping mode, in which the side brush module contacts the cleaning area and performs side brush sweeping work, the roller brush module contacts the cleaning area and performs roller brush sweeping work, and the mopping module does not contact the cleaning area; The control module is configured to control the cleaning robot to selectively enter the sweeping mode or the mopping mode according to the obtained mode-related information. 9.The cleaning robot according to claim 8, wherein, The cleaning robot further comprises a sweeping and mopping mode, in which the side brush module contacts the cleaning area and performs side brush sweeping work, the mopping module contacts the cleaning area and performs mopping work, and the roller brush module contacts the cleaning area and performs roller brush sweeping work; The control module is configured to control the cleaning robot to selectively enter one of the sweeping and mopping mode, the mopping mode and the sweeping mode according to the obtained mode-related information.

10. A control method of a cleaning robot, characterized by, The cleaning robot comprises a mopping mode, which comprises a first mopping mode and a second mopping mode, and the method comprises: In the case of entering the mopping mode, detecting a working scene; When the working scene is a preset working scene, entering the first mopping mode, in which the side brush module is controlled to contact the cleaning area and perform side brush sweeping work, the mopping module is controlled to contact the cleaning area and perform mopping work, the roller brush module is controlled not to contact the cleaning area, and the fan is controlled to rotate; When the working scene is not the preset working scene, entering the second mopping mode, in the second mopping mode, the mopping module is controlled to contact the cleaning area and perform mopping work, the roller brush module and the edge brush module are both controlled not to contact the cleaning area, and the air blower is controlled not to rotate; The preset working scene includes an edge-following working scene or an obstacle-avoiding working scene; In the edge-following working scene or the obstacle-avoiding working scene, a preset working path is followed, and during movement along the preset working path, a distance from an edge of an obstacle is greater than or equal to a preset distance; The first lifting device drives the roller brush module to move towards the main body to realize non-contact with the cleaning area; The mopping lifting device drives the mopping module to move away from the main body to realize contact with the cleaning area.

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