Cleaning robot

Abstract

The present application relates to a kind of cleaning robots, comprising: body;Walking mechanism, support body and drive cleaning robot walk;Power module, provide the driving force of walking and work;Floor mopping module, for installation on body, execute predetermined floor mopping work, mop can be installed on floor mopping module;Control module, electrically connected and control power module, to realize the automatic walking and automatic work of cleaning robot;Control device is configured to control cleaning robot automatically build work area map;And according to the area division result marked in work area map, control cleaning robot uses different mop for different types of area, wherein different mop refers to the same type of new mop.Cleaning robot can use the same type of new mop for different areas marked in map, the stain of different type area cannot contaminate each other, improve the cleaning degree of cleaning robot, improve user experience.

Description

Technical Field

[0001] This invention relates to a cleaning robot, and also to a cleaning robot and a cleaning method. Background Technology

[0002] With the diversification of user needs, there are many types of cleaning robots. Cleaning robots are one type of cleaning robot that can wipe the ground to improve the cleanliness of the ground.

[0003] Existing cleaning robots generally use mops to mop the floor. When cleaning a user's room, they usually use the same mop to clean multiple areas of the room, such as the kitchen, living room, bathroom, and bedroom. In this case, stains from different areas will contaminate each other, resulting in poor cleaning effect.

[0004] Therefore, users need to supervise the robot themselves and remove the mop for cleaning or replace it with a new one after the robot has been mopping for a certain period of time. For users, this manual intervention reduces the automated operation experience of the robot. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the problem to be solved by the present invention is to provide a cleaning robot that can perform cleaning work in different areas.

[0006] The technical solution adopted by this invention to solve the problems of the prior art is: a cleaning robot that walks and works in a work area. The cleaning robot may include: a body; a walking mechanism that supports the body and drives the cleaning robot to walk on the work surface; a power module that provides driving force for the cleaning robot to walk and work; a mopping module that is installed on the body to perform predetermined mopping work on the work surface, and a wiping component can be installed on the mopping module; and a control module that is electrically connected to and controls the power module to realize the automatic walking and automatic work of the cleaning robot. The control device is configured to control the cleaning robot to automatically construct a work area map; and according to the area division results marked in the work area map, control the cleaning robot to use different wiping components for different types of areas, wherein the different wiping components refer to new wiping components of the same type.

[0007] In one alternative implementation, the different wiping devices are different mops.

[0008] In one optional implementation, the cleaning robot further includes a navigation mechanism for forming a work area map of the cleaning robot; the control module is configured to control the navigation mechanism to execute a navigation algorithm to construct the work area map; the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a different wiping device, or to replace the wiping device with a different wiping device, based on the area division results marked in the work area map.

[0009] In one optional implementation, the control module is configured to receive the region division result marked by the user on the work area map after the work area map is constructed; or, the control module is configured to divide the work area map into regions according to a preset division method to generate region division results during the process of forming the work area map, and mark the region division results on the work area map.

[0010] In one alternative implementation, the control module is configured to, based on the area division results marked in the work area map, control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type, when the cleaning robot needs to enter another area with a different area type than the current area to perform mopping work.

[0011] In one alternative implementation, before the cleaning robot finishes cleaning the current area and enters the next area of ​​a different type, the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type; wherein finishing cleaning the current area refers to completing a preset percentage of the cleaning work in the current area.

[0012] In one alternative implementation, the work area is divided into at least three areas of different area types.

[0013] In one alternative implementation, the region type is determined based on the actual function of the regions within the work area.

[0014] In one alternative implementation, the work area is divided into a bathroom, a kitchen, and at least one of the following areas: a bedroom, a study, and a living room.

[0015] In one optional implementation, when the work area includes at least two areas such as a living room, bedroom, and study, the at least two areas of the living room, bedroom, and study are areas of the same type.

[0016] In one alternative implementation, the area type is determined based on the type of stain in the area of ​​the work area.

[0017] In one alternative implementation, the work area is divided into a first area with oil stains, a second area with water stains, and a third area with solid waste; wherein the solid waste includes at least one of dust, paper scraps, and hair.

[0018] In one alternative implementation, the mopping module includes a mopping floor, and the wiping element is detachably mounted on the mopping floor; the control module is configured to control the cleaning robot to return to the base station to remove the wiping element from the mopping floor and install a new wiping element of the same type to achieve replacement of the wiping element.

[0019] In one alternative implementation, the mopping module is detachably mounted on the body; the control module is configured to control the cleaning robot to return to the base station to detach the mopping module from the body and install a new mopping module with the same type of wiping element, thereby enabling the replacement of the wiping element.

[0020] In one optional implementation, the cleaning robot further includes a detection module for detecting area types; the detection module is configured to detect the area types of different areas in the work area; if the area types are different, the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type.

[0021] In one alternative implementation, the cleaning robot further includes a navigation mechanism for forming a map of the cleaning robot's work area; the detection module is configured to detect the area types of at least two areas within the work area based on the work area map.

[0022] In one alternative implementation, the work area map is labeled with area types; the detection module is configured to compare the area types of the current area where the cleaning robot is located with those of another area to be entered, based on the work area map with the labeled area types.

[0023] In one alternative implementation, the navigation mechanism is configured to mark the current position of the cleaning robot on the work area map when the cleaning robot returns to the base station to replace the wiping device, so that the cleaning robot can return to the marked position to continue performing its work after the wiping device is replaced.

[0024] In one optional implementation, the cleaning robot further includes a mop sensor mounted on the body for detecting the cleanliness of the wiping element; when the cleaning robot moves in an area of ​​the same type, the mop sensor is configured to detect the cleanliness of the wiping element; if the cleanliness of the wiping element is less than a preset threshold, the control module is configured to control the cleaning robot to replace the wiping element; if the cleanliness of the wiping element is greater than or equal to the preset threshold, the control module is configured to control the cleaning robot to continue cleaning the same type of area.

[0025] In one alternative implementation, the cleaning robot is a home robot and / or an indoor service robot.

[0026] This disclosure also provides a cleaning robot that moves and works in a work area. The cleaning robot includes: a body having a front end; a walking mechanism supporting the body and driving the cleaning robot to move on a work surface; a power module providing driving force for the cleaning robot's movement and operation; a mopping module mounted on the body to perform a predetermined mopping operation on the work surface, wherein a wiping component can be mounted on the mopping module; and a control module electrically connected to the power module to control the power module to achieve automatic movement and automatic operation of the cleaning robot. The work area is divided into at least two areas of different area types. When the cleaning robot needs to enter another area of ​​a different area type to perform mopping operations, the control module is configured to control the cleaning robot to convey information to the user that the wiping component needs to be replaced with a new wiping component of the same type, or to replace it with a new wiping component of the same type, such that the wiping component on the mopping module is different for different area types.

[0027] In one optional implementation, the cleaning robot further includes a navigation mechanism for generating a map of the cleaning robot's work area; when the work area map indicates the area type and generates an area division result, the control module is configured to, based on the area division result indicated in the work area map, enable the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type for different types of areas, or to replace it with a new wiping device of the same type.

[0028] In one optional implementation, the control module is configured to receive the region division result marked by the user on the work area map after the work area map is formed; or, the control module is configured to divide the work area map into regions according to a preset division method to generate region division results during the formation of the work area map, and mark the region division results on the work area map.

[0029] In one alternative implementation, before the cleaning robot finishes cleaning the current area and enters the next area of ​​a different type, the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type.

[0030] In one alternative implementation, the region type is determined based on the actual function of the regions within the work area.

[0031] In one alternative implementation, the region type is determined based on the actual function of the regions within the work area.

[0032] In one alternative implementation, the area type is determined based on the type of stain in the area of ​​the work area.

[0033] In one alternative implementation, the stain type is the type of stain that occurs in the work area due to the area's function.

[0034] In one alternative implementation, the information to be replaced by the wiping device is information from a remote and / or local source on the cleaning robot.

[0035] In one alternative implementation, the mopping module includes a mopping floor for removably mounting the wiping element.

[0036] In one alternative implementation, when the area type is determined to be different, the control module controls the cleaning robot to return to the base station to replace the mopping module.

[0037] In one alternative implementation, the mopping module is detachably mounted on the body.

[0038] In one optional implementation, the mopping module may further include a mop sensor. When the area type is determined to be the same, the mop sensor detects the cleanliness of the wiping component. When the cleanliness is lower than a preset threshold, the control module controls the cleaning robot to replace the wiping component.

[0039] In one optional implementation, when the cleanliness of the wiping component is greater than or equal to a preset threshold, the control module controls the cleaning robot to directly enter another area to work.

[0040] In one alternative implementation, the mop sensor may be mounted under the machine body.

[0041] In one optional implementation, the cleaning robot may further include a signal transmitting module, which sends a signal to the base station to replace the wiping component when the cleaning robot returns to the base station to replace the wiping component, or sends a return charging signal to the base station when the cleaning robot returns to the base station to charge.

[0042] This invention also provides a cleaning robot, comprising: a body; a walking mechanism supporting the body and driving the cleaning robot to walk; a power module providing driving force for the cleaning robot to walk and work; a mopping module for mounting on the body to perform predetermined mopping work, wherein a wiping component can be mounted on the mopping module; a control module electrically connected to and controlling the power module to realize the automatic walking and automatic work of the cleaning robot; the control device controls the cleaning robot to automatically construct a work area map; and according to the area division results marked in the work area map, controls the cleaning robot to use the same type of new wiping component for different types of areas.

[0043] Compared with the prior art, the beneficial effects of the present invention are: it can avoid the defect of cross-contamination of stains between areas caused by using the same wiping tool in different areas, thereby ensuring that stains between different types of areas will not cross-contaminate, and improving the cleaning efficiency of the cleaning robot. Attached Figure Description

[0044] The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following figures:

[0045] Figure 1 This is a schematic diagram of a cleaning robot system according to an embodiment of the present invention;

[0046] Figure 2 This is a front view of a cleaning robot equipped with an energy module according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the functional modules of a cleaning robot according to one embodiment of the present invention;

[0048] Figure 4 This is a side view of the mopping module in one embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of an application scenario in one embodiment of the present invention. Detailed Implementation

[0050] The detailed description and technical content of the present invention are explained below with reference to the accompanying drawings. However, the accompanying drawings are provided for reference and illustration only and are not intended to limit the present invention.

[0051] like Figure 1The diagram shows a schematic of the cleaning robot system of the present invention. The cleaning robot system 300 may include a base station 500 and a cleaning robot 100, which may be a device capable of autonomously replacing its wiping components. Correspondingly, the base station 500, where the cleaning robot 100 returns to charging, can not only charge the cleaning robot 100 but also replace its wiping components. Combining the charging and wiping component replacement functions forms the base station of the cleaning robot, thereby saving user space. When the cleaning robot 100 needs to return to the base station 500, such as when it detects that the wiping component needs replacement or that the cleaning robot 100 needs charging, the return-to-base-station 500 program is initiated, and the cleaning robot 100 returns to the base station 500 to complete the automatic replacement of the wiping component and / or the automatic charging of the cleaning robot 100. In one embodiment, the wiping component may include a mop or a sponge, etc. In the following description, a mop is used as an example of a wiping component.

[0052] The base station 500 includes a base plate 507, a support plate 506, and an upper plate 505, wherein the upper plate 505 is connected to the base plate 507 via the support plate 506. The upper plate 505 is provided with a new mop tray 503, an old mop tray 504, and a mop replacement device (not shown in the figure). The mop replacement device can be a lifting mechanism, a swing mechanism, etc., and the projections of the new mop tray 503 and the old mop tray 504 onto the base plate 507 correspond to the second operating position 502 and the first operating position 501 of the cleaning robot 100 on the base plate 507. It is understood that the positions of the new and old mop trays are not fixed; for example, in other embodiments, the positions of the new and old mop trays 503 and 504 can be interchanged. The cleaning robot 100 unloads the old mop at the first operating position 501, and the old mop is recycled by the mop replacement device of the base station 500. The new mop is released by the mop replacement device of the base station 500, so that the cleaning robot 100 loads the new mop at the second operating position 501.

[0053] like Figure 2 and Figure 3As shown, the cleaning robot 100 of this embodiment includes a body 10, a walking mechanism 20, an energy module 30, a mopping module 40, a power module 50, a control module 60, and a navigation mechanism 70. The walking mechanism may include a drive wheel 21 for moving the robot 100; it is understood that the walking element may also be a track structure. In one embodiment, the cleaning robot also includes a driven wheel (not shown). The energy module 30 can be selectively used to power the cleaning robot, and the cleaning robot can selectively charge the energy module 30. The power module 50 may include a motor and a transmission structure connected to the motor. The transmission mechanism is connected to the walking mechanism, and the motor drives the transmission mechanism to work. The transmission action of the transmission mechanism causes the walking mechanism to move. The transmission mechanism may be a worm gear mechanism, a bevel gear mechanism, etc. The power module 50 may have two sets of motors; one set of motors drives the walking mechanism to move, and the other set of motors drives the mopping module to vibrate and mop at a certain frequency. The power module 50 may also have only one set of motors for driving the walking mechanism. It is understood that the number of motors in each set is not limited; for example, it may be one or two. The mopping module 40 can be mounted on the robot body to perform predetermined mopping work on a work surface (e.g., the floor), and a mop can be mounted on the mopping module 40. In this embodiment, the cleaning robot can be a household and / or indoor service robot.

[0054] The navigation mechanism may include, but is not limited to, at least one of the following: visual sensors, ultrasonic sensors, radar sensors, optical sensors (such as laser LDS or infrared sensors), UWB sensors, inertial navigation systems, satellite positioning systems (GPS, BeiDou, etc.), etc., used to provide environmental control data, control the cleaning robot's operation, and generate a map of the cleaning robot's work area. The cleaning robot's work area can be a single-story residence or a multi-story villa-style residence. Correspondingly, the generated work area map can be a single map for a single-story residence or multiple maps for multiple floors, each map corresponding to one floor. When the work area is a single-story residence, the cleaning robot works directly based on that single map; when the work area is a multi-story residence, the user can select the corresponding map for the floor the cleaning robot is on, allowing the cleaning robot to work based on that map. Alternatively, the cleaning robot can identify its floor using visual sensors or other methods and autonomously select the corresponding map to work on. The navigation mechanism 70 can be used to mark the current location of the cleaning robot on the work area map. By marking the location of the cleaning robot in real time through the navigation mechanism 70, the cleaning robot can quickly return to the marked location to continue working. For example, when the cleaning robot returns to charge, the departure location is marked before charging, so that it can quickly reach the departure location to continue charging after charging.

[0055] In another embodiment of this application, the cleaning robot 100 can also be a sweeping and mopping integrated cleaning device. In this case, in addition to the mopping module, the cleaning robot can also include a sweeping module 401. The sweeping module can include a roller brush and a side brush for cleaning dust and debris on the ground, corners, etc. The side brush concentrates the debris to the roller brush for processing and collects the dust into the dust collection box.

[0056] The control module, for example, is a controller, which can be an embedded digital signal processor (DSP), microprocessor unit (MPU), application-specific integrated circuit (ASIC), programmable logic device (PLD), system-on-chip (SoC), central processing unit (CPU), or field-programmable gate array (FPGA), etc.

[0057] The controller can control the cleaning robot's operation according to a preset program or received instructions. Specifically, the controller can control the walking mechanism to move within the cleaning robot's work area along a preset path. While the walking mechanism moves the cleaning robot, the mopping module performs mopping work (dry or wet mopping) to remove dust and other debris from the work area. When the cleaning robot has completed its mopping work within the preset path, the controller can stop the mopping work and control the walking mechanism to move the cleaning robot away from the work area. The cleaning robot's walking path and stopping position can be preset in the controller and executed by the controller's walking mechanism.

[0058] In this application, the cleaning robot can be a device capable of autonomously changing its mop. Correspondingly, the base station for the cleaning robot's return to charging not only charges the robot but also serves as a base for changing the mop. Combining the charging and mop-changing functions forms the base station for the cleaning robot, thus saving user space. Of course, the location for changing the mop can also be set separately from the location for returning to charging. In this case, when the cleaning robot needs to change the mop, it can return to the mop-changing location; when it needs to charge, it can return to the charging location. This application does not limit this, and the location for returning to the mop-changing location can be a non-fixed point. In the following description of this application, unless otherwise specified, when describing the cleaning robot returning to change the mop, the return location can refer to the base station that combines the charging and mop-changing functions, or it can refer to the base station used for changing the mop; similarly, when describing the cleaning robot returning to charging, the return location can refer to the base station that combines the charging and mop-changing functions, or it can refer to the base station used for charging the cleaning robot.

[0059] The cleaning robot may include a signal transmitting module 80. When the charging function and the mop changing function are combined to form the cleaning robot's base station, this signal transmitting module can send a mop changing signal to the base station when the cleaning robot returns to the base station to change the mop; it can also send a return charging signal to the base station when the cleaning robot returns to the base station to charge. Correspondingly, the base station also has a signal receiving module for receiving signals from the cleaning robot. In this way, when the cleaning robot returns, the base station can know the purpose of the return in advance and make corresponding preparations, avoiding defects such as the base station mistakenly assuming the new mop needs to be changed when the cleaning robot returns to the base station to charge, if the cleaning robot cannot send relevant signals. When the charging function and the mop changing function are set separately, the signal transmitting module can send a mop changing signal to the mop changing point when the cleaning robot returns to the mop changing point. Correspondingly, the mop changing point also has a signal receiving module for receiving signals from the cleaning robot.

[0060] like Figure 4 As shown, in one embodiment, the mopping module 40 may further include: a mopping floor 43, and a mop 41 is detachably mounted on the mopping floor 43. The mopping floor 43 and the mop 41 may be self-contained or connected by Velcro or double-sided tape, etc. This application does not limit this.

[0061] like Figure 4As shown, in one embodiment, the cleaning robot may further include a lifting mechanism 42 connected to the mop 41. Under the control of the control module, the lifting mechanism can adjust the height of the mopping module relative to the working surface. The lifting mechanism 42 can be used to control the lifting or lowering actions of the mopping module throughout the cleaning process. Correspondingly, the lifting mechanism 42 can also be used to control the lifting or lowering of the mop floor 43 carrying the mop.

[0062] In one embodiment, the mopping module is detachably mounted on the unit body. In one embodiment, such as Figure 4 As shown, the cleaning robot body is equipped with a protruding device (illustrated as a top post 44 in this application). When the mopping module is raised to the position for disassembling the mopping module, the protruding device (top post 44) contacts the mopping module, providing a downward force to the mopping module, thereby separating the mopping module from the robot body. The robot body and the mopping module 40 can be connected by magnets, mechanical clips, or by creating negative pressure. When the control module controls the lifting mechanism 42 to raise to a predetermined height, the top post 44 contacts the mopping module 40, thereby separating the mopping module 40 from the robot body.

[0063] The mopping module of a cleaning robot has at least three height positions relative to the work surface during operation: a first position when the robot is mopping, a second position when the robot is walking or overcoming obstacles, and a third position when the robot is unloading the mop. The third position is higher than or equal to the second position, and the first position is lower than the second position. Adjusting the position of the mopping module via a lifting mechanism enables the robot to perform mopping, obstacle crossing, and automatic mop replacement. In addition to these three height states, the cleaning robot can also have a fourth position below the first position for installing a new mop.

[0064] The following example illustrates the above positional relationships. When the cleaning robot is in mopping mode, the mop lifting mechanism controls the mop to the first position. At this position, there is a certain pressure between the mop and the ground, allowing the mop to contact the ground with a certain amount of interference, thus achieving a better cleaning effect. When the cleaning robot encounters an obstacle during mopping, the lifting mechanism controls the mop to the second position. At this position, the mop automatically rises, higher than the working height, but not higher than the unloaded height to prevent the mop and floor from falling off. When the cleaning robot needs to replace the mop or when its battery level drops below a preset threshold and needs to return to charging, the lifting mechanism raises the mop to the second position. Simultaneously, the cleaning robot can use its navigation mechanism to generate the coordinates of its previous position and mark these coordinates on the work area map. When replacing the mop, the lifting mechanism raises the mop to the third position for unloading. The mop, secured by a fixed top post on the cleaning robot, detaches from the robot's mop pad against magnetic force, unloading the old mop pad into a first operating position. After unloading, the robot automatically installs a new mop pad in a second operating position. Once in this position, the mop pad lowers to the installation height, and the new pad is magnetically attached to the cleaning components. After installation or when the battery is fully charged, a lifting mechanism raises the mop pad to the second position and returns to its marked location on the work area map. Upon reaching this location, the lifting mechanism adjusts the mop pad back to the first position to continue mopping. When the cleaning robot needs to pause mopping, the lifting mechanism raises the mop pad to the second position. The aforementioned lifting mechanism controls the mop to rise when overcoming obstacles, overcoming the limitation of the mopping module in existing cleaning robots, which only exists in a second position during mopping, resulting in an almost zero obstacle-crossing height and thus a limited cleaning range. The mopping module can control the lifting mechanism to raise the mop to a second position when mopping is paused, overcoming the problem of floors being damaged by being submerged in liquid when the mopping module only exists in a second position. After changing the mop or completing charging, the cleaning robot can return to the mopping position before the mop change to resume mopping from where it left off, overcoming the problems of repeated mopping of already mopped areas and missed areas, thus improving the cleaning efficiency of the cleaning robot. Furthermore, the mop can be automatically replaced, enhancing the automation level of the cleaning robot and the user experience.

[0065] In this embodiment, the cleaning robot typically replaces the mop based on the following factors: the usage time of the mop, the area the mop has been mopped, the condition of the stains or damage on the mop, and the change of the work area, thereby improving its utilization rate without causing secondary pollution to the mop.

[0066] In one embodiment of this application, the cleaning robot may include a timing module, which records the working time of the mop and compares the working time with a preset time threshold. If the working time is greater than or equal to the time threshold, the cleaning robot returns to replace the mop and generates the mopping position coordinates before returning, which are marked on the work area map. After the cleaning robot installs the new mop, it returns to the position marked on the work area map to continue working.

[0067] In another embodiment of this application, the cleaning robot may include a working area recording module, which records the working area of ​​the mop and compares the working area with a preset area threshold. If the working area is greater than or equal to the area threshold, the cleaning robot returns to replace the mop and generates the mopping position coordinates before returning, which are marked on the working area map. After the cleaning robot installs the new mop, it returns to the position marked on the working area map to continue working.

[0068] In another embodiment of this application, the cleaning robot may include a mop sensor to detect the cleanliness of the mop. When the detected cleanliness level is lower than a preset threshold, the control module controls the cleaning robot to return to its original position to replace the mop, simultaneously generating the coordinates of the mopping location before the return and marking it on the work area map. After installing the new mop, the cleaning robot returns to its marked position on the work area map to continue working. When the detected cleanliness level of the mop is greater than or equal to the preset threshold, the control module controls the cleaning robot to continue mopping. The mop sensor may be installed on the underside of the cleaning robot body, and may include, but is not limited to, at least one of the following: a capacitive sensor, a current sensor, a radar sensor, and a light sensor.

[0069] In embodiments of this application, the cleaning robot may include a detection module 110 for detecting the type of the work area. When the mopping module completes the mopping work in the current area, the detection module can detect the area type of the next area to determine whether the next area type is the same as the current area. When the area type is determined to be different, the control module can control the cleaning robot to send a message to the user that the mop needs to be replaced, or replace the mop. It is worth noting that in this embodiment, the completion of the mopping work in the current area by the mopping module is not limited to completing 100% of the area mopping work in the current area, but may include situations such as the mopping module basically completing the mopping work in the current area. In one application scenario, when the cleaning robot has mopped 95% of the current area, the detection module can be used to detect the area type of the next area. When the type is different, the controller controls the robot to send a notification message to the client that the mop needs to be replaced, or controls the robot to automatically replace the mop.

[0070] In this embodiment, the cleaning robot's work area includes at least one area type, which can be divided by the user or through pre-defined methods. In one embodiment, after the cleaning robot creates a work area map, the user can directly divide the various areas on the map displayed on the client and save the division results. The user can divide the formed work area map into areas according to actual needs, for example, based on the actual function of the areas, such as kitchen, bathroom, bedroom, etc. After division, during the mopping process, different mops or different cleaning methods can be used for different areas, such as dry mopping, wet mopping, and whether or not to use cleaning solution.

[0071] In another embodiment, the cleaning robot can also automatically divide the map into different areas during the mapping process, based on the default division method pre-set by the manufacturer, and mark and save the division results on the map. For example, the cleaning robot can detect different areas using visual sensors such as radar or optical sensors (including LDS or TOF sensors). When it detects bedding, it classifies the area as a bedroom by comparing it with a large amount of data in the robot's feature library; when it detects items such as range hoods, it classifies the area as a kitchen. After the division, during the mopping process, the robot can use different mops or different cleaning methods (whether or not to use cleaning liquid) for different areas based on the area division results marked on the map. Using different mops for different types of areas during mopping avoids the problem of cross-contamination of stains between areas caused by using the same mop in different areas, thus ensuring that stains between different types of areas do not contaminate each other and improving the cleaning efficiency of the cleaning robot.

[0072] In another embodiment, once the cleaning robot has formed a map, it may not need to perform the above-mentioned area division. Instead, it can directly detect the area type of the next area during the mopping process and decide whether to change the mop based on the detection result of the area type during the mopping process.

[0073] In one embodiment of this application, when area types are marked on the map, the detection module can be implemented by a program algorithm to detect the area type. Specifically, before the cleaning robot finishes cleaning the current area and moves to the next area, the area types of the current work area and the next work area are compared on the work area map. When different types are detected, the robot is controlled to convey information to the user that the mop needs to be replaced, or the mop is replaced; when the same type is detected, the mop sensor for detecting the cleanliness of the mop described in the above embodiment can be used to further detect the mop, which will not be elaborated here.

[0074] In one embodiment of this application, the detection module can be a visual sensor or an optical sensor. Whether the area type is marked on the map or not, the area type can be determined based on the area image detected by the visual sensor or optical sensor. Specifically, before the cleaning robot finishes cleaning the current area and moves to the next area, the visual sensor observes whether the next area to be cleaned is the same type as the current area. When it detects that the two are different types, the robot controls the user to convey the information that the mop needs to be replaced, or replaces the mop.

[0075] In another embodiment of this application, the detection module can be a radar sensor. Whether the area type is marked on the map or not, the area type can be determined based on the changes in electromagnetic waves detected by the radar sensor. Specifically, before the cleaning robot finishes cleaning the current area and moves to the next area, it uses the radar sensor to observe whether the next area to be cleaned is the same type as the current area. When it detects that the two are different types, it controls the robot to convey information to the user that the mop needs to be replaced, or replaces the mop.

[0076] In one embodiment, the cleaning robot may include a signal transmission module 90, which transmits information to the user that the mop needs to be replaced. This information can be remotely transmitted or originate from the cleaning robot itself. Specifically, the remote information may be a notification message sent to the client indicating that the mop needs to be replaced. Upon receiving this notification message, the user can either replace the mop manually or instruct the cleaning robot to replace it autonomously. The local information may be information from the cleaning robot's human-machine interface or information transmitted by the cleaning robot through light or sound emitted by an indicator unit. The user can replace the mop manually when they see the light or hear the sound emitted by the cleaning robot, or remotely or directly press relevant buttons, such as physical buttons on the cleaning robot or virtual buttons on the human-machine interface, to instruct the cleaning robot to replace the mop autonomously. In another embodiment, a control module controls the cleaning robot to replace the mop. Specifically, the control module may control the cleaning robot to replace the mop when the area type is determined to be different. The location for replacing the mop may be a base station that combines charging and mop replacement functions, or it may be a temporarily set base station capable of replacing the mop.

[0077] Furthermore, when the detection module detects the same area type, the cleanliness of the mop can be detected by the mop sensor. When the detected cleanliness is lower than a preset threshold, the control module controls the cleaning robot to mark the current position and replace the mop. After replacing the mop, it returns to the marked position to resume mopping from the breakpoint. When the detected cleanliness of the mop is greater than or equal to the preset threshold, the control module controls the cleaning robot to perform mopping work in the next area.

[0078] In one embodiment of this application, when the area type is determined to be different, the cleaning robot can be controlled to return to the base station to automatically change the mop while keeping the mopping module in a raised state.

[0079] In one embodiment of this application, when the cleaning robot returns to change the mop or returns to the base station to charge, the cleaning robot can mark its previous position on the map. When the mop is changed or the battery is fully charged, it can directly return to the marked position and continue mopping according to the pre-planned path, thereby improving the cleaning efficiency of the cleaning robot.

[0080] The embodiments and methods of this application are described below through specific application scenarios.

[0081] Figure 5The diagram illustrates the scenario provided in this application. In this application scenario, base station 500 can both charge and replace the mop. User Xiao Wang uses cleaning robot 100 to clean his house. After cleaning robot 100 creates a map of Xiao Wang's house, Xiao Wang divides the house into seven parts according to the purpose of each room: bedroom, study, balcony, living room, dining room, bathroom, and kitchen. The bedroom and study belong to the same area type. Cleaning robot 100 starts from base station 500 to perform wet mopping, following a pre-set path. It first goes to the bedroom to mop, and after arriving at the bedroom, it begins mopping in a bow-shaped path. After completing the mopping of the bedroom, cleaning robot 100 detects the type of the next area to mop, namely the study. If it finds that the type is the same as the previously cleaned bedroom, it then uses the mop sensor to detect the cleanliness of the mop. If the cleanliness is found to be higher than a preset threshold, it moves to the study to continue mopping. When cleaning the study and finding that the cleanliness level is below a preset threshold, the current mopping position is marked. While maintaining the mopping module in the second position, the system returns to base station 500 to replace the mop. Upon returning, a signal to replace the mop is sent to base station 500. After replacing the mop, the system returns to the marked position in the study to resume mopping from where it left off. After mopping the study, the system prepares to enter the living room to mop according to a pre-set path. First, it checks if the area types of the living room and study are the same. If they are different, it returns to base station 500 to replace the mop. After replacing the mop, it enters the living room to continue mopping. Finally, all rooms are cleaned in this manner.

[0082] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A cleaning robot that moves and works in a work area, the cleaning robot comprising: body; A walking mechanism supports the robot body and propels the cleaning robot to walk on the work surface; The power module provides the driving force for the cleaning robot to move and work; A mopping module is mounted on the machine body to perform a predetermined mopping operation on the working surface, wherein a wiping component can be mounted on the mopping module; A control module, electrically connected to the power module, controls the power module to achieve automatic movement and automatic operation of the cleaning robot; characterized in that, The control module is configured to control the cleaning robot to automatically construct a work area map; and according to the area division results marked in the work area map, control the cleaning robot to use different wiping tools for different types of areas, wherein the different wiping tools refer to new wiping tools of the same type.

2. The cleaning robot according to claim 1, characterized in that, The different wiping tools are different mops.

3. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a navigation mechanism for generating a map of the cleaning robot's work area; the control module is configured to control the navigation mechanism to execute a navigation algorithm to construct the work area map. The control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a different wiping device, or to replace the wiping device with a different wiping device, based on the area division results marked in the work area map.

4. The cleaning robot according to claim 1, characterized in that, The control module is configured to receive the region division results marked by the user on the work area map after the work area map is constructed; or, The control module is configured to, during the process of forming the work area map, divide the work area map into regions according to a pre-set division method to generate region division results, and mark the region division results on the work area map.

5. The cleaning robot according to claim 1, characterized in that, The control module is configured to, based on the area division results marked in the work area map, when the cleaning robot needs to enter another area with a different area type than the current area to perform mopping work, control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or replace it with a new wiping device of the same type.

6. The cleaning robot according to claim 5, characterized in that, Before the cleaning robot finishes cleaning the current area and enters the next area with a different area type, the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type; wherein, "finished cleaning of the current area" refers to a preset percentage of the cleaning work in the current area being completed.

7. The cleaning robot according to claim 1, characterized in that, The work area is divided into at least three areas of different area types.

8. The cleaning robot according to claim 7, characterized in that, The region type is determined based on the actual function of the regions within the work area.

9. The cleaning robot according to claim 8, characterized in that, The work area is divided into a bathroom, a kitchen, and at least one of the following areas: a bedroom, a study, and a living room.

10. The cleaning robot according to claim 9, wherein when the working area includes at least two areas of a living room, bedroom, and study, the at least two areas of the living room, bedroom, and study are areas of the same type.

11. The cleaning robot according to claim 7, characterized in that, The area type is defined based on the type of stains in the area of ​​the work zone.

12. The cleaning robot according to claim 11, characterized in that, The work area is divided into a first area with oil stains, a second area with water stains, and a third area with solid waste. Solid waste includes at least one of dust, paper scraps, and hair.

13. The cleaning robot according to claim 1, characterized in that, The mopping module includes a mopping floor, and the wiping element is detachably mounted on the mopping floor; The control module is configured to control the cleaning robot to return to the base station to remove the wiping device from the mop floor and install a new wiping device of the same type to replace the wiping device.

14. The cleaning robot according to claim 1, characterized in that, The mopping module is detachably mounted on the body; The control module is configured to control the cleaning robot to return to the base station to detach the mopping module from the body and install a new mopping module with the same type of wiping element, so as to realize the replacement of the wiping element.

15. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a detection module for detecting area types; the detection module is configured to detect the area types of different areas in the work area; if the area types are different, the control module is configured to control the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type.

16. The cleaning robot according to claim 15, characterized in that, The cleaning robot also includes a navigation mechanism for forming a map of the cleaning robot's work area; the detection module is configured to detect the area type of at least two areas in the work area based on the work area map.

17. The cleaning robot according to claim 15, characterized in that, The work area map indicates the area type; The detection module is configured to compare the current area where the cleaning robot is located with the area type of another area to be entered, based on the work area map with calibrated area types.

18. The cleaning robot according to claim 3 or 16, characterized in that, The navigation mechanism is configured to mark the current position of the cleaning robot on the work area map when the cleaning robot returns to the base station to replace the wiping device, so that the cleaning robot can return to the marked position to continue performing its work after the wiping device is replaced.

19. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a mop sensor, which is installed on the body to detect the cleanliness of the wiping components; When the cleaning robot moves through an area of ​​the same type, the mop sensor is configured to detect the cleanliness of the wiping element; If the cleanliness of the wiping component is less than a preset threshold, the control module is configured to control the cleaning robot to replace the wiping component; If the cleanliness of the wiping component is greater than or equal to a preset threshold, the control module is configured to control the cleaning robot to continue cleaning the same type of area.

20. The cleaning robot according to claim 1, characterized in that, The cleaning robot is a home robot and / or an indoor service robot.

21. A cleaning robot that moves and operates in a work area, the cleaning robot comprising: The fuselage has a front end; A walking mechanism supports the robot body and drives the cleaning robot to move on the work surface; The power module provides the driving force for the cleaning robot to move and work; A mopping module, mounted on the machine body, performs a predetermined mopping operation on the working surface, wherein a wiping component can be mounted on the mopping module; A control module, electrically connected to the power module, controls the power module to achieve automatic movement and automatic operation of the cleaning robot; characterized in that, The work area is divided into at least two areas of different types; when the cleaning robot needs to enter another area of ​​a different type than the current area to perform mopping work, the control module is configured to control the cleaning robot to convey information to the user that the wiping part needs to be replaced with a new wiping part of the same type, or to replace it with a new wiping part of the same type, so that the wiping part on the mopping module is different for different area types.

22. The cleaning robot according to claim 21, characterized in that, The cleaning robot also includes a navigation mechanism for generating a map of the cleaning robot's work area. When the work area map is used to generate area division results, the control module is configured to enable the cleaning robot to convey information to the user that the wiping device needs to be replaced with a new wiping device of the same type, or to replace it with a new wiping device of the same type, based on the area division results marked in the work area map.

23. The cleaning robot according to claim 22, characterized in that, The control module is configured to receive the area division results marked by the user on the work area map after the work area map is formed; or, The control module is configured to, during the process of forming the work area map, divide the work area map into regions according to a pre-set division method to generate region division results, and mark the region division results on the work area map.

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