A sweeper control method, a sweeper and a storage medium

Abstract

This invention discloses a sweeping robot control method, a sweeping robot, and a storage medium. By dividing the cleaning area map into special cleaning areas and ordinary cleaning areas, the sweeping robot performs a sweeping and mopping mode in the ordinary cleaning area, and performs a single sweeping mode first and then a sweeping and mopping mode in the special cleaning area. This invention avoids the defects of the prior art, improves the efficiency of cleaning special cleaning areas, and also enhances the user experience.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaner technology, and in particular to a robotic vacuum cleaner control method, a robotic vacuum cleaner, and a storage medium. Background Technology

[0002] In current technology, robotic vacuum cleaners are becoming increasingly intelligent, capable of acquiring maps of the user's indoor cleaning area through sensors, allowing the user to establish boundaries and guiding the robot's automatic cleaning. Existing robotic vacuum cleaners typically employ a sweeping and mopping combo, meaning they sweep and mop simultaneously. However, certain areas, such as under beds, sofas, and furniture, are unsuitable for this combo. These areas tend to accumulate more debris (dust, lint, etc.), and simultaneously sweeping and mopping would only wet and scatter the debris, making the area even dirtier and less effective. This necessitates repeated mopping and mop washing, resulting in a poor user experience. Summary of the Invention

[0003] Therefore, it is necessary to address the technical problem of existing technologies that use a sweeping and mopping integrated mode regardless of the cleaning area, and to provide a sweeping robot control method, a sweeping robot, and a storage medium.

[0004] The present invention provides a method for controlling a sweeping machine, comprising the following steps:

[0005] The map creation step includes creating an indoor cleaning area map and marking special cleaning areas in the cleaning area map, wherein the areas outside the special cleaning areas in the cleaning area map are ordinary cleaning areas;

[0006] The indoor cleaning process includes performing a sweeping and mopping mode in the general cleaning area, and performing a single sweeping mode in the special cleaning area first, and then performing the sweeping and mopping mode after the preset conditions are met.

[0007] In one of the optional technical solutions, the map-building step includes: the sweeping robot moves indoors, acquires indoor identification information through sensors and / or cameras, and forms a map of the cleaning area;

[0008] During the sweeper's movement recognition process, if obstacles are detected around and above the sweeper, it is determined to be a special cleaning area.

[0009] In one of the alternative technical solutions, during the process of recognizing the movement of the sweeper:

[0010] If the distance sensor and / or camera detect obstacles around and above the robot vacuum, and the photosensor detects that the light intensity at the location of the robot vacuum is lower than a preset threshold, it is determined to be a special cleaning area.

[0011] In one of the alternative technical solutions, the map creation step includes: correcting the cleaning area map based on the acquired building floor plan.

[0012] In one of the optional technical solutions, the preset conditions in the indoor cleaning step include: executing the single-sweep mode more than twice.

[0013] In one of the alternative technical solutions, the preset conditions in the indoor cleaning step include: taking a picture of the floor of the special cleaning area by a camera and determining that the floor meets the mopping benchmark.

[0014] In one of the alternative technical solutions, the indoor cleaning step includes:

[0015] When the sweeping machine enters the special cleaning area from the ordinary cleaning area, the change in light intensity is monitored by a photosensitive sensor;

[0016] If the light intensity detected by the photosensitive sensor decreases and the light intensity at the location of the sweeping robot is lower than a preset threshold, the single sweeping mode will be executed first, and the sweeping and mopping mode will be executed after the preset conditions are met.

[0017] In one of the alternative technical solutions, the indoor cleaning step includes:

[0018] Before the sweeper enters the special cleaning area, the records of cleaning the special cleaning area are checked;

[0019] If the last time the special cleaning area was cleaned was within 2 days, the sweeping and mopping mode will be performed in the special cleaning area.

[0020] If more than 3 days have passed since the last cleaning of the special cleaning area, the single sweep mode will be executed first, followed by the sweep and mop mode.

[0021] The present invention also provides a sweeping machine, wherein the sweeping machine performs the sweeping machine control method described above;

[0022] The sweeper includes a processor, memory, sensors and / or cameras, a roller brush mechanism, and a lifting mop mechanism;

[0023] The memory, the sensor and / or the camera, the roller brush mechanism, and the lifting mop mechanism are respectively communicatively connected to the processor;

[0024] When the sweeper is in sweeping and mopping mode, the roller brush mechanism is in operation and the lifting mop mechanism is in a lowering state.

[0025] When the sweeper is in single sweeping mode, the roller brush mechanism is in working state and the lifting mop mechanism is in raised state.

[0026] The present invention also provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the sweeper control method described above.

[0027] The above technical solution has the following beneficial effects:

[0028] This invention divides the cleaning area map into special cleaning areas and normal cleaning areas. In the normal cleaning area, the robot vacuum cleaner performs a sweeping and mopping mode, while in the special cleaning area, the robot vacuum cleaner first performs a single sweeping mode and then a sweeping and mopping mode. This avoids the defects of the prior art, improves the efficiency of cleaning special cleaning areas, and also enhances the user experience. Attached Figure Description

[0029] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the steps of a sweeper control method provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of a sweeping machine module provided in an embodiment of the present invention;

[0032] Figure 3 This is a perspective view of a sweeping machine provided in an embodiment of the present invention, taken from a top view angle.

[0033] Figure 4 This is a perspective view of a sweeping machine provided in an embodiment of the present invention, viewed from below.

[0034] Figure 5 This is a cross-sectional view of a sweeping machine provided in an embodiment of the present invention;

[0035] Figure 6 This is a partial enlarged view of the connection between the lifting mop mechanism and the machine body;

[0036] Figure 7 This is a 3D view of the lifting housing;

[0037] Figure 8 This is a 3D view of the slide rail;

[0038] Figure 9for Figure 6 Enlarged view of region A;

[0039] Figure 10 for Figure 7 Enlarged view of the middle connecting part;

[0040] Figure 11 This is a cross-sectional view of the roller, lifting housing, roller drive motor, and mop. Detailed Implementation

[0041] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0042] like Figure 1 As shown, an embodiment of the present invention provides a sweeping robot control method, which includes the following steps:

[0043] S1: Map creation steps, including creating an indoor cleaning area map and marking special cleaning areas on the cleaning area map. Areas outside the special cleaning areas on the cleaning area map are regular cleaning areas.

[0044] S2: Indoor cleaning steps, including performing sweeping and mopping in the normal cleaning area, and performing single sweeping in the special cleaning area first, and then performing sweeping and mopping in the special cleaning area after the preset conditions are met.

[0045] The sweeper control method provided by this invention is used for sweepers with a lifting mop mechanism. Combined with... Figure 2 As shown, the sweeper includes a processor 1, a memory 2, a sensor 3 and / or a camera 4, a roller brush mechanism 5, a lifting mop mechanism 6, a walking mechanism 7, and a sweeper body 8. The memory 2, sensor 3 and / or camera 4, roller brush mechanism 5, lifting mop mechanism 6, and walking mechanism 7 are all communicatively connected to the processor 1.

[0046] The processor 1 is a centralized control unit, which is integrated into the main body 8 of the sweeper and is used to receive signals and control the operation of various electrical appliances.

[0047] The memory 2 is integrated into the main body 8 of the sweeping robot. The memory 2 can be a memory or a hard disk, used to store program instructions so that the processor 1 can select the corresponding function.

[0048] Sensor 3 is installed around and on top of the main body 8 of the sweeping robot. It is used to send out identification information / signals and then receive the feedback identification information / signals to determine obstacles and their size, shape, distance, etc. It can also monitor condition parameters, such as light intensity.

[0049] Camera 4 is installed around the main body 8 of the robot vacuum cleaner to capture images of the indoor floor, obstacles, etc., for the processor 1 to make judgments.

[0050] The roller brush mechanism 5 is connected to the main body 8 of the sweeper and is used for sweeping.

[0051] Specifically, the roller brush mechanism 5 includes a roller brush 51 and a roller brush drive motor. The roller brush 51 is pivotally mounted on the bottom of the sweeper body 8 via a pivot shaft. The roller brush drive motor is installed in the sweeper body 8, and the roller brush drive motor is connected to the pivot shaft of the roller brush 51 through a transmission mechanism. The roller brush drive motor drives the roller brush 51 to rotate and sweep the floor. The roller brush drive motor is communicatively connected to the processor 1, and the processor 1 controls the operation of the roller brush drive motor.

[0052] A dust collection box 82 is detachably installed in the main body 8 of the sweeper, and the suction port 83 of the dust collection box 82 is located on the front side. A roller brush 51 is installed on the front side of the suction port 83. Dust swept up by the roller brush 51 can enter the dust collection box 82 through the suction port 83.

[0053] The lifting mop mechanism 6 is connected to the main body 8 of the sweeper, and it can be raised and lowered relative to the main body 8 of the sweeper.

[0054] Specifically, the lifting mop mechanism 6 includes a lifting housing 61 and a mop 62 connected to the bottom of the lifting housing 61. The sweeper body 8 has a downward-facing receiving groove 81 on the rear side of the dust collection box 82. The lifting housing 61 is slidably mounted in the receiving groove 81, and is connected to the sweeper body 8 via a lifting drive assembly. The lifting drive assembly is communicatively connected to the processor 1, and the processor 1 controls the operation of the lifting drive assembly. The lifting drive assembly is used to drive the lifting housing 61 to rise and fall, thereby enabling the mop 62 to be lifted and lowered.

[0055] The walking mechanism 7 is connected to the main body 8 of the sweeper and is used to drive the main body 8 of the sweeper to move.

[0056] Specifically, the walking mechanism 7 includes a pair of rollers 71 and a roller drive motor. The pair of rollers 71 are pivotally mounted on the left and right sides of the sweeper body 8 via axles. The roller drive motor is installed in the sweeper body 8 and is connected to the axles via a transmission mechanism. The roller drive motor is communicatively connected to the processor 1, and the processor 1 controls the operation of the roller drive motor.

[0057] The robot vacuum has a sweeping and mopping mode and a sweeping-only mode. The mode can be automatically controlled by the processor 1 or selected by the user via remote control, control panel or APP.

[0058] When the sweeper is in sweeping and mopping mode, the roller brush mechanism 5 is in working condition, the roller brush 51 sweeps the floor, the lifting mop mechanism 6 is in the lowering state, and the mop 62 mops the floor.

[0059] When the sweeper is in single sweeping mode, the roller brush mechanism 5 is in working condition, the roller brush 51 sweeps the floor, the lifting mop mechanism 6 is in the raised state, and the mop 62 is off the ground.

[0060] The robot vacuum cleaner control method provided by this invention, upon initial use or reset by the user, first guides the robot vacuum cleaner to traverse the indoor space and establish a cleaning area map. During this process, the robot vacuum cleaner can employ a single-sweep mode. While traversing the indoor space, the robot vacuum cleaner establishes a cleaning area map and marks special cleaning areas on the map. These special cleaning areas include, but are not limited to, areas under sofas, beds, and furniture—areas accessible to the robot vacuum cleaner for cleaning. For ease of description, areas on the cleaning area map outside of the special cleaning areas are referred to as ordinary cleaning areas.

[0061] When the robot vacuum cleaner is performing indoor cleaning, it will use the sweeping and mopping mode in the normal cleaning area, while in the special cleaning area, it will first use the single sweeping mode, and then use the sweeping and mopping mode after the preset conditions are met.

[0062] Specifically, when the sweeper enters a special cleaning area, where there is relatively more debris and heavier dust, the single sweep mode can be selected. First, the mop 62 is raised, and the sweeper sweeps the ground with the roller brush 51 without the mop 62. After the sweeper has cleaned the dust and debris in the specific area, the sweeper and mop mode can be selected, and the mop 62 is lowered and begins mopping. At this point, the dust and debris in the special cleaning area are basically cleaned. The mop 62 can clean the ground in one pass, avoiding the shortcomings of existing technologies, improving the efficiency of cleaning special cleaning areas, and enhancing the user experience.

[0063] In one embodiment, the map-building step includes: the robot vacuum cleaner moving indoors, acquiring indoor identification information through sensors and / or cameras, and forming a map of the cleaning area.

[0064] During the robot vacuum's movement recognition process, if obstacles are detected around or above the robot vacuum, it is identified as a special cleaning area.

[0065] When creating the map, sensors 3 and / or cameras 4 are used to identify surrounding objects and obstacles to determine the boundaries of the cleaning area. Data is then output to processor 1, which creates a map of the cleaning area and stores it in memory 2. Sensors 3 include, but are not limited to, distance sensors, touch sensors, and photosensors. Distance sensors can be installed around or on top of the robot vacuum body. These sensors can be infrared or light sensors, used to measure the distance between the robot vacuum and obstacles, and transmit the distance data to processor 1. Touch sensors can be installed around the robot vacuum body 8. When the robot vacuum comes into contact with an obstacle, the touch sensors measure the height of the obstacle and transmit the height data to processor 1, allowing processor 1 to determine whether passage is possible. Photosensors are installed on the front and / or top of the robot vacuum body 8 to determine the brightness of the surrounding ambient light.

[0066] During the robot vacuum's movement recognition process, if obstacles are detected around the robot vacuum, such as long obstacles on two or three sides, and obstacles above the robot vacuum, it indicates that the robot vacuum has entered a special space, which may be under a bed, under a sofa, under furniture, etc. This area is determined to be a special cleaning area, and the data is transmitted to processor 1. Processor 1 marks the special cleaning area and then stores it in memory 2.

[0067] In one embodiment, during the robot vacuum cleaner's movement recognition process:

[0068] If the distance sensor and / or camera detect obstacles around and above the robot vacuum, and the light sensor detects that the light intensity at the location of the robot vacuum is lower than a preset threshold, it is determined to be a special cleaning area.

[0069] In this embodiment, in order to improve the accuracy of identifying special cleaning areas, the determination is made by monitoring the light intensity at the location of the sweeper.

[0070] Under normal circumstances, indoor light intensity is generally between 300-500 LUX, while the intensity of artificial lighting is generally between 150-300 LUX.

[0071] For example, the robot vacuum cleaner may initially determine that an area is a special cleaning area using distance sensors, touch sensors, and cameras, and then further refine the determination with a photosensor. That is, after the distance sensors, touch sensors, and cameras have initially determined that an area is a special cleaning area, if the photosensor detects that the light intensity is below 250 LUX (daytime), it will transmit this signal to processor 1, which will then determine that the area is indeed a special cleaning area.

[0072] The aforementioned preset thresholds can be set in advance according to specific locations and lighting conditions.

[0073] The robot vacuum's processor 1 can obtain Beijing time in real time to determine whether the cleaning time is day or night. When determining special cleaning areas, it is preferable to do so during the day, as there is a greater error at night.

[0074] In one embodiment, the map creation step includes: correcting the cleaning area map based on the acquired building floor plan.

[0075] In this embodiment, upon initial use, the building floor plan data can be transmitted to the robot vacuum cleaner via the APP and stored in the memory 2. The processor 1 then compares the created cleaning area map with the building floor plan. If too much area is missing, or the generated floor plan is inaccurate, some rooms or areas may not have been cleaned, requiring the cleaning area map creation step to be repeated. If the comparison determines that the cleaning area map and the building floor plan do not correspond, a suggestion can be issued for the user to decide whether the cleaning area map creation step needs to be repeated.

[0076] In one embodiment, the preset conditions in the indoor cleaning step include: performing the single-sweep mode more than twice, for example, sweeping the floor alone in a special cleaning area more than twice, to ensure that the garbage and dust in the special cleaning area are cleaned up so that the sweeping and mopping mode can be performed later.

[0077] In one embodiment, the preset conditions in the indoor cleaning step include: taking a picture of the floor of the special cleaning area with a camera and determining that the floor meets the mopping criteria.

[0078] In this embodiment, in a special cleaning area, after the sweeper performs a single sweep mode more than once, it takes a picture of the floor in the special cleaning area with a camera. If the floor in the special cleaning area meets the mopping standard, it starts to perform a sweeping and mopping mode.

[0079] The standard for mopping is generally that there are no crumbs, toys, sand-like debris, or lint-like debris on the floor, which can be seen from the smoothness of the floor.

[0080] This step can be determined by the user via the app. For example, after the camera captures an image and transmits it to the app, if the user sees that the floor is relatively clean, they can press confirm, and the sweeping base will execute the sweeping and mopping mode. If the user sees that the floor is not clean enough and mopping would easily dirty the floor, they can choose to continue in the sweeping-only mode.

[0081] In one embodiment, the indoor cleaning step includes: when the sweeper moves from a regular cleaning area to a special cleaning area, a photosensitive sensor monitors changes in light intensity.

[0082] If the light intensity detected by the photosensitive sensor decreases and the light intensity at the location of the robot vacuum is lower than the preset threshold, the single sweep mode will be executed first. Once the preset conditions are met, the sweep and mop mode will be executed.

[0083] If the customer moves the sofa, bed, furniture, etc., but does not recreate the cleaning area map and re-mark the special cleaning areas, the robot vacuum's execution mode may not correspond to the actual scenario.

[0084] In this embodiment, during the day, when the sweeping machine enters the special cleaning area from the normal cleaning area, a photosensitive sensor monitors the change in light intensity to determine whether the area the sweeping machine has entered is a special cleaning area.

[0085] When the robot vacuum enters a special cleaning area marked on the map, the light intensity is monitored by a photosensitive sensor. If the photosensitive sensor detects that the light intensity at the location of the robot vacuum is lower than the preset threshold of 250 LUX (daytime), then the area entered by the robot vacuum is determined to be a special cleaning area.

[0086] If a user turns on the robot vacuum at night, the robot will use the previously marked special cleaning area as the reference, and the data from the photosensitive sensor will no longer be used as a reference.

[0087] In one embodiment, the indoor cleaning step includes:

[0088] Before the robot vacuum enters the special cleaning area, check the records of cleaning the special cleaning area.

[0089] If the last time the special cleaning area was cleaned was within 2 days, the sweeping and mopping mode will be executed in the special cleaning area.

[0090] If more than 3 days have passed since the last special cleaning of the area, the single sweep mode will be executed first, followed by the sweep and mop mode.

[0091] In this embodiment, the time and area cleaned by the sweeper each time are recorded in memory 2. Before cleaning a special cleaning area, the sweeper first checks the record of the last special cleaning area. If the time since the last special cleaning area is less than 2 days, the special cleaning area is not too dirty, and the sweeping and mopping mode can be executed directly to save time. If the time since the last special cleaning area is more than 3 days, the special cleaning area may be quite dirty, so the sweeping mode is executed first, followed by the sweeping and mopping mode.

[0092] like Figure 2 As shown, an embodiment of the present invention provides a sweeping machine that performs the sweeping machine control method described above.

[0093] The sweeping robot includes a processor 1, a memory 2, a sensor 3 and / or a camera 4, a roller brush mechanism 5, and a lifting mop mechanism 6.

[0094] The memory 2, sensor 3 and / or camera 4, roller brush mechanism 5, and lifting mop mechanism 6 are respectively connected to the processor 1 for communication.

[0095] When the sweeper is in sweeping and mopping mode, the roller brush mechanism 5 is in working condition and the lifting mop mechanism 6 is in a lowering state.

[0096] When the sweeper is in single sweeping mode, the roller brush mechanism 5 is in working state, and the lifting mop mechanism 6 is in the raised state.

[0097] The sweeper includes a processor 1, a memory 2, a sensor 3 and / or a camera 4, a roller brush mechanism 5, a lifting mop mechanism 6, a walking mechanism 7, and a sweeper body 8. The memory 2, sensor 3 and / or camera 4, roller brush mechanism 5, lifting mop mechanism 6, and walking mechanism 7 are all communicatively connected to the processor 1.

[0098] The processor 1 is a centralized control unit, which is integrated into the main body 8 of the sweeper and is used to receive signals and control the operation of various electrical appliances.

[0099] The memory 2 is integrated into the main body 8 of the sweeping robot. The memory 2 can be a memory or a hard disk, used to store program instructions so that the processor 1 can select the corresponding function.

[0100] Sensor 3 is installed around and on top of the main body 8 of the sweeping robot. It is used to send out identification information / signals and then receive the feedback identification information / signals to determine obstacles and their size, shape, distance, etc. It can also monitor condition parameters, such as light intensity.

[0101] Camera 4 is installed around the main body 8 of the robot vacuum cleaner to capture images of the indoor floor, obstacles, etc., for the processor 1 to make judgments.

[0102] The roller brush mechanism 5 is connected to the main body 8 of the sweeper and is used for sweeping.

[0103] Specifically, the roller brush mechanism 5 includes a roller brush 51 and a roller brush drive motor. The roller brush 51 is pivotally mounted on the bottom of the sweeper body 8 via a pivot shaft. The roller brush drive motor is installed in the sweeper body 8, and the roller brush drive motor is connected to the pivot shaft of the roller brush 51 through a transmission mechanism. The roller brush drive motor drives the roller brush 51 to rotate and sweep the floor. The roller brush drive motor is communicatively connected to the processor 1, and the processor 1 controls the operation of the roller brush drive motor.

[0104] A dust collection box 82 is detachably installed in the main body 8 of the sweeper, and the suction port 83 of the dust collection box 82 is located on the front side. A roller brush 51 is installed on the front side of the suction port 83. Dust swept up by the roller brush 51 can enter the dust collection box 82 through the suction port 83.

[0105] The lifting mop mechanism 6 is connected to the main body 8 of the sweeper, and it can be raised and lowered relative to the main body 8 of the sweeper.

[0106] Specifically, the lifting mop mechanism 6 includes a lifting housing 61 and a mop 62 connected to the bottom of the lifting housing 61. The sweeper body 8 has a downward-facing receiving groove 81 on the rear side of the dust collection box 82. The lifting housing 61 is slidably mounted in the receiving groove 81, and is connected to the sweeper body 8 via a lifting drive assembly. The lifting drive assembly is communicatively connected to the processor 1, and the processor 1 controls the operation of the lifting drive assembly. The lifting drive assembly is used to drive the lifting housing 61 to rise and fall, thereby enabling the mop 62 to be lifted and lowered.

[0107] The walking mechanism 7 is connected to the main body 8 of the sweeper and is used to drive the main body 8 of the sweeper to move.

[0108] Specifically, the walking mechanism 7 includes a pair of rollers 71 and a roller drive motor. The pair of rollers 71 are pivotally mounted on the left and right sides of the sweeper body 8 via axles. The roller drive motor is installed in the sweeper body 8 and is connected to the axles via a transmission mechanism. The roller drive motor is communicatively connected to the processor 1, and the processor 1 controls the operation of the roller drive motor.

[0109] The robot vacuum has a sweeping and mopping mode and a sweeping-only mode. The mode can be automatically controlled by the processor 1 or selected by the user via remote control, control panel or APP.

[0110] When the sweeper is in sweeping and mopping mode, the roller brush mechanism 5 is in working condition, the roller brush 51 sweeps the floor, the lifting mop mechanism 6 is in the lowering state, and the mop 62 mops the floor.

[0111] When the sweeper is in single sweeping mode, the roller brush mechanism 5 is in working condition, the roller brush 51 sweeps the floor, the lifting mop mechanism 6 is in the raised state, and the mop 62 is off the ground.

[0112] The sweeping machine provided by this invention marks special cleaning areas and ordinary cleaning areas on the cleaning area map.

[0113] When the robot vacuum cleaner is performing indoor cleaning, it will use the sweeping and mopping mode in the normal cleaning area, while in the special cleaning area, it will first use the single sweeping mode, and then use the sweeping and mopping mode after the preset conditions are met.

[0114] Specifically, when the sweeper enters a special cleaning area, where there is relatively more debris and heavier dust, the single sweep mode can be selected. First, the mop 62 is raised, and the sweeper sweeps the ground with the roller brush 51 without the mop 62. After the sweeper has cleaned the dust and debris in the specific area, the sweeper and mop mode can be selected, and the mop 62 is lowered and begins mopping. At this point, the dust and debris in the special cleaning area are basically cleaned. The mop 62 can clean the ground in one pass, avoiding the shortcomings of existing technologies, improving the efficiency of cleaning special cleaning areas, and enhancing the user experience.

[0115] In one embodiment, the mop 62 can be either a flat mop or a rolling mop. The flat mop 62 can be adhered to the bottom surface of the lifting housing 61.

[0116] In one embodiment, such as 5, Figure 7 and Figure 11 As shown, when the rolling mop 62 is adhered to or wrapped around the roller 63, the roller 63 is pivotally mounted in the lifting housing 61. A roller drive motor 64 is also installed in the lifting housing 61, and the roller drive motor 64 is connected to the rotating shaft of the roller 63. The roller drive motor 64 is communicatively connected to the processor 1, and the processor 1 controls the operation of the roller drive motor 64. The roller drive motor 64 drives the roller 63 to rotate the mop 62, causing the mop 62 to slide and rotate relative to the ground, resulting in good mopping performance.

[0117] In one embodiment, as shown in 6-7, a shock absorber 9 is connected between the lifting housing 61 and the sweeper body 8. The shock absorber 9 can be a gas spring, which serves to absorb shock and cushion the impact. When the lifting housing 61 descends, the shock absorber 9 extends; when the lifting housing 61 rises, the shock absorber 9 returns to its original position.

[0118] In one embodiment, as shown in 6-10, the top of the lifting housing 61 is provided with a hook-on portion 65.

[0119] The lifting drive assembly includes a slide rail 66 that is slidably connected to the main body 8 of the sweeper, a slide rail drive motor 67 that is fixedly connected to the main body 8 of the sweeper, a transmission rack 68 mounted on the slide rail 66, and a transmission gear 69 that meshes with the rack 68. The transmission gear 69 is mounted on the output shaft of the slide rail drive motor 67. The slide rail drive motor 67 is communicatively connected to the processor 1, and the processor 1 controls the operation of the slide rail drive motor 67.

[0120] The top surface of the slide rail 66 has a guide surface 661 for guiding the lifting and lowering of the hook part 65. The guide surface 661 includes a first guide plane 6611, a guide slope 6662 and a second guide plane 6613 connected in sequence. The second guide plane 6613 is higher than the first guide plane 6611.

[0121] The mounting part 65 rests on the guide surface 661 and can slide relative to the guide surface 661.

[0122] In this embodiment, the top of the lifting housing 61 is provided with one or more hook parts 65, which may be L-shaped or T-shaped.

[0123] The slide rail 66 is preferably arranged along the width direction of the sweeper body 8, that is, the slide rail 66 is parallel to the center line of the roller brush 51 or the roller 63, and the slide rail 66 can slide along the left and right direction of the sweeper body 8. The slide rail 66 and the sweeper body 8 can be connected by a guide mechanism, which can be a guide groove, a guide rail, etc.

[0124] The top surface of the slide rail 66 has a guide surface 661. The hook part 65 rests on the guide surface 661 and can slide relative to the guide surface 661. The guide surface 661 is used to guide the hook part 65 to rise and fall, thereby driving the lifting housing 61 and the mop 62 to rise and fall.

[0125] The guide surface 661 includes a lower first guide plane 6611 and a higher second guide plane 6613. The guide ramp 6662 is a transition surface that connects the first guide plane 6611 and the second guide plane 6613.

[0126] In the initial state, the hook-on part 65 rests on the first guide plane 6611, and the mop 62 is in a lowered state. When the slide rail drive motor 67 rotates in the forward direction, driving the slide rail 66 to move in the first direction via the transmission gear 69 and transmission rack 68, the first guide plane 6611 moves away from the hook-on part 65, and the hook-on part 65 rests on the guide ramp 6662. Then, the slide rail 66 continues to move, the guide ramp 6662 moves away from the hook-on part 65, and the hook-on part 65 rests on the second guide plane 6613. At this point, the mop 62 is in a raised state. When the slide rail drive motor 67 rotates in the reverse direction, driving the slide rail 66 to move in the second direction opposite to the first direction via the transmission gear 69 and transmission rack 68, the hook-on part 65 returns to rest on the first guide plane 6611.

[0127] In one embodiment, such as Figure 6-8As shown, the guide surface 661 has a channel 662 in the middle. The mounting part 65 includes a connecting block 651 connected to the lifting housing 61 and an overlapping block 652 connected to the upper end of the connecting block 651. The overlapping block 652 is connected to the connecting block 651 in a T-shape. The connecting block 651 passes through the channel 662 with a gap, and the two ends of the overlapping block 652 rest on the guide surface 661.

[0128] In this embodiment, a narrow channel 662 is provided in the middle of the guide surface 661. The channel 662 has a first guide plane 6611, a guide ramp 6662, and a second guide plane 6613 on both its front and rear sides. The overlapping block 652 of the hook-and-connector 65 is connected to the connecting block 651 in a T-shape. During assembly, the connecting block 651 passes through the channel 662 and can slide relative to it. The two ends of the overlapping block 652 rest on the guide surface 661, improving assembly stability.

[0129] In one embodiment, such as Figure 10 As shown, a roller 653 is pivotally mounted on the bottom of the overlapping block 652. The roller 653 contacts the guide surface 661, changing the sliding friction between the overlapping block 652 and the guide surface 661 into rolling friction, thereby reducing the friction between the overlapping block 652 and the guide surface 661.

[0130] One embodiment of the present invention provides a storage medium that stores computer instructions. When the computer executes the computer instructions, it is used to perform all the steps of the aforementioned robot vacuum cleaner control method. The storage medium may be memory, hard disk, ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0131] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0132] The above are merely the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principles of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A sweeper control method, characterized in that, Includes the following steps: The map creation step includes creating an indoor cleaning area map and marking special cleaning areas in the cleaning area map, wherein the areas outside the special cleaning areas in the cleaning area map are ordinary cleaning areas; The indoor cleaning steps include performing a sweeping and mopping mode in the general cleaning area, and first performing a single sweeping mode in the special cleaning area. After the preset conditions are met, the sweeping and mopping mode is then performed. The preset conditions include: performing the single sweeping mode more than twice, or having the floor of the special cleaning area photographed by a camera and determining that the floor meets the mopping criteria. The map creation step includes: the robot vacuum cleaner moves indoors, acquires indoor recognition information through sensors and / or cameras, and forms a map of the cleaning area; During the sweeper's movement recognition process, if obstacles are detected around and above the sweeper, it is determined to be a special cleaning area.

2. The sweeper control method according to claim 1, characterized in that, During the process of recognizing the movement of the sweeper: If the distance sensor and / or camera detect obstacles around and above the robot vacuum, and the photosensor detects that the light intensity at the location of the robot vacuum is lower than a preset threshold, it is determined to be a special cleaning area.

3. The sweeper control method according to claim 1, characterized in that, The map creation step includes: correcting the cleaning area map based on the obtained building floor plan.

4. The sweeper control method according to claim 1, characterized in that, The indoor cleaning step includes: Before the sweeper enters the special cleaning area, the records of cleaning the special cleaning area are checked; If the last time the special cleaning area was cleaned was within 2 days, the sweeping and mopping mode will be performed in the special cleaning area. If more than 3 days have passed since the last cleaning of the special cleaning area, the single sweep mode will be executed first, followed by the sweep and mop mode.

5. A sweeping machine, characterized in that, The sweeper performs the sweeper control method as described in any one of claims 1-4; The sweeper includes a processor, memory, sensors and / or cameras, a roller brush mechanism, and a lifting mop mechanism; The memory, the sensor and / or the camera, the roller brush mechanism, and the lifting mop mechanism are respectively communicatively connected to the processor; When the sweeper is in sweeping and mopping mode, the roller brush mechanism is in operation and the lifting mop mechanism is in a lowering state. When the sweeper is in single sweeping mode, the roller brush mechanism is in working state and the lifting mop mechanism is in raised state.

6. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the sweeper control method as described in any one of claims 1-4.

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