Control method of cleaning robot, cleaning robot and cleaning system

Abstract

The embodiments of the present application provide a control method for a cleaning robot, a cleaning robot and a cleaning system. The cleaning robot includes a suction component and a roller brush component, the roller brush component includes a roller brush and a roller brush shell for mounting the roller brush, the air inlet of the suction component is opposite to the roller brush, and the control method includes: in the process of the cleaning robot performing the cleaning task, the suction component is controlled to operate according to the first suction force and the roller brush is controlled to rotate, so as to suck the dirt on the ground into the dust collection container of the cleaning robot through the air inlet; when the cleaning robot meets the preset conditions, the suction component is controlled to operate according to the second suction force for at least a certain period of time, so as to suck the dirt on the roller brush component into the dust collection container, and the second suction force is greater than the first suction force. This solution can ensure that the roller brush component is in a relatively clean state, thereby achieving a better floor cleaning effect.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically to a control method for a cleaning robot, a cleaning robot, a cleaning system, and a computer-readable storage medium. Background Art

[0002] With the development of intelligent industry, the market size and market penetration of cleaning robots are increasing. Cleaning robots also provide great convenience for users' daily life.

[0003] Take a sweeping robot as an example. The sweeping robot includes a roller brush assembly and a suction assembly. The air inlet of the suction assembly is usually arranged near the roller brush assembly. When the sweeping robot is sweeping the surface to be cleaned, the rotating roller brush sweeps the dirt on the ground to the air inlet of the suction assembly. At the same time, the running suction assembly sucks the dirt at the air inlet into a dust collection container such as a dust box or a dust bag. In this way, the sweeping robot replaces manual collection of dirt on the ground, saving the user's cleaning time.

[0004] However, dirt on the ground usually includes hair, pet hair, fibers, etc. During the rotation of the roller brush, these dirt may be entangled or attached to the roller brush assembly and difficult to be sucked into the dust collection container. If these dirt are not cleaned up in time, the cleaning performance of the cleaning robot will be greatly reduced. The cleaning robots in the related art usually require users to regularly check the roller brush assembly and manually clean the roller brush assembly in time to restore the cleaning performance. Summary of the invention

[0005] In view of the above problems, the present application is proposed. According to a first aspect of the present application, a control method of a cleaning robot is provided, wherein the cleaning robot comprises a suction component and a roller brush component, wherein the roller brush component comprises a roller brush and a roller brush shell for mounting the roller brush, wherein the air inlet of the suction component is opposite to the roller brush, and the control method comprises:

[0006] When the cleaning robot performs a cleaning task, the suction component is controlled to operate according to the first suction force and the roller brush is controlled to rotate, so as to suck dirt on the ground into the dust collection container of the cleaning robot through the air inlet; and

[0007] When the cleaning robot meets preset conditions, the suction component is controlled to operate according to the second suction force for at least a certain period of time to suck the dirt on the roller brush component into the dust collection container, wherein the second suction force is greater than the first suction force.

[0008] Exemplarily, the preset condition includes at least one of the following:

[0009] The cleaning robot has completed its cleaning task;

[0010] A first instruction is received, wherein the first instruction is used to instruct to increase the suction force of the fan to clean the roller brush;

[0011] The current continuous cleaning time of the cleaning robot reaches the first time threshold;

[0012] The current continuous cleaning area of ​​the cleaning robot reaches a first area threshold;

[0013] The cleaning robot is in the base station and is not charging;

[0014] The cleaning robot is located at a specific position in front of the base station.

[0015] Exemplarily, the control method further includes:

[0016] Determining whether the area of ​​the cleaning region in the current cleaning task is less than or equal to a second area threshold;

[0017] Wherein, when the area of ​​the cleaning region in the cleaning task is less than or equal to the second area threshold, the preset condition at least includes that the cleaning robot has completed the cleaning task.

[0018] Exemplarily, the control method further includes:

[0019] Determine whether the area of ​​the cleaning region in the current cleaning task is greater than a third area threshold;

[0020] Wherein, when the area of ​​the cleaning region in the cleaning task is greater than the third area threshold, the preset conditions at least include:

[0021] The current continuous cleaning time of the cleaning robot reaches a first time threshold; and / or

[0022] The current continuous cleaning area of ​​the cleaning robot reaches a first area threshold, and the first area threshold is less than or equal to a third area threshold.

[0023] Exemplarily, the control method further includes:

[0024] When the cleaning robot meets the preset conditions, the timing operation starts;

[0025] After the counted time reaches the second time threshold, the suction component is controlled to stop operating or operate according to the first suction force.

[0026] Exemplarily, the cleaning robot further includes a ground-lift detection device, and the control method further includes:

[0027] Using a ground-lift detection device to detect whether the cleaning robot is in contact with the ground;

[0028] Wherein, when the cleaning robot meets the preset conditions, controlling the suction component to operate according to the second suction force at least for a certain period of time includes:

[0029] When the cleaning robot meets a preset condition and is determined to be in contact with the ground, the suction component is controlled to operate according to the second suction force for at least a certain period of time.

[0030] Exemplarily, the cleaning robot further includes a dust sensor disposed at the air inlet, and the control method further includes:

[0031] Use dust sensors to detect the amount of dirt at the air inlet;

[0032] Wherein, when the cleaning robot meets the preset conditions, controlling the suction component to operate according to the second suction force at least for a certain period of time includes:

[0033] Under the condition that the cleaning robot meets preset conditions and the detected amount of dirt is greater than or equal to a first garbage amount threshold, the suction component is controlled to operate according to the second suction force for at least a certain period of time.

[0034] Exemplarily, the cleaning robot further includes a roller brush driving device for driving the roller brush to rotate, and the control method further includes:

[0035] Detecting the current of the roller brush driving device;

[0036] When the current is greater than or equal to the first current threshold, the suction component is controlled to operate according to the second suction force.

[0037] Exemplarily, controlling the air suction component to operate at the second suction force at least for a certain period of time includes:

[0038] The air suction component is controlled to operate alternately according to the second suction force and the first suction force.

[0039] According to another aspect of the present application, a cleaning robot is provided, which includes a suction component, a roller brush component and a control module, the roller brush component includes a roller brush and a roller brush shell for mounting the roller brush, the air inlet of the suction component is opposite to the roller brush, wherein the control module is used to execute the above-mentioned control method.

[0040] Exemplarily, the roller brush includes a connecting end and a free end that are arranged opposite to each other, the connecting end is rotatably connected to the body of the cleaning robot, and the air inlet is aligned with the free end.

[0041] Exemplarily, the roller brush includes a roller brush shaft and bristles arranged around the roller brush shaft, the bristles include a root and a head, the root is fixed to the roller brush shaft, and the bristles are inclined toward a free end along a direction from the root to the head.

[0042] According to a second aspect of the present application, a cleaning system is provided, comprising a base station and the above-mentioned cleaning robot.

[0043] According to a third aspect of the present application, a computer-readable storage medium is provided, storing a computer program / instruction, which is used to execute the control method of the cleaning robot when running.

[0044] In the above scheme, when the cleaning robot performs cleaning tasks, the suction component is controlled to operate according to the first suction force corresponding to the normal suction force, so as to achieve effective cleaning of the cleaning area; and when the cleaning robot meets the preset conditions, the suction component is controlled to operate according to the second suction force corresponding to the stronger suction force, so as to achieve timely cleaning of the roller brush component. This scheme can not only ensure that the user's environment is in a relatively quiet state when the cleaning robot performs cleaning tasks, but also ensure that the roller brush component is always in a relatively clean state, so as to achieve a better floor cleaning effect. At the same time, it avoids the inconvenience caused to the user by the user manually cleaning the roller brush component, achieves the purpose of freeing the user's hands, and provides a better user experience. In addition, this scheme does not require changing the hardware, but only needs to adjust the control logic of the suction component to achieve, and the device cost and computing cost are both low.

[0045] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0047] Figure 1 A partial schematic diagram of a cleaning robot according to an embodiment of the present application is shown;

[0048] Figure 2 Shown as Figure 1 Another partial schematic diagram of the cleaning robot shown;

[0049] Figure 3 A schematic flow chart showing a control method of a cleaning robot according to an embodiment of the present application;

[0050] Figure 4 A schematic block diagram showing a cleaning robot according to an embodiment of the present application; and

[0051] Figure 5 A schematic block diagram of a cleaning system according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0053] In order to at least partially solve the above technical problems, according to one aspect of the embodiments of the present application, a control method for a cleaning robot is provided. The method can be used for various types of cleaning robots, and the present application does not limit it. For example, it can be used for various household or commercial sweeping robots, mopping robots, sweeping and mopping integrated robots, etc.

[0054] Please read first Figure 1 and Figure 2 , Figure 1 A partial schematic diagram of a cleaning robot 100 according to an embodiment of the present application is shown. Figure 2 Shown as Figure 1 Another partial schematic diagram of the cleaning robot 100 shown. Figure 1 and Figure 2 , the cleaning robot 100 includes an air suction component 110 and a roller brush component 120. The roller brush component 120 includes a roller brush shell 121 and a roller brush 122, and the roller brush shell 121 has a accommodating cavity for installing the roller brush 122. The roller brush 122 includes a roller brush shaft 1221 and bristles 1222 arranged on the roller brush shaft 1221. The roller brush 122 can clean dust through the bristles 1222. Of course, in some embodiments, a rubber brush can also be provided on the roller brush shaft 1221, and large particles of garbage can be cleaned by the rubber brush. The number of roller brush shafts can be one or two. The roller brush shaft 1221 is rotatably connected to the cleaning robot 100. The air inlet 111 of the air suction component 110 is arranged opposite to the roller brush 122. Exemplarily, the part of the roller brush shaft used to connect with the cleaning robot can be at least one of its two ends, or it can be the middle part. The bristles 1222 may be spirally wound around the roller brush shaft 1221 along the axial direction of the roller brush shaft 1221, and the bristles may be in any suitable direction. Figure 1As shown, the bristles 1222 may be tilted toward the air inlet 111 of the suction assembly 110, that is, the bristles 1222 may be tilted toward the air inlet 111, which is beneficial for guiding the dirt on the roller brush assembly 120 to the air inlet 111. The suction assembly 110 may include a fan (not shown) and an air duct 112. The air inlet 111 of the suction assembly 110 may be the air inlet 1121 of the air duct 112. The air inlet 1121 of the air duct is connected to the roller brush assembly 120, and the air outlet 1122 of the air duct 112 may be connected to the dust collection container 140. The structure and shape of the air duct may be set according to actual needs. The number of air inlets may be one or more. The air inlet 111 of the suction assembly 120 may be set at a position opposite to a suitable position of the roller brush 122. The suitable position may be the end, middle or overall position of the roller brush, etc. As shown in FIG. Figure 2 As shown, the air inlet 111 of the suction assembly 110 can be connected to the bottom wall of the roller brush shell. In this way, the air inlet can be directly aligned with the roller brush, which can improve the efficiency of the suction assembly in sucking dirt on the roller brush and the roller brush shell. Optionally, for the case where both ends of the roller brush shaft are connected to the cleaning robot, the air inlet can be set in the middle of the bottom wall so that the air inlet is aligned with the middle of the roller brush. Alternatively, for the case where at least one end of the roller brush shaft is not connected to the cleaning robot, that is, at least one end of the roller brush shaft is a free end, the air inlet can also be set to be aligned with the free end of the roller brush. For example, Figure 1 The air inlet 111 of the air suction assembly 110 of the cleaning robot 100 shown in the figure is aligned with the free end 1224 of the roller brush 122. The shape and size of the air inlet can be set according to actual needs. The shape of the air inlet can be rectangular, elliptical or rounded trapezoidal, etc., and this application does not limit it.

[0055] Figure 3 FIG. 1 is a schematic flow chart of a control method 300 of a cleaning robot according to an embodiment of the present application. Figure 3 As shown, the control method 300 includes step S320 and step S340.

[0056] Step S320, during the cleaning robot's execution of the cleaning task, the suction component is controlled to operate according to the first suction force and the roller brush is controlled to rotate, so as to suck the dirt on the ground into the dust collection container of the cleaning robot through the air inlet.

[0057] The suction assembly may include a fan and an air duct. The first suction may be the conventional suction of the fan, which may correspond to a suction range or a suction value. Exemplarily, the first suction may be a suction range or suction value that is usually set by the user and can provide the conventional floor cleaning. Alternatively, the first suction may be a suction range or suction value preset by the cleaning robot for normal cleaning. Specifically, the first suction may include a suction gear, or may include a plurality of subdivided suction gears. For example, the fan used by the sweeping robot to suck dirt is usually provided with three or four suction gears for the user to select according to the actual cleaning needs. Then the first suction may include three or four suction gears that can be selected by the user. It can be understood that in the case where the first suction includes a plurality of subdivided suction gears, the larger the subdivided suction gear selected by the user, the larger the corresponding rotation speed and / or operating power of the fan, the greater the suction of the fan to suck dirt, and the higher the suction efficiency. But correspondingly, the noise generated by the operation of the fan is also greater.

[0058] According to an embodiment of the present application, considering the adverse effects of noise generated during a long cleaning process on users, the first suction force may be a smaller suction force within the safe operating range of the sweeping robot fan. The fan can operate at this smaller suction force to meet the suction force required for indoor cleaning and avoid generating larger noise. Generally speaking, the greater the suction power, the greater the suction force. Adjusting the suction power of the fan can usually be achieved by adjusting the duty cycle of the fan, that is, modulating the pulse width of the voltage signal of the fan. Exemplarily and non-restrictively, the suction range of the fan when operating at the first suction force may be the suction force corresponding to when the fan duty cycle is controlled between 20% and 45%. The first suction force is less than the maximum suction force that the suction component can provide. Exemplarily, the conventional suction force of the fan of the above-mentioned sweeping robot during cleaning includes the conventional first-gear suction force corresponding to the fan duty cycle of 21%, the conventional second-gear suction force corresponding to the fan duty cycle of 26%, the conventional third-gear suction force corresponding to the fan duty cycle of 36%, and the conventional fourth-gear suction force corresponding to the fan duty cycle of 45%. In other words, in this example, the user can choose different gears of suction force according to specific cleaning needs, or the sweeping robot can automatically match different gears according to the dust level of the surface to be cleaned to clean the surface to be cleaned, so as to better meet the actual cleaning needs. Since the suction component of the sweeping robot is running in a state of generating the first suction force, the duty cycle of the suction component will not be too large, so the maximum suction force that the suction component can provide will not be too large. In this way, it can meet the needs of conventional indoor cleaning and avoid generating large noise to affect users. According to the embodiment of the present application, when the sweeping robot performs a cleaning task, the sweeping robot can move according to a planned moving path, and use the cleaning parts including the roller brush assembly and the suction assembly to clean the floor during its movement. One or more side brushes for assisting the roller brush assembly in cleaning and collecting dirt can also be provided on the chassis of the sweeping robot. Figure 1 As shown, the cleaning robot 100 is a sweeping and mopping robot. A side brush mounting position 150 is provided on the left and right sides in front of the roller brush assembly 120. When the sweeping and mopping robot moves forward, the side brush and the roller brush can be controlled to rotate at a suitable speed, and the fan can be controlled to operate according to the first suction force in the above example. It can be understood that in this process, the two rotating side brushes can gather the dirt on the ground to the front of the roller brush assembly 120 or to the bottom of the roller brush 122. Figure 1As shown, since the air inlet 111 of the air suction component 110 is opposite to the roller brush 122, when the rotating roller brush 122 moves to the position of the dirt along with the sweeping and mopping robot, the dirt can be swept to the position of the air inlet 1121 of the air duct 112. The air outlet 1122 of the air duct can be docked with the entrance of the dust collection container 140, or the dust collection container can be set in the air duct. In this way, the running fan can provide a negative pressure environment for the air duct 112 and the dust collection container 140, thereby achieving the suction of dirt into the dust collection container 140.

[0059] Step S340, when the cleaning robot meets the preset conditions, the suction component is controlled to operate at least in a certain period of time according to the second suction force to suck the dirt on the roller brush component into the dust collection container. The second suction force is greater than the first suction force.

[0060] According to an embodiment of the present application, the preset condition may be any condition that can indicate that the roller brush assembly of the cleaning robot is stained with dirt. Optionally, the preset condition may be a condition that the progress of the current cleaning task of the cleaning robot reaches the progress standard. The progress standard may be set according to actual needs, which may be a cleaning time threshold, a cleaning area threshold, or a task completion threshold. Optionally, the preset condition may also be a condition that indicates that the dirt on the roller brush assembly reaches a preset dirt standard. Exemplarily and not restrictively, any existing or future device capable of realizing dirt detection may be provided on or near the roller brush assembly, and the device may be used to detect and determine whether the dirt on the roller brush assembly reaches the preset dirt standard. Alternatively, the preset condition may also be a condition for receiving a relevant instruction issued by a user. In one example, the relevant instruction may be an instruction to execute self-cleaning of the roller brush assembly. For example, a user may use a smart device to pre-set the time and frequency of self-cleaning of the roller brush assembly during the execution of a cleaning task. In this way, when the current time reaches the time corresponding to the user instruction, the suction assembly may be controlled to operate according to the second suction force at least for a certain period of time.

[0061] The certain period of time may be any period of time of shorter duration. For example, the duration of the certain period of time may be 5 seconds, 7 seconds, 10 seconds, 15 seconds, etc. The certain period of time may be a continuous period of time or a discontinuous period of time. Optionally, in this step, the suction component may be controlled to operate continuously for a period of time according to the second suction force. Alternatively, in this step, the suction component may also be operated periodically or non-periodically according to the second suction force and other suction forces. In an embodiment of the present application, the first suction force or the second suction force indicates the gear position at which the suction component can generate the corresponding suction force. There may be multiple ways to control the suction component to adjust the suction force. Take a sweeping robot as an example. The suction component of the sweeping robot includes a fan and an air duct. In some cases, the structure of the air duct remains unchanged, and the suction force can be adjusted by adjusting the suction power of the fan. The suction power is proportional to the suction force generated. In other cases, the structure of the air duct may be adjusted, and the suction force generated by the suction component may also be adjusted by adjusting the structure of the air duct. The second suction force is greater than the first suction force. For example, the second suction corresponds to a gear where the fan can generate strong suction, and the first suction corresponds to a gear where the fan can generate medium or small suction. For example, when the duty cycle of the fan is adjusted to 20% to 40%, the suction generated by the fan is the first suction, and when the duty cycle of the fan is adjusted to between 60% and 100%, the suction generated by the fan is the second suction. In a specific example, the preset conditions include, for example, the condition that the current cleaning task is completed, a certain period of time is, for example, 7 seconds, and the second suction is, for example, the maximum suction of the fan. Figure 1 Taking the cleaning robot 100 in the figure as an example, the cleaning robot may be a sweeping and mopping robot. For example, after the sweeping and mopping robot finishes cleaning the user's entire house, its roller brush 122 and roller brush shell 121 may be stained with dirt. For example, hair is entangled on the roller brush 122, and there may be some dirt (such as clumps of hair) on the roller brush shell 121 near the air inlet 111. In this step, after the sweeping and mopping robot finishes cleaning the user's entire house, its fan can be controlled to operate at maximum suction for 7 seconds to effectively suck the dirt stained on the roller brush 122 and the roller brush shell 121 into its dust collection container 140.

[0062] In addition, in this step, while controlling the suction assembly to operate according to the second suction force, the roller brush can also be controlled to rotate according to a suitable rotation direction and rotation speed, or the roller brush can be controlled not to rotate, so as to effectively suck different types of dirt into the dust collection container. By way of example and not limitation, the roller brush can be controlled to reverse or to alternately rotate forward and reverse, so as to suck the hair wrapped around the roller brush into the dust collection container.

[0063] It can be understood that in this step, when the suction component operates according to the second suction force, it can generate a greater suction force, so that the dirt on the roller brush assembly can be quickly sucked into the dust collection container. That is, through the violent suction operation of the suction component, the dirt on the roller brush assembly (especially, for example, hair entangled on the roller brush, and / or dirt remaining on the roller brush shell) can be effectively sucked away, thereby achieving self-cleaning of the roller brush assembly. In addition, in the case where the roller brush assembly is stained with dirt such as hair and yarn balls that are difficult to suck away by ordinary suction, such dirt can be effectively sucked into the dust collection container by controlling the suction component to suck violently, so that the self-cleaning effect of the roller brush assembly is also better.

[0064] Most of the cleaning robots in the prior art only focus on the cleaning effect on the ground and the noise generated during work, and rarely pay attention to the self-cleaning of the cleaning parts of the cleaning robot, especially ignoring the self-cleaning of the roller brush assembly. The cleaning of the roller brush assembly depends entirely on the user. If the user lacks experience in cleaning the roller brush assembly or does not have time to clean it, it is easy to cause the roller brush assembly to be contaminated with dirt for a long time, which on the one hand leads to poor cleaning effect on the ground, and on the other hand may also cause abnormal operation of the roller brush assembly and reduce the service life. Moreover, it also brings troubles and inconvenience to the user. According to the above-mentioned control method of the embodiment of the present application, by setting the dynamic control logic of the suction assembly, the suction assembly is controlled to work according to different suction forces at different times, which not only achieves quieter cleaning of the ground, but also achieves self-cleaning of the roller brush assembly. This solution truly liberates the user's hands and provides greater convenience for the user's life.

[0065] In the above scheme, when the cleaning robot performs a cleaning task, the suction component is controlled to operate according to a first suction force corresponding to a normal suction force, so as to achieve effective cleaning of the cleaning area; and when the cleaning robot meets a preset condition, the suction component is controlled to operate according to a second suction force corresponding to a stronger suction force, so as to achieve timely cleaning of the roller brush component. This scheme can not only keep the user's environment in a relatively quiet state when the cleaning robot performs a cleaning task, but also ensure that the roller brush component is always in a relatively clean state, so as to achieve a better floor cleaning effect. At the same time, it avoids the inconvenience caused to the user by the user manually cleaning the roller brush component, achieves the purpose of freeing the user's hands, and provides a better user experience. In addition, this scheme does not require changing the hardware, but only requires adjusting the control logic of the suction component, and the device cost and computing cost are both low.

[0066] Exemplarily, the preset conditions include at least one of the following: the cleaning robot has completed the cleaning task; a first instruction from the user is received, wherein the first instruction is used to instruct to increase the suction force of the fan to clean the roller brush; the current continuous cleaning time of the cleaning robot reaches a first time threshold; the current continuous cleaning area of ​​the cleaning robot reaches a first area threshold; the cleaning robot is located in the base station and is not in a charging state; the cleaning robot is located at a specific position in front of the base station.

[0067] It can be understood that since the duration of a cleaning task is relatively long, when the sweeping robot completes the cleaning task, its roller brush will usually be stained with relatively more dirt. Therefore, when the sweeping robot completes the cleaning of the cleaning area set by the user, the suction component can be controlled to operate at the second suction force for at least a certain period of time. For example, if the cleaning area set by the user is small or the degree of dirtiness is not high, the fan can be controlled to operate for 7 seconds at the speed and power corresponding to the maximum suction force after the current cleaning task is completed, that is, the roller brush assembly is sucked violently. This solution of quickly sucking the dirt stained on the roller brush into the dust collection container after the cleaning task is completed can ensure that the cleaning robot always remains clean before performing the next cleaning task. Moreover, this solution will not cause any interference to the current cleaning task, and the execution logic is relatively simple.

[0068] In some embodiments, the cleaning robot itself may be provided with an input device, or the cleaning robot may communicate with other external input devices, so that the cleaning robot may receive in real time the first instruction input by the user using these input devices. For example, when the sweeping robot is performing a cleaning task, if the user finds that the roller brush is dirty, the user may press the "roller brush cleaning" button on the robot body to issue a roller brush cleaning instruction. At this time, the fan of the sweeping robot may be controlled to operate at the highest suction force for 7 seconds to suck the dirt on the roller brush into the dust collection container. Alternatively, if the user finds that the roller brush is dirty, he may also click "increase suction" in the mobile client interface connected to the robot to issue a suction enhancement instruction. In this way, the roller brush self-cleaning task can be flexibly performed according to the actual needs of the user. Not only can the user's hands be liberated, but also the user's personalized needs can be fully met, so that the user experience is better.

[0069] It is worth noting that the fan itself can have multiple gears, and the user selects a gear among them, so that the fan of the cleaning robot runs at the selected gear. During the cleaning process of the cleaning robot, unless the user actively switches to other gears, the fan of the cleaning robot will always run at the gear selected by the user. In the embodiment of the present application, when the user triggers the first instruction, the fan of the cleaning robot will run at the second suction force for a preset time. When the preset time is reached, the fan of the cleaning robot will be controlled to automatically change the running gear, for example, automatically switch to the gear for normal cleaning set by the user before, or directly control the fan to stop running.

[0070] If the cleaning time of the current cleaning task set by the user is relatively long, the roller brush assembly may be stained with a lot of dirt when the current task is not completed. If it is not cleaned in time, it may affect the cleaning effect of subsequent cleaning. Therefore, any appropriate first time threshold can be set according to actual needs. For example, the first time threshold is 30 minutes. In this step, when the current continuous cleaning time of the sweeping robot reaches 30 minutes, the suction component can be controlled to perform the fierce suction operation in the above step S340 to clean the roller brush assembly. In other words, if the time of the current cleaning task is relatively long, the roller brush assembly can be self-cleaned once every 30 minutes when the sweeping robot cleans. Similar to this solution, any appropriate first area threshold can also be set according to actual needs. For example, the first area threshold is 20m 2 In this step, the current continuous cleaning area can reach 20m 2 When the vacuum cleaner robot cleans 20m, the vacuum cleaner component is controlled to perform the suction operation in step S340 to clean the roller brush component. 2 This solution can ensure that the roller brush assembly remains relatively clean throughout the cleaning task, and the cleaning effect is better.

[0071] It can be understood that, under normal circumstances, when the sweeping robot completes the sweeping task, it will return to the base station for charging. Or, for other cases, when the sweeping robot is low on power or needs to clean the mop, it will also return to the base station for charging or cleaning the mop. For these cases, the roller brush assembly of the sweeping robot is likely to be stained with a lot of dirt. If it is not cleaned in time, the sweeping robot may bring these dirt back to the base station and may contaminate the charging sheet, and may also affect the cleaning effect of subsequent cleaning tasks. Therefore, when it is recognized that the robot has returned to the base station or is about to reach the base station, the suction component can be controlled to perform the violent suction operation in the above step S340 to clean the roller brush assembly. Specifically, for the case where the sweeping robot returns to the base station, considering that the suction component will cause the robot's body to vibrate violently when performing the violent suction operation in the above step S340, it may cause unstable charging, resulting in surge current at the charging interface, which may damage the circuit, and may even cause electric sparks at the charging sheet. Therefore, the suction assembly can be controlled to operate according to the second suction force to clean the roller brush assembly only when it is identified that the sweeping robot has returned to the base station and is not charged. Specifically, the suction assembly can be controlled to operate according to the second suction force when the cleaning robot is in the base station but its charging part is not in contact with the charging part of the base station; the suction assembly can also be controlled to operate according to the second suction force when the charging part of the cleaning robot is in contact with the charging part of the base station but is not connected. In this way, damage to the hardware can be avoided and the cleaning robot can be ensured to be in good use.

[0072] At the same time, since the cavity of the base station has a certain effect of shielding noise, performing a fierce suction operation at the base station can also make the large suction noise during fierce suction not easily transmitted to the outside of the base station, which can reduce the noise. The specific position in front of the base station can be a pre-set position close to the base station. For example, the specific position is a position one body distance away from the front of the charging sheet of the base station. The specific position can be marked on the map, and when the sweeping robot is identified to have arrived at the position, the suction component can be controlled to perform fierce suction, and the fierce suction can be stopped when the sweeping robot completely reaches the base station. This solution can not only ensure the clean state of the roller brush assembly before the next cleaning task, but also prevent the sweeping robot from bringing dirt on the roller brush back to the base station. In addition, since the location of the base station is usually far away from the user's usual activity area, performing self-cleaning of the roller brush assembly near the base station can also weaken the adverse effects of sudden noise on the user to a certain extent.

[0073] In the above scheme, the timing of controlling the suction component of the cleaning robot to operate according to the second suction force is more reasonable and more humane, and can ensure the smooth execution of the cleaning task and ensure a better cleaning effect.

[0074] Exemplarily, the control method 300 further includes step S311, determining whether the area of ​​the cleaning area in the current cleaning task is less than or equal to the second area threshold. Wherein, when the area of ​​the cleaning area in the cleaning task is less than or equal to the second area threshold, the preset condition at least includes that the cleaning robot has completed the cleaning task.

[0075] The second area threshold can be set arbitrarily according to actual needs. For example, the second area threshold is 20m 2 For example, the robot vacuum cleaner performs selected cleaning on the area specified by the user based on the user's instructions. The area of ​​the area specified by the user is, for example, 10m 2 Then in step S340, when the sweeping robot completes cleaning the area, the fan of the sweeping robot may be controlled to operate at the maximum suction force for 7 seconds to suck the dirt on the roller brush into the dust collection container.

[0076] The above solution can not only realize the timely cleaning of the roller brush assembly, but also ensure that the cleaning robot always maintains a clean state before performing the next cleaning task. Moreover, this solution will not cause any interference to the current cleaning task, the execution logic is relatively simple, and the user experience is better.

[0077] Exemplarily, the control method 300 further includes step S312, determining whether the area of ​​the cleaning area in the cleaning task is greater than a third area threshold. Wherein, when the area of ​​the cleaning area in the current cleaning task is greater than the third area threshold, the preset conditions at least include: the current continuous cleaning time of the cleaning robot reaches the first time threshold; or the current continuous cleaning area of ​​the cleaning robot reaches the first area threshold, and the first area threshold is less than the third area threshold.

[0078] The solution of step S312 is similar to that of step S311 and will not be described here. The third area threshold can also be set arbitrarily according to actual needs. The third area threshold can be equal to the second area threshold or greater than the second area threshold. The first area threshold is less than or equal to the third area threshold. Assuming that the third area threshold and the first area threshold are both 20m 2 For example, when the sweeping robot is performing a whole-house cleaning task, when the continuous cleaning area reaches 20m 2 At this time, the suction component is controlled to perform the fierce suction operation in the above step S340 to clean the roller brush component.

[0079] The first time threshold is, for example, 30 minutes. For example, when the sweeping robot performs the whole house cleaning task, the suction component can be controlled to perform the fierce suction operation in the above step S340 every 30 minutes to clean the roller brush component. It can be understood that the larger the cleaning area in the cleaning task, the longer the cleaning robot needs to spend on cleaning. In order to ensure the cleaning effect, the sweeping robot can perform self-cleaning of the roller brush once after each cleaning period.

[0080] This solution can ensure that the roller brush assembly remains relatively clean throughout the entire cleaning task, resulting in a better cleaning effect.

[0081] Exemplarily, the cleaning robot further includes a ground-lift detection device. The control method 300 further includes step S331. Step S331, using the ground-lift detection device to detect whether the cleaning robot is in contact with the ground. Wherein, step S340 specifically includes step S340a, when the cleaning robot meets a preset condition and when it is determined that the cleaning robot is in contact with the ground, controlling the suction component to operate according to the second suction force for at least a certain period of time.

[0082] The off-ground detection device may be any existing or future developed device capable of detecting whether the cleaning robot is off the ground. In one example, the off-ground detection device may be any suitable type of distance measuring sensor provided on the chassis of the sweeping robot. In another example, the off-ground detection device may also be a micro switch or a magnetic switch provided at the driving wheel assembly of the sweeping robot.

[0083] Take the preset condition including the current continuous cleaning time of the cleaning robot reaching the first time threshold as an example. The first time threshold is, for example, 30 minutes. In the process of the sweeping robot performing the cleaning task, the ground detection device detects in real time whether the cleaning robot is in contact with the ground. If the ground detection device detects that the cleaning robot is in contact with the ground when the current continuous cleaning time of the cleaning robot reaches 30 minutes, the fan of the cleaning robot can be controlled to operate for 7 seconds at the speed or power corresponding to the maximum suction force. If the ground detection device detects that the cleaning robot leaves the ground (i.e., does not contact the ground), the fan can be controlled to stop running. It can be understood that when the sweeping robot is not in contact with the ground, it may be in a state of being picked up or falling by the user. By controlling the suction component to perform a fierce suction operation only under the condition that the sweeping robot is in contact with the ground, the safety of the sweeping robot and the user can be guaranteed to avoid accidents. In addition, when the cleaning robot is in contact with the ground, the roller brush assembly is close to the ground, so it is easier to form a negative pressure at the roller brush assembly, making it easier for the suction component to suck the dirt on the roller brush assembly, and the cleaning effect is better.

[0084] In the above scheme, the ground-lift detection device detects whether the cleaning robot is in contact with the ground, and only when it is determined that the cleaning robot is in contact with the ground is the suction component controlled to work according to the second suction force. In this way, the safe operation of the cleaning robot can be ensured, the ineffective operation of the cleaning robot can be avoided, and the cleaning effect of the roller brush component is also better.

[0085] Exemplarily, the cleaning robot further includes a dust sensor disposed at the air inlet. The control method 300 further includes step S332. Step S332, using the dust sensor to detect the amount of dirt at the air inlet. Wherein, step S340 specifically includes step S340b, under the condition that the cleaning robot meets a preset condition and the amount of garbage detected is greater than or equal to a first garbage amount threshold, controlling the suction component to operate at least in a certain period of time according to the second suction force.

[0086] The dust sensor can be any suitable device capable of detecting the amount of dirt. Exemplarily and not restrictively, the dust sensor can be an optical sensor such as a laser sensor or an infrared sensor. According to an embodiment of the present application, the dust sensor can be arranged near the air inlet of the cleaning robot. For example, the dust sensor can be arranged in the air duct of the sweeping robot near the air inlet, and can detect the amount of dirt in the air duct in real time. The amount of dirt can be represented by quantitative indicators such as dust concentration, the number of dust of different volumes, etc., and the present application is not limited thereto. It can be understood that the dirtier the current ground is, the greater the amount of dirt in the air duct detected by the dust sensor. In other words, the amount of dirt in the air duct detected by the dust sensor is proportional to the degree of dirtiness of the ground.

[0087] As mentioned above, the aforementioned preset condition indicates that the roller brush assembly of the cleaning robot is stained with dirt. This preset condition can be called a roller brush dirt condition. According to an embodiment of the present application, in order to further achieve precise control of the cleaning robot, the first ground dirt condition is also determined based on the amount of dirt at the air inlet detected in real time by the dust sensor and the preset first dirt threshold. Specifically, the first dirt threshold can be arbitrarily set according to actual needs. The first ground dirt condition is a condition that the amount of dirt at the air inlet detected in real time by the dust sensor is greater than or equal to the first dirt threshold. For example, the first dirt threshold is a dust concentration of 2000mg / m 3 , the dust sensor can detect that the dust concentration at the air inlet of the suction component is greater than or equal to 2000mg / m 3, it is determined that the first ground dirt condition is currently met. Furthermore, when it is determined that the roller brush dirt condition and the first ground dirt condition are currently met at the same time, the suction component is controlled to operate according to the second suction force for at least a certain period of time. In other words, when it is determined that these two conditions are currently met at the same time, the suction component of the cleaning robot is controlled to perform a fierce suction operation. For example, when the current continuous cleaning time of the sweeping robot reaches 30 minutes and the current dust concentration detected by the dust sensor exceeds 2000mg / m3, the fan of the sweeping robot is controlled to operate for 7 seconds according to the suction force corresponding to the maximum suction force, that is, to suck fiercely for 7 seconds. For this solution, if the degree of dirtiness of the ground is low or there is no dirt on the ground, the fierce suction operation can be omitted. Instead, the fierce suction operation can be performed when the roller brush dirt condition and the first ground dirt condition are met at the same time, so that the roller brush component and the ground can be cleaned forcefully at the same time, which can not only achieve the cleaning purpose of efficient decontamination, but also improve the effective utilization rate of energy.

[0088] The above solution also effectively detects the amount of dirt at the air inlet of the suction component through the dust sensor, and accurately controls the suction component according to the detected amount of dirt and the first dirt threshold. This solution can not only achieve efficient cleaning of the roller brush component and the ground at the same time, but also avoid the ineffective operation of the suction component, effectively improving the utilization rate of energy. In addition, this solution can further reduce the adverse effects of noise on users.

[0089] Exemplarily, controlling the air suction component to operate at least in a certain period of time according to the second suction force in step S340 includes step S341. Step S341, controlling the air suction component to operate alternately according to the second suction force and the first suction force.

[0090] Exemplarily, in this step, the suction component can be controlled to alternately operate according to the second suction force and the first suction force periodically for a preset time threshold. The first suction force is, for example, the suction force generated when the fan duty cycle is 20%, and the second suction force is, for example, the suction force generated when the fan duty cycle is 60%, and the preset time threshold is, for example, 1 minute. The alternating operation cycle is, for example, 10 seconds. In step S341, when it is determined that the sweeping robot meets preset conditions such as completing the current cleaning task, the fan of the sweeping robot can be controlled to alternately operate according to the second suction force and the first suction force for 1 minute. Specifically, for every 10 seconds within this 1 minute, the fan duty cycle can be adjusted to 60% to suck for 5 seconds, and then the fan duty cycle can be adjusted to 20% to suck for 5 seconds. By controlling the fan to alternately operate according to different suction forces, the dirt such as hair wrapped around the roller brush assembly can also be more easily sucked into the dust collection container through the inertia principle, and the cleaning effect is also better.

[0091] This scheme of controlling the suction component to suck alternately at high and low suction forces can not only efficiently suck the dirt on the roller brush component into the dust collection container, but also avoid the adverse effects of continuous high-load operation on the suction component. It can also reduce the inconvenience caused by noise to users by dispersing noise, while also having a better cleaning effect on the roller brush assembly.

[0092] Exemplarily, the control method 300 further includes step S342 and step S343.

[0093] Step S342, when the cleaning robot meets the preset conditions, the timing operation is started. Step S343, after the counted time reaches the second time threshold, the suction component is controlled to stop operating or operate according to the first suction force.

[0094] The second time threshold can be any suitable time, which can be the shortest time that can effectively suck the dirt on the roller brush assembly into the dust collection container. The second time threshold can be arbitrarily set according to actual needs. The second time threshold is, for example, 10 seconds. For example, when the sweeping robot completes cleaning the area circled by the user, the fan of the sweeping robot starts to be controlled to operate continuously according to the second suction force corresponding to the maximum suction force or to operate alternately according to the second suction force and the first suction force to perform a violent suction operation on the dirt on the roller brush assembly, and the duration of the violent suction operation is timed. If the duration of the violent suction operation reaches 10 seconds, the suction fan is controlled to stop running or operate according to normal suction. In other words, the duration of the violent suction operation of the fan of the cleaning robot on the roller brush assembly is the second time threshold, and after the violent suction operation is completed, the fan of the cleaning robot is also controlled to return to the original state. For example, if the preset condition is that the current cleaning task has been completed and the fan stops running after the cleaning task is completed, the fan can be controlled to stop running after the fan is controlled to suck violently for 10 seconds. If the fan of the sweeping robot operates at 50% of the maximum suction force to clean the current area, when the current continuous cleaning time of the sweeping robot reaches the first time threshold, the current area has not been cleaned yet, the fan can be controlled to suck at the maximum suction force for 10 seconds, and then continue to control the fan to operate at the maximum suction force to clean the uncleaned area.

[0095] In the above scheme, the time for the suction component of the cleaning robot to operate according to the second suction force is controlled within the second time threshold, thereby realizing automatic cleaning of the roller brush component and avoiding the adverse effects of long-term noise on the user. After the self-cleaning is completed, the suction component is controlled to return to its original working state. This execution logic is more reasonable and can avoid the interference of the cleaning roller brush component with the current cleaning task to the greatest extent, ensuring a high cleaning efficiency. At the same time, it can also avoid repeated calculations and provide a better user experience.

[0096] Exemplarily, the cleaning robot further comprises a dust sensor disposed at the air inlet. The control method 300 further comprises step S351. Step S351, when the detected dirt amount is greater than or equal to the second dirt amount threshold, controlling the suction component to operate according to the second suction force.

[0097] As mentioned above, the dust sensor can be any suitable device capable of detecting the amount of dirt. The amount of dirt in the air duct detected by the dust sensor is proportional to the degree of dirt on the ground. In the aforementioned step S332, the first ground dirtiness condition is determined using the amount of dirt at the air inlet detected in real time by the dust sensor and a preset first dirtiness threshold. In this step, the second ground dirtiness condition can also be determined based on the amount of dirt detected in real time by the dust sensor and a preset second dirtiness threshold. The second dirtiness threshold can be set according to actual needs. Exemplarily and non-restrictively, the second dirtiness condition can be a condition indicating a high degree of dirtiness on the ground, and the second grayscale threshold can be greater than the first grayscale threshold. For example, the first dirtiness threshold is a dust concentration of 2000 mg / m 3 The second grayscale threshold is, for example, 3000 mg / m 3 In this step, as long as the dust sensor of the sweeping robot detects that the dust concentration at the air inlet reaches 3000mg / m 3 , that is, the fan can be controlled to continuously operate at the second suction force to perform powerful cleaning on the ground. Exemplarily, in this step, the duration of controlling the fan to operate at the second suction force can be greater than the third time threshold. The third time threshold can be greater than the second time threshold. For example, the fan of the sweeping robot can be controlled to continuously operate at the maximum suction force for 7 seconds to clean the dirty area as quickly as possible.

[0098] The above solution can also control the suction component of the cleaning robot to operate according to the second suction force based on the dirt amount detected by the dust sensor and the preset second dirt amount threshold, so as to perform strong cleaning of the dirty floor area. In this way, the cleaning efficiency can be effectively improved, and a better floor cleaning effect can be ensured.

[0099] Exemplarily, the cleaning robot further includes a roller brush driving device for driving the roller brush to rotate. The control method 300 further includes steps S352 and S353. Step S352, detecting the current of the roller brush driving device. Step S353, when the current is greater than or equal to the first current threshold, controlling the suction component to operate according to the second suction force.

[0100] It is understandable that the roller brush driving device is used to drive the roller brush to rotate. It is understandable that when a lot of hair and other dirt are entangled on the roller brush of the cleaning robot, the resistance to the rotation of the roller brush may become larger, thereby increasing the current of the roller brush driving device. Therefore, when the current of the roller brush driving device exceeds the first current threshold, it may be that the floor where the cleaning robot is currently located is a relatively rough floor such as a carpet, or it may be that a lot of hair and other dirt are entangled on the roller brush of the cleaning robot. According to the embodiment of the present application, when the current of the roller brush driving device exceeds the first current threshold, the cleaning robot can also be controlled to perform the above-mentioned fierce suction operation, and the roller brush assembly can be cleaned by the fierce suction operation. For example, the current change of the roller brush driving device after the hair is entangled on the roller brush of the sweeping robot can be determined by testing. Then, a suitable first current threshold is set. For example, the first current threshold can be the average value of the current of the roller brush driving device detected multiple times after a certain amount of hair is entangled on the roller brush. The roller brush driving device can be a drive motor for driving the roller brush shaft to rotate. In step S352, the current of the drive motor can be detected in real time. In step S353, when the detected current is greater than or equal to the set first current threshold, the fan of the sweeping robot can be controlled to continuously operate at, for example, the maximum suction force, and the roller brush can be controlled to operate in a forward and reverse alternating manner for a period of time to achieve hair untangling through forward and reverse rotation, until the detected current of the drive motor is less than the first current threshold. In this way, the roller brush assembly can be cleaned promptly and effectively, and abnormal operation of the roller brush caused by too much hair entangled on the roller brush can be effectively avoided, thereby ensuring the smooth execution of the cleaning task.

[0101] In addition, it can be understood that the smoother the ground where the cleaning robot is located, the smaller the resistance to the rotation of the roller brush, and the smaller the current of the roller brush drive device. On the contrary, the rougher the ground, the greater the resistance to the rotation of the roller brush, and the greater the current of the roller brush drive device. According to the embodiment of the present application, when the current of the roller brush drive device exceeds the first current threshold, the cleaning robot can be controlled to perform the above-mentioned fierce suction operation to achieve effective cleaning of various grounds through the fierce suction operation. For example, when the sweeping robot moves to the carpet or mat, the current of the roller brush drive device will be larger. In order to ensure a better cleaning effect on the carpet, it can be determined whether the sweeping robot is located on the carpet according to the current of the roller brush drive device. And when it is determined that the sweeping robot is located on the carpet, its fan can be controlled to operate according to a larger suction gear to more efficiently suck the dirt on the carpet into the dust collection container. Specifically, the current interval of the roller brush drive device when the sweeping robot is at different positions on the carpet can be determined by testing. And a suitable first current threshold can be set according to the current range. For example, the first current threshold can be the maximum current or average current in the tested current interval. The roller brush driving device may be a driving motor for driving the roller brush shaft to rotate. In step S352, the current of the driving motor may be detected in real time. In step S353, when the detected current is greater than or equal to the set first current threshold, it may be determined that the sweeping robot is located on the carpet, and the fan of the sweeping robot may be controlled to continue to operate at a maximum suction force, for example, until the detected current of the driving motor is less than the first current threshold. In this way, efficient cleaning of the carpet may be achieved, ensuring a better cleaning effect.

[0102] The above scheme can not only realize timely cleaning of the roller brush assembly and ensure smooth execution of the cleaning task, but also improve the cleaning efficiency and ensure better cleaning effect.

[0103] According to another aspect of the present application, a cleaning robot is provided. Figure 4 A schematic block diagram of a cleaning robot 100' according to an embodiment of the present application is shown. As shown in the figure, the cleaning robot 100' includes a suction assembly 110', a roller brush assembly 120' and a control module 130. The roller brush assembly 120' includes a roller brush 122' and a roller brush shell 121' for mounting the roller brush 122', and the air inlet of the suction assembly 110' is opposite to the roller brush 122'. The control module 130 is used to execute the above-mentioned control method 300.

[0104] Reference again Figure 1In the figure, the roller brush 122 of the cleaning robot 100 may include a connecting end 1223 and a free end 1224 that are arranged opposite to each other. The connecting end 1223 is rotatably connected to the body of the cleaning robot 100, and the air inlet 111 is aligned with the free end 1224. In other words, the roller brush can be cantilevered on the cleaning robot. For convenience, such a roller brush can be referred to as a cantilever roller brush, and the cantilever end of the cantilever roller brush is the free end 1224. The cleaning robot 100 shown in the figure is a sweeping and mopping robot. The air inlet 111 of the suction assembly 110 of the sweeping and mopping robot can be arranged at a place close to the free end 1224 and aligned with the free end 1224. It can be understood that the air inlet is arranged at the free end of the cantilever roller brush, so that the dirt on the cantilever roller brush is easier to clean, especially when the suction assembly of the sweeping and mopping robot is controlled to operate according to the second suction force, the dirt on the cantilever roller brush can be sucked into the dust collection container through its free end more quickly, and the dirt can be removed more thoroughly. Thereby, the cleaning efficiency and cleaning effect of the roller brush assembly can be significantly improved.

[0105] For example, again refer to Figure 1 As mentioned above, the roller brush 122 includes a roller brush shaft 1221 and bristles 1222 arranged around the roller brush shaft 1221, and the bristles 1222 include a root and a head. The root is fixed to the roller brush shaft 1221, and the bristles 1222 are inclined toward the free end 1224 along the direction from the root to the head. It can be understood that since the inclination direction of the bristles 1222 is toward the free end 1224, the resistance to stripping dirt from the bristles 1222 is greatly reduced, and since the air inlet 111 is toward the free end 1224, the resistance to sucking dirt from the bristles 1222 is also greatly reduced. Especially for the situation where strip-shaped dirt such as hair, pet hair or fiber is entangled on the roller brush, this arrangement of the bristles can greatly reduce the difficulty of stripping such strip-shaped dirt from the free end. Therefore, when the suction assembly of the sweeping and mopping robot is controlled to operate according to the second suction force, such dirt can be sucked into the dust collection container through the free end of the roller brush more quickly, thereby achieving thorough cleaning of the roller brush assembly. Therefore, this solution can further improve the cleaning efficiency and cleaning effect of the roller brush assembly.

[0106] According to another aspect of the present application, a cleaning system is provided. Figure 5 A schematic block diagram of a cleaning system 500 according to an embodiment of the present application is shown. As shown in the figure, the cleaning system 500 includes a base station 510 and the cleaning robot 100'.

[0107] According to another aspect of the present application, a computer-readable storage medium is also provided. A computer program / instruction is stored on the storage medium, and the computer program / instruction is used to execute the control method of the cleaning robot at runtime. The computer-readable storage medium may include a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0108] A person of ordinary skill in the art may understand the specific implementation schemes and beneficial effects of the cleaning robot, cleaning system and computer-readable storage medium by reading the above description of the control method 300 for the cleaning robot, which will not be elaborated here for the sake of brevity.

[0109] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0110] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0112] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0113] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0114] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0115] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0116] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules in the cleaning robot and cleaning system according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0117] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0118] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot comprises an air suction component and a roller brush component, the roller brush component comprises a roller brush and a roller brush shell for mounting the roller brush, the air inlet of the air suction component is opposite to the roller brush, the roller brush comprises a connecting end and a free end arranged oppositely, the connecting end is rotatably connected to the body of the cleaning robot, the air inlet is aligned with the free end, the cleaning robot further comprises a ground-lift detection device, and the control method comprises: During the process of the cleaning robot performing a cleaning task including a sweeping task, controlling the suction component to operate according to a first suction force and controlling the roller brush to rotate, so as to suck dirt on the ground into a dust collection container of the cleaning robot through the air inlet; and When the cleaning robot meets preset conditions and the ground-lift detection device determines that the cleaning robot is in contact with the ground, the suction assembly is controlled to operate according to the second suction force for at least a certain period of time to suck the dirt on the roller brush assembly into the dust collection container, wherein the second suction force is greater than the first suction force.

2. The control method of the cleaning robot according to claim 1, characterized in that: The preset condition includes at least one of the following: The cleaning robot has completed the cleaning task; Receiving a first instruction from a user, wherein the first instruction is used to instruct to increase the suction force of the fan to clean the roller brush; The current continuous cleaning time of the cleaning robot reaches a first time threshold; The current continuous cleaning area of ​​the cleaning robot reaches a first area threshold; The cleaning robot is located in the base station and is not in a charging state; The cleaning robot is located at a specific position in front of the base station.

3. The control method of the cleaning robot according to claim 2, characterized in that: The control method further comprises: Determining whether the area of ​​the cleaning region in the current cleaning task is less than or equal to a second area threshold; Wherein, when the area of ​​the cleaning region in the cleaning task is less than or equal to the second area threshold, the preset condition at least includes that the cleaning robot has completed the cleaning task.

4. The control method of the cleaning robot according to claim 2, characterized in that: The control method further comprises: Determine whether the area of ​​the cleaning region in the current cleaning task is greater than a third area threshold; Wherein, when the area of ​​the cleaning region in the cleaning task is greater than the third area threshold, the preset condition at least includes: The current continuous cleaning time of the cleaning robot reaches a first time threshold; and / or The current continuous cleaning area of ​​the cleaning robot reaches a first area threshold, and the first area threshold is less than or equal to the third area threshold.

5. The control method of the cleaning robot according to claim 1, characterized in that: The control method further comprises: When the cleaning robot meets the preset condition, starting a timing operation; After the counted time reaches a second time threshold, the suction component is controlled to stop operating or to operate according to the first suction force.

6. The control method of the cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning robot further includes a dust sensor disposed at the air inlet, and the control method further includes: Utilizing the dust sensor to detect the amount of dirt at the air inlet; Wherein, controlling the air suction component to operate according to the second suction force at least in a certain period of time includes: When the cleaning robot meets the preset conditions and the ground detection device determines that the cleaning robot is in contact with the ground, and the detected amount of dirt is greater than or equal to a first dirt amount threshold, the suction component is controlled to operate according to the second suction force for at least a certain period of time.

7. The control method of the cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning robot further includes a roller brush driving device for driving the roller brush to rotate, and the control method further includes: Detecting the current of the roller brush driving device; When the current is greater than or equal to the first current threshold, the suction component is controlled to operate according to the second suction force.

8. The control method of the cleaning robot according to any one of claims 1 to 5, characterized in that: The controlling the air suction component to operate at the second suction force at least in a certain period of time includes: The air suction component is controlled to operate alternately according to the second suction force and the first suction force.

9. A cleaning robot, characterized in that: The cleaning robot includes a suction component, a roller brush component and a control module, the roller brush component includes a roller brush and a roller brush shell for mounting the roller brush, the air inlet of the suction component is opposite to the roller brush, the roller brush includes a connecting end and a free end arranged oppositely, the connecting end is rotatably connected to the body of the cleaning robot, the air inlet is aligned with the free end, the cleaning robot also includes a ground-lift detection device, wherein the control module is used to execute the control method as described in any one of claims 1 to 8.

10. The cleaning robot according to claim 9, characterized in that: The roller brush comprises a roller brush shaft and bristles arranged around the roller brush shaft, wherein the bristles comprise a root and a head, wherein the root is fixed to the roller brush shaft, and the bristles are inclined toward the free end along a direction from the root to the head.

11. A cleaning system, characterized in that: It comprises a base station and the cleaning robot as claimed in claim 9 or 10.

12. A computer-readable storage medium, characterized in that: A computer program / instruction is stored, and the computer program / instruction is used to execute the control method of the cleaning robot according to any one of claims 1 to 8 when running.

Images