Cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, and discloses a cleaning robot. A rolling brush groove is concavely formed in the bottom of the cleaning robot, the cleaning robot comprises a rolling brush at least partially contained in the rolling brush groove, the cleaning robot further comprises a driving device in driving connection with the rolling brush, a dirt storage container, a dirt inlet channel, a suction device and a controller, and a ground detection assembly is further arranged at the bottom of the cleaning robot. When the cleaning robot walks on the to-be-cleaned surface, the controller judges whether the to-be-cleaned surface is a carpet or not according to the working parameters of the driving device and / or the ground detection assembly, and if yes, the controller controls the suction device to increase suction force. According to the embodiment, whether the to-be-cleaned surface is the carpet or not can be judged according to the working parameters of the driving device and / or the ground detection assembly, in this way, the suction force can be flexibly and adaptively adjusted to clean the to-be-cleaned surface, and therefore the to-be-cleaned surface can be effectively and cleanly cleaned.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to a cleaning robot. Background Art

[0002] With the development of cleaning robot technology, cleaning robots have gradually entered ordinary households, gradually liberating people from heavy and trivial housework, thus providing great convenience for people. The cleaning robots provided by the related technology use fixed suction to clean the surface to be cleaned. However, under the premise of meeting the cleaning requirements, the suction requirements of the surfaces to be cleaned of different materials are different. For example, the suction required by the surface to be cleaned of the floor material is less than the suction required by the surface to be cleaned of the carpet material. If the suction required by the surface to be cleaned of the floor material is used as the fixed suction, when the cleaning robot is controlled to clean the carpet, it is not easy for the cleaning robot to clean the carpet. Summary of the invention

[0003] An object of an embodiment of the present invention is to provide a cleaning robot, aiming to solve the problem that the related art cannot adaptively adjust the suction force to perform cleaning work according to the material type of the surface to be cleaned.

[0004] In a first aspect, an embodiment of the present invention provides a cleaning robot, wherein the cleaning robot is provided with a roller brush groove at the bottom, the cleaning robot comprises a roller brush at least partially accommodated in the roller brush groove, the cleaning robot further comprises a driving device connected to the roller brush, a dirt storage container, a dirt inlet channel, a suction device and a controller, one end of the dirt inlet channel is connected to the roller brush groove, and the other end is connected to the dirt storage container, the suction device is pneumatically connected to the dirt storage container, the cleaning robot is further provided with a ground detection component at the bottom, and the controller is electrically connected to the driving device, the suction device and the ground detection component;

[0005] When the cleaning robot walks on the surface to be cleaned, the controller determines whether the surface to be cleaned is a carpet according to the working parameters of the driving device and / or the ground detection component. If so, the controller controls the suction device to increase the suction force.

[0006] Optionally, the controller obtains the operating current of the driving device. If the controller determines that the operating current of the driving device is greater than a first preset threshold, the controller determines that the surface to be cleaned is a carpet.

[0007] Optionally, if the controller determines that the operating current of the driving device is less than a second preset threshold, the controller determines that the surface to be cleaned is a non-carpet surface, and the second preset threshold is less than the first preset threshold.

[0008] Optionally, a ratio of the first preset threshold to the second preset threshold is greater than or equal to 1.2.

[0009] Optionally, if the controller determines that the operating current of the driving device is greater than or equal to a second preset threshold and less than or equal to a first preset threshold, the controller obtains the working parameters of the ground detection component, and determines whether the surface to be cleaned is a carpet based on the working parameters of the ground detection component, wherein the second preset threshold is less than the first preset threshold.

[0010] Optionally, the controller determines whether the working parameters of the floor detection component are greater than a first preset floor detection threshold and less than a second preset floor detection threshold. If so, the controller determines that the surface to be cleaned is a carpet, wherein the second preset floor detection threshold is greater than the first preset floor detection threshold.

[0011] Optionally, when the controller determines that the working parameter of the ground detection component is less than or equal to a first preset ground detection threshold, the controller determines that the cleaning robot encounters a cliff area on the surface to be cleaned;

[0012] When the controller determines that the working parameter of the floor detection component is greater than or equal to a second preset floor detection threshold, the controller determines that the surface to be cleaned is a non-carpet surface.

[0013] Optionally, the floor check assembly includes a first floor check, a second floor check and a third floor check, the first floor check and the second floor check are respectively located at the left and right side edges of the cleaning robot, and the third floor check is located at the front side edge of the cleaning robot.

[0014] Optionally, if the controller determines that the surface to be cleaned is a carpet according to the working parameters of the floor detection component, the controller calculates a target threshold value according to the working current of the driving device, and replaces the first preset threshold value according to the target threshold value.

[0015] Optionally, the controller subtracts a preset difference from the operating current of the driving device to obtain a target threshold value.

[0016] In the cleaning robot provided in the embodiment of the present invention, the cleaning robot is provided with a roller brush groove at the bottom, the cleaning robot includes a roller brush at least partially contained in the roller brush groove, the cleaning robot also includes a driving device connected to the roller brush drive, a dirt storage container, a dirt inlet channel, a suction device and a controller, one end of the dirt inlet channel is connected to the roller brush groove, and the other end is connected to the dirt storage container, the suction device is pneumatically connected to the dirt storage container, the cleaning robot is also provided with a ground detection component at the bottom, and the controller is electrically connected to the driving device, the suction device and the ground detection component. When the cleaning robot walks on the surface to be cleaned, the controller determines whether the surface to be cleaned is a carpet according to the working parameters of the driving device and / or the ground detection component. If so, the controller controls the suction device to increase the suction force. This embodiment can determine whether the surface to be cleaned is a carpet by the working parameters of the driving device and / or the ground detection component, so that the suction force can be flexibly and adaptively adjusted to clean the surface to be cleaned, so that the surface to be cleaned can be effectively and cleanly cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 A schematic diagram of the structure of a cleaning robot provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the distribution of three ground inspection cleaning robots provided in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the circuit structure of a cleaning robot provided by an embodiment of the present invention;

[0021] Figure 4 A schematic flow chart of a control method for a cleaning robot provided by an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the structure of a control device of a cleaning robot provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of the circuit structure of a controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0026] See also Figure 1 The cleaning robot 100 is provided with a roller brush groove 11 at the bottom, wherein the roller brush groove 11 may be located in the middle or one side of the bottom of the cleaning robot 100. The shape of the roller brush groove 11 may be a rectangle or a square or other shapes.

[0027] The cleaning robot 100 includes a roller brush 12 at least partially accommodated in the roller brush groove 11 , and the cleaning robot 100 also includes a driving device 13 drivingly connected to the roller brush 12 , a dirt storage container 14 , a dirt inlet channel 15 , a suction device 16 and a controller 17 .

[0028] In some embodiments, the driving device 13 includes a driving motor, the output end of the driving motor is drivingly connected to the roller brush 12, and the driving motor is electrically connected to the controller 17. The controller 17 can send a driving command to the driving motor, and the driving motor drives the roller brush 12 to rotate in the roller brush groove 11 according to the driving command, so that the roller brush 12 performs a cleaning operation on the surface to be cleaned. The driving motor can be a servo motor or a stepping motor.

[0029] One end of the sewage inlet channel 15 is connected to the roller brush groove 11, and the other end is connected to the sewage storage container 14. The sewage inlet channel 15 can be made of a soft plastic pipe or a pipe with moderate hardness and softness.

[0030] The suction device 16 is pneumatically connected to the dirt storage container 14. In some embodiments, the suction device 16 includes a fan and an air duct, wherein one end of the air duct is connected to the dirt storage container 14, and the other end is connected to the fan. When the fan is working, the air inside the dirt storage container 14 can be emptied, so that the internal air pressure of the dirt storage container 14 and the external air pressure of the dirt storage container 14 form a negative pressure difference. Under the effect of the negative pressure difference, external garbage can be sucked and sucked into the dirt inlet channel 15 through the roller brush groove 11, and then collected into the dirt storage container 14 through the dirt inlet channel 15.

[0031] The cleaning robot 100 is further provided with a ground detection component 18 at the bottom. The ground detection component 18 is used to transmit a ground detection signal to the surface to be cleaned, and receive the ground detection signal reflected back by the surface to be cleaned.

[0032] In some embodiments, the floor detection component 18 may include one floor detection or more than two floor detections. The floor detection is used to detect whether the cleaning robot 100 encounters a cliff area, which includes a step area or an area with a high drop from the current surface to be cleaned by the cleaning robot.

[0033] In some embodiments, the ground detector is an infrared transceiver, and the ground detector can transmit an infrared signal to the surface to be cleaned of the cleaning robot, and the surface to be cleaned reflects the infrared signal back to the ground detector, and the ground detector generates a current or voltage according to the reflected infrared signal, wherein the generated current or voltage can be the working parameter of the ground detector. The controller 17 determines the material type of the surface to be cleaned according to the working parameter of the ground detector.

[0034] In some embodiments, the ground detector is an ultrasonic sensor, which can emit ultrasonic signals to the surface to be cleaned of the cleaning robot, and the surface to be cleaned reflects the ultrasonic signals back to the ground detector, and the ground detector generates current or voltage according to the reflected ultrasonic signals, wherein the generated current or voltage can be the working parameters of the ground detector. The controller 17 determines the material type of the surface to be cleaned according to the working parameters of the ground detector.

[0035] It can be understood that ground detection can adopt sensors of any detection form, and no limitation is made to ground detection herein.

[0036] The controller 17 is electrically connected to the driving device 13, the suction device 16 and at least one ground detection sensor 18. When the cleaning robot performs a cleaning operation, the controller 17 controls the driving device 13 to work, and the driving device 13 drives the roller brush 12 to rotate in the roller brush groove 11, and the roller brush 12 can clean the surface to be cleaned. At the same time, the controller 17 controls the suction device 16 to work, and the suction device 16 sucks the garbage from the roller brush groove 11 into the sewage inlet channel 15 through the sewage inlet channel 15, and then collects it into the sewage storage container 14 through the sewage inlet channel 15.

[0037] When the cleaning robot 100 walks on the surface to be cleaned, the controller 17 determines whether the surface to be cleaned is a carpet according to the working parameters of the driving device 13 and / or the ground detection component 18. If so, the controller 17 controls the suction device 16 to increase the suction force. If not, the controller 17 controls the suction device 16 according to the default suction force corresponding to the non-carpet surface. Among them, the default suction force corresponding to the non-carpet surface can be the suction force corresponding to the floor surface or the suction force corresponding to the cement surface or the suction force corresponding to the tile surface. It can be understood that the working parameters of the driving device 13 and / or the working parameters of the ground detection component 18 can be current or voltage or power or charge, etc.

[0038] For example, the default suction force corresponding to a non-carpet surface is F0. When the cleaning robot cleans on a non-carpet surface, the suction device 16 is controlled according to the default suction force F0. When the controller 17 determines that the surface to be cleaned is a carpet based on the working parameters of the driving device 13 and / or the ground detection component 18, the controller 17 adds the default suction force F0 to the preset suction force threshold ΔF to obtain the suction force F1, and controls the suction device 16 according to the suction force F1. This embodiment can determine whether the surface to be cleaned is a carpet through the working parameters of the driving device 13 and / or the ground detection component 18, so that the suction force can be flexibly and adaptively adjusted to clean the surface to be cleaned, thereby effectively and cleanly cleaning the surface to be cleaned.

[0039] In some embodiments, the operating parameters of the driving device 13 include the operating current. The controller 17 obtains the operating current of the driving device 13. If the controller 17 determines that the operating current of the driving device 13 is greater than a first preset threshold, the controller 17 determines that the surface to be cleaned is a carpet.

[0040] The first preset threshold value can be customized by the designer based on engineering experience. Generally, since the friction between the cleaning robot and the carpet surface is greater than the friction between the cleaning robot and the non-carpet surface, the operating current of the driving device 13 when the cleaning robot is cleaning on the non-carpet surface is less than the operating current of the driving device 13 when cleaning on the carpet surface. In this embodiment, the first preset threshold value can be set to distinguish whether the surface to be cleaned is a carpet.

[0041] In some embodiments, the first preset threshold is the first average current when the driving device operates on various carpet surfaces. In some embodiments, the first preset threshold is the value of the first average current when the driving device operates on various carpet surfaces minus the first fluctuation threshold.

[0042] In some embodiments, if the controller 17 determines that the operating current of the driving device 13 is less than the second preset threshold, the controller 17 determines that the surface to be cleaned is a non-carpet surface, and the second preset threshold is less than the first preset threshold. The non-carpet surface includes a tile surface, a floor surface, or a pebble surface.

[0043] The second preset threshold value can be customized by the designer based on engineering experience. In some embodiments, the second preset threshold value is the second average current when the driving device is working on various non-carpet surfaces. In some embodiments, the second preset threshold value is the value of the second average current when the driving device is working on various carpet surfaces minus the second fluctuation threshold value.

[0044] In some embodiments, the ratio of the first preset threshold value to the second preset threshold value is greater than or equal to 1.2. Since the ratio of the first preset threshold value to the second preset threshold value is greater than or equal to 1.2, it means that the first preset threshold value is not equal to the second preset threshold value, and the first preset threshold value is not close to the second preset threshold value, and the difference between the first preset threshold value and the second preset threshold value is at least 0.2 times of the second preset threshold value. Such a setting will prevent the operating current of the driving device from frequently switching back and forth between the non-carpet surface and the carpet surface when it fluctuates at the critical point of the first preset threshold value or the second preset threshold value, thereby improving the stability and reliability of judging the non-carpet surface or the carpet surface.

[0045] Taking the ground detection component as an infrared transceiver as an example, when the surface to be cleaned is a non-carpet surface, the infrared signal emitted by the ground detection component will mostly be reflected back to the ground detection component, so the current of the ground detection component will be larger. When the surface to be cleaned is a carpet surface, the infrared signal emitted by the ground detection component is easily scattered to other places by the carpet surface, and a few infrared signals are reflected back to the ground detection component. Therefore, the current of the ground detection component will be smaller. In addition, if the cleaning robot encounters a cliff area on the surface to be cleaned, most of the infrared signals emitted by the ground detection component cannot be reflected back to the ground detection component, so the current of the ground detection component will be smaller. Based on this, the designer can set the first preset ground detection threshold and the second preset ground detection threshold according to engineering experience, wherein the first preset ground detection threshold is used to distinguish whether the cleaning robot encounters a cliff area on the surface to be cleaned. The second preset ground detection threshold is used to distinguish whether the surface to be cleaned is a carpet surface.

[0046] In some embodiments, if the controller 17 determines that the operating current of the driving device 13 is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, the controller 17 obtains the working parameters of the ground detection component 18, and determines whether the surface to be cleaned is a carpet based on the working parameters of the ground detection component 18, wherein the second preset threshold is greater than the first preset threshold.

[0047] Since the operating current of the driving device 13 is between the second preset threshold and the first preset threshold, the controller 17 cannot reliably determine the surface to be cleaned based on the operating current of the driving device 13. Therefore, the controller 17 uses the function of the ground detection component 18 to assist in determining whether the surface to be cleaned is a carpet, which helps to improve the robustness of determining whether the surface to be cleaned is a carpet.

[0048] In some embodiments, the controller determines whether the working parameter of the ground detection component is greater than a first preset ground detection threshold and less than a second preset ground detection threshold. If so, the controller determines that the surface to be cleaned is a carpet, wherein the second preset ground detection threshold is greater than the first preset ground detection threshold. The working parameter of the ground detection component includes current, voltage, power or charge, etc.

[0049] In some embodiments, when the controller 17 determines that the working parameter of the ground detection component 18 is less than or equal to the first preset ground detection threshold, the controller 17 determines that the cleaning robot encounters a cliff area on the surface to be cleaned. When the controller 17 determines whether the working parameter of the ground detection component 18 is greater than or equal to the second preset ground detection threshold, the controller 17 determines that the surface to be cleaned is a non-carpet surface.

[0050] This embodiment can combine the working parameters of the ground detection component 18 and the corresponding preset ground detection threshold, not only can it reliably determine whether the surface to be cleaned is a carpet surface, but also can determine whether the cleaning robot encounters a cliff area on the surface to be cleaned, which is conducive to improving the functional diversity of the cleaning robot 100.

[0051] In some embodiments, the floor detection assembly 18 includes a plurality of floor detections, and different floor detections are distributed at different positions on the bottom of the cleaning robot 100. Figure 2 The ground detection component 18 includes a first ground detection 181, a second ground detection 182 and a third ground detection 183. The first ground detection 181 and the second ground detection 182 are respectively located at the left and right edges of the cleaning robot 100, and the third ground detection 183 is located at the front edge of the cleaning robot 100.

[0052] When the controller 17 determines that at least one working parameter of the ground detection is less than or equal to the first preset ground detection threshold, the controller 17 determines that the cleaning robot 100 encounters a cliff area on the surface to be cleaned. When the controller 17 determines that the working parameters of all ground detections are greater than the first preset ground detection threshold and the working parameters of all ground detections are less than the second preset ground detection threshold, the controller 17 determines that the surface to be cleaned is a carpet. When the controller 17 determines that the working parameters of all ground detections are greater than or equal to the second preset ground detection threshold, the controller 17 determines that the surface to be cleaned is not a carpet. When the controller 17 determines that the working parameters of some ground detections are less than the second preset ground detection threshold, and the working parameters of other ground detections are greater than the second preset ground detection threshold, the controller 17 sets the material type of the surface to be cleaned to a pending state, and then continues to move and walk to continue to determine whether the surface to be cleaned is a carpet surface.

[0053] This embodiment can combine multiple floor detectors arranged at different positions to comprehensively judge whether the surface to be cleaned is a carpet surface, which is beneficial to improve the accuracy and reliability of the judgment result.

[0054] In the process of realizing the present invention, the inventor discovered that when a carpet is used for a long time and is touched by a cleaning robot or a user, the hair of the carpet will change from curled to smooth. In addition, some carpets in the home have short-haired hair, and the difference between the friction between the cleaning robot and such carpets and the friction between the cleaning robot and the floor is not large. In addition, after a cleaning robot has been used for a long time, the roller brush will become curled, which will reduce the friction between the roller brush and the carpet. All of the above reasons will cause the working current of the drive device to decrease.

[0055] Since the first preset threshold value provided by the relevant technology is fixed, when the cleaning robot cleans the surface to be cleaned, in fact, the surface to be cleaned is a carpet with softer or shorter carpet hair. Since the working current of the driving device is less than the first preset threshold value, the cleaning robot will not determine that the surface to be cleaned is a carpet, resulting in the cleaning robot controlling the suction device to work with a smaller suction force, which makes it difficult for the cleaning robot to clean the carpet effectively and cleanly.

[0056] In some embodiments, if the controller 17 determines that the surface to be cleaned is a carpet based on the working parameters of the ground detection component 18, the controller 17 calculates the target threshold based on the working current of the driving device 13, and replaces the first preset threshold based on the target threshold, wherein the target threshold is smaller than the first preset threshold before replacement.

[0057] In some embodiments, the controller 17 subtracts the preset difference from the working current of the driving device to obtain the target threshold. The preset difference is a positive number, and the preset difference is customized by the designer based on engineering experience. In some embodiments, the preset difference is the difference between the maximum current fluctuation value and the current mean when the driving device is working on the carpet. In this way, the target threshold obtained in this embodiment can provide the controller 17 with the minimum current corresponding to the carpet, helping the controller 17 to be able to detect various current conditions when the driving device is working on a soft or short-haired carpet, and can also reliably and comprehensively determine that the surface to be cleaned is a carpet surface.

[0058] For example, the first preset threshold is 300mA and the second preset threshold is 200mA. When the cleaning robot carries the driving device to work on the surface A to be cleaned, the working current of the driving device is 150mA. Since the working current of the driving device is less than the second preset threshold, the controller determines that the surface to be cleaned is a non-carpet surface.

[0059] For another example, when the cleaning robot carries the driving device and works on the surface B to be cleaned, the working current of the driving device is 320 mA. Since the working current of the driving device is greater than the first preset threshold, the controller determines that the surface to be cleaned is a carpet surface.

[0060] For another example, when the cleaning robot carries a driving device and works on the surface C to be cleaned, the operating current of the driving device is 280 mA. Since the operating current of the driving device is greater than the second preset threshold but less than the first preset threshold, the controller cannot reliably determine whether the surface to be cleaned is a carpet surface based only on the operating current of the driving device.

[0061] Therefore, the controller 17 obtains the working current of the first ground detector 181, the working current of the second ground detector 182 and the working current of the third ground detector 183. If the working current of the first ground detector 181, the working current of the second ground detector 182 and the working current of the third ground detector 183 are all greater than the first preset ground detection threshold and less than the second preset ground detection threshold, the controller 17 determines that the surface to be cleaned is a carpet.

[0062] Since the preset difference is 30 mA, the controller 17 subtracts the preset difference from the working current of the driving device 13 , that is, 280-30=270 mA, and the target threshold is 270 mA.

[0063] Next, the controller 17 replaces the first preset threshold value according to the target threshold value, so the first preset threshold value after replacement is 270mA. In this way, if the subsequent cleaning robot continues to clean the carpet, although the working current of the driving device is 275mA or 280mA or 290mA or above 300mA, the controller 17 can reliably and accurately determine that the floor to be cleaned is a carpet only by the working current of the driving device and the first preset threshold value after replacement, without the need to intervene in the floor inspection operation. This is conducive to improving the efficiency of determining the material type of the floor to be cleaned, and can also adaptively and flexibly adjust the first preset threshold value when the carpet hair of the carpet is deformed or the roller brush (middle sweep) of the cleaning robot changes, so as to adaptively, flexibly, reliably and accurately determine whether the floor to be cleaned is a carpet, thereby further improving the cleaning efficiency and cleaning degree.

[0064] In some embodiments, see Figure 3 The cleaning robot 100 also includes a wireless communication module 19 , which is electrically connected to the controller 17 .

[0065] When the wireless communication module 19 receives the threshold adjustment command sent by the terminal, the controller 17 adjusts the first preset threshold according to the threshold adjustment command. The terminal can be a mobile phone, a desktop computer, a tablet, a laptop computer or a smart watch, etc. The terminal is installed with a cleaning APP, and the interactive interface of the cleaning APP is provided with a threshold adjustment button. The user can operate the threshold adjustment button on the interactive interface of the cleaning APP, so that the terminal responds to the operation input to the threshold adjustment button, generates a threshold adjustment command, and sends the threshold adjustment command to the wireless communication module 19.

[0066] Usually, when the user observes the deformation of the carpet hair or the deformation of the roller brush of the cleaning robot, the user can place the cleaning robot 100 on the carpet, then start the cleaning APP on the terminal, and operate the threshold adjustment button on the interactive interface of the cleaning APP, so that the terminal sends the threshold adjustment command to the wireless communication module 19.

[0067] In some embodiments, the controller 17 controls the driving device 13 to work according to the threshold adjustment command. When the driving device 13 is working, the controller 17 obtains the working current of the driving device 13, calculates the target threshold according to the working current of the driving device 13, and replaces the first preset threshold according to the target threshold. In this way, the cleaning robot 100 can not only adjust the first preset threshold automatically throughout the process, but also adjust the first preset threshold according to the user's operation.

[0068] In some embodiments, when the wireless communication module 19 receives a gear adjustment command sent by the terminal, the controller 17 adjusts the preset difference according to the gear adjustment command, wherein the preset difference is equal to the gear coefficient multiplied by a fixed value, and the gear adjustment command carries the gear coefficient.

[0069] The controller 17 parses the gear adjustment command to obtain the gear coefficient, multiplies the gear coefficient by a fixed value pre-stored locally to obtain a preset difference, subtracts the preset difference from the working current of the drive device to obtain a target threshold, and replaces the first preset threshold according to the target threshold.

[0070] For example, the interactive interface of the terminal's cleaning APP is provided with a gear adjustment button, and the user can operate the gear adjustment button on the interactive interface of the cleaning APP to set the gear coefficient, such as the gear coefficient of the first gear is 1, the gear coefficient of the second gear is 2, and the gear coefficient of the third gear is 3. When the user pulls the gear adjustment button to the second gear, the terminal responds to the operation input to the gear adjustment button, packs the gear coefficient of the second gear into the gear adjustment command, and sends the gear adjustment command to the wireless communication module 19. In this embodiment, the user can adjust the first preset threshold in multiple gears to match the deformation of the roller brush of different types of carpets or cleaning robots, which is conducive to improving the user experience.

[0071] As another aspect of the present invention, the present invention provides a control method for a cleaning robot. Figure 4 , the control method of the cleaning robot comprises the following steps:

[0072] S41: When the cleaning robot walks on the surface to be cleaned, the working parameters of the driving device and / or the ground detection component are obtained, the driving device is used to drive the roller brush set in the roller brush groove to perform cleaning work, and the ground detection component is used to detect whether the cleaning robot encounters a cliff area on the surface to be cleaned.

[0073] S42: Determine whether the surface to be cleaned is a carpet according to the working parameters of the driving device and / or the floor detection component.

[0074] S43: If the surface to be cleaned is a carpet, the suction device is controlled to increase suction force, and the suction device is used to suck the garbage through the roller brush groove into the garbage storage container of the cleaning robot.

[0075] This embodiment can determine whether the surface to be cleaned is a carpet through the working parameters of the driving device and / or the floor detection component, so that the suction force can be flexibly and adaptively adjusted to clean the surface to be cleaned, thereby effectively and cleanly cleaning the surface to be cleaned.

[0076] In some embodiments, determining whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the ground detection component includes: obtaining the working current of the driving device, and if it is determined that the working current of the driving device is greater than a first preset threshold, determining that the surface to be cleaned is a carpet.

[0077] In some embodiments, judging whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the ground detection component includes: if it is judged that the working current of the driving device is less than a second preset threshold, then judging that the surface to be cleaned is a non-carpet surface, and the second preset threshold is less than the first preset threshold.

[0078] In some embodiments, the ratio of the first preset threshold to the second preset threshold is greater than or equal to 1.2.

[0079] In some embodiments, determining whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the ground detection component includes: if it is determined that the working current of the driving device is greater than or equal to a second preset threshold and less than or equal to a first preset threshold, obtaining the working parameters of the ground detection component, and determining whether the surface to be cleaned is a carpet based on the working parameters of the ground detection component, wherein the second preset threshold is less than the first preset threshold.

[0080] In some embodiments, determining whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the floor detection component includes: determining whether the working parameters of the floor detection component are greater than a first preset floor detection threshold and less than a second preset floor detection threshold; if so, determining that the surface to be cleaned is a carpet, wherein the second preset floor detection threshold is greater than the first preset floor detection threshold.

[0081] In some embodiments, determining whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the ground detection component includes: when it is determined that the working parameter of the ground detection component is less than or equal to a first preset ground detection threshold, determining that the cleaning robot encounters a cliff area on the surface to be cleaned; when it is determined that the working parameter of the ground detection component is greater than or equal to a second preset ground detection threshold, determining that the surface to be cleaned is a non-carpet surface.

[0082] In some embodiments, determining whether the surface to be cleaned is a carpet based on the working parameters of the driving device and / or the ground detection component includes: if the surface to be cleaned is determined to be a carpet based on the working parameters of the ground detection component, calculating the target threshold based on the working current of the driving device, and replacing the first preset threshold based on the target threshold.

[0083] In some embodiments, calculating the target threshold value according to the operating current of the driving device includes: subtracting a preset difference from the operating current of the driving device to obtain the target threshold value.

[0084] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present invention, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0085] As another aspect of the present invention, the present invention provides a control device for a cleaning robot, wherein the control device for the cleaning robot may be a software module, wherein the software module includes a plurality of instructions stored in a memory, and a processor may access the memory, call the instructions for execution, so as to complete the control method for the cleaning robot described in each of the above embodiments.

[0086] In some embodiments, the control device of the cleaning robot can also be constructed by hardware devices. For example, the control device of the cleaning robot can be constructed by one or more chips, and each chip can work in coordination with each other to complete the control method of the cleaning robot described in each of the above embodiments. For another example, the control device of the cleaning robot can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0087] See also Figure 5 The control device 500 of the cleaning robot includes: a parameter acquisition module 51, a carpet judgment module 52 and a suction force adjustment module 53.

[0088] The parameter acquisition module 51 is used to obtain the working parameters of the driving device and / or the ground detection component when the cleaning robot walks on the surface to be cleaned. The driving device is used to drive the roller brush set in the roller brush groove to perform cleaning work, and the ground detection component is used to detect whether the cleaning robot encounters a cliff area on the surface to be cleaned.

[0089] The carpet determination module 52 is used to determine whether the surface to be cleaned is a carpet according to the working parameters of the driving device and / or the floor detection component.

[0090] The suction force adjustment module 53 is used to control the suction device to increase the suction force if the surface to be cleaned is a carpet. The suction device is used to suck the garbage into the garbage storage container of the cleaning robot through the roller brush groove.

[0091] This embodiment can determine whether the surface to be cleaned is a carpet through the working parameters of the driving device and / or the floor detection component, so that the suction force can be flexibly and adaptively adjusted to clean the surface to be cleaned, thereby effectively and cleanly cleaning the surface to be cleaned.

[0092] In some embodiments, the carpet determination module 52 is specifically used to: obtain the working current of the driving device, and if it is determined that the working current of the driving device is greater than a first preset threshold, then determine that the surface to be cleaned is a carpet.

[0093] In some embodiments, the carpet determination module 52 is specifically used to determine that the surface to be cleaned is a non-carpet surface if the operating current of the driving device is less than a second preset threshold, and the second preset threshold is less than the first preset threshold.

[0094] In some embodiments, the ratio of the first preset threshold to the second preset threshold is greater than or equal to 1.2.

[0095] In some embodiments, the carpet judgment module 52 is specifically used for: if it is determined that the operating current of the driving device is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, then obtaining the working parameters of the ground detection component, and judging whether the surface to be cleaned is a carpet according to the working parameters of the ground detection component, wherein the second preset threshold is less than the first preset threshold.

[0096] In some embodiments, the carpet judgment module 52 is specifically used to: determine whether the working parameters of the floor detection component are greater than a first preset floor detection threshold and less than a second preset floor detection threshold; if so, determine that the surface to be cleaned is a carpet, wherein the second preset floor detection threshold is greater than the first preset floor detection threshold.

[0097] In some embodiments, the carpet judgment module 52 is specifically used to: when it is judged that the working parameter of the ground detection component is less than or equal to the first preset ground detection threshold, it is judged that the cleaning robot encounters a cliff area on the surface to be cleaned; when it is judged that the working parameter of the ground detection component is greater than or equal to the second preset ground detection threshold, it is judged that the surface to be cleaned is a non-carpet surface.

[0098] In some embodiments, the carpet determination module 52 is specifically used for: if the surface to be cleaned is determined to be a carpet according to the working parameters of the floor detection component, calculating the target threshold according to the working current of the driving device, and replacing the first preset threshold according to the target threshold.

[0099] In some embodiments, the carpet determination module 52 is specifically used to: subtract a preset difference from the working current of the driving device to obtain a target threshold value.

[0100] It should be noted that the control device of the cleaning robot can execute the control method of the cleaning robot provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the embodiment of the control device of the cleaning robot, please refer to the control method of the cleaning robot provided in the embodiment of the present invention.

[0101] See also Figure 6 , Figure 6 A schematic diagram of the circuit structure of a controller provided by an embodiment of the present invention. Figure 6 As shown, the controller 600 includes one or more processors 61 and a memory 62. Figure 6 A processor 61 is taken as an example.

[0102] The processor 61 and the memory 62 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0103] The memory 62 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the control method of the cleaning robot in the embodiment of the present invention. The processor 61 executes various functional applications and data processing of the control device of the cleaning robot by running the non-volatile software programs, instructions and modules stored in the memory 62, that is, realizes the control method of the cleaning robot provided in the above method embodiment and the functions of each module or unit in the above device embodiment.

[0104] The memory 62 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 62 may optionally include a memory remotely arranged relative to the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0105] The program instructions / modules are stored in the memory 62, and when executed by the one or more processors 61, the control method of the cleaning robot in any of the above method embodiments is executed.

[0106] An embodiment of the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, such as Figure 6 A processor 61 in the embodiment may enable the one or more processors to execute the control method of the cleaning robot in any of the above method embodiments.

[0107] An embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a controller, the controller executes any one of the control methods for the cleaning robot.

[0108] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot, characterized in that: The cleaning robot is provided with a roller brush groove at the bottom, the cleaning robot includes a roller brush at least partially accommodated in the roller brush groove, the cleaning robot also includes a driving device connected to the roller brush, a dirt storage container, a dirt inlet channel, a suction device and a controller, one end of the dirt inlet channel is connected to the roller brush groove, and the other end is connected to the dirt storage container, the suction device is pneumatically connected to the dirt storage container, the cleaning robot is also provided with a ground detection component at the bottom, and the controller is electrically connected to the driving device, the suction device and the ground detection component; When the cleaning robot walks on the surface to be cleaned, the controller determines whether the surface to be cleaned is a carpet according to the working parameters of the driving device and / or the ground detection component. If so, the controller controls the suction device to increase the suction force.

2. The cleaning robot according to claim 1, characterized in that: The controller obtains the operating current of the driving device. If the controller determines that the operating current of the driving device is greater than a first preset threshold, the controller determines that the surface to be cleaned is a carpet.

3. The cleaning robot according to claim 2, characterized in that: If the controller determines that the operating current of the driving device is less than a second preset threshold, the controller determines that the surface to be cleaned is a non-carpet surface, and the second preset threshold is less than the first preset threshold.

4. The cleaning robot according to claim 3, characterized in that: A ratio of the first preset threshold to the second preset threshold is greater than or equal to 1.

2.

5. The cleaning robot according to claim 2, characterized in that: If the controller determines that the operating current of the driving device is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, the controller obtains the working parameters of the ground detection component and determines whether the surface to be cleaned is a carpet according to the working parameters of the ground detection component, wherein the second preset threshold is less than the first preset threshold.

6. The cleaning robot according to claim 5, characterized in that: The controller determines whether the working parameter of the ground detection component is greater than a first preset ground detection threshold and less than a second preset ground detection threshold. If so, the controller determines that the surface to be cleaned is a carpet, wherein the second preset ground detection threshold is greater than the first preset ground detection threshold.

7. The cleaning robot according to claim 6, characterized in that: When the controller determines that the working parameter of the ground detection component is less than or equal to a first preset ground detection threshold, the controller determines that the cleaning robot encounters a cliff area on the surface to be cleaned; When the controller determines that the working parameter of the floor detection component is greater than or equal to a second preset floor detection threshold, the controller determines that the surface to be cleaned is a non-carpet surface.

8. The cleaning robot according to claim 5, characterized in that: The floor check assembly includes a first floor check, a second floor check and a third floor check. The first floor check and the second floor check are respectively located at the left and right side edges of the cleaning robot, and the third floor check is located at the front side edge of the cleaning robot.

9. The cleaning robot according to claim 5, characterized in that: If the controller determines that the surface to be cleaned is a carpet according to the working parameters of the floor detection component, the controller calculates a target threshold value according to the working current of the driving device, and replaces the first preset threshold value according to the target threshold value.

10. The cleaning robot according to claim 9, characterized in that: The controller subtracts a preset difference from the operating current of the driving device to obtain a target threshold value.

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