Cleaning robot system, cleaning robot and control method thereof

Abstract

A cleaning robot (100) adaptable to different cleaning scenes comprises a main body (10); the walking mechanism (120) is arranged on the main body (10) and drives the cleaning robot (100) to move; the control unit (60) controls the walking mechanism (120) to drive the cleaning robot (100) to autonomously move on the surface of the area to be cleaned; the mopping unit (30) is arranged on the main body (10), the mopping unit (30) has a mopping state, and in the mopping state, the mopping unit (30) is used for executing mopping work; the mopping unit (30) further has a lifting state and a dismounting state. When the cleaning robot (100) moves on the carpet (300), the mopping unit (30) is in a lifting state or a dismounting state. The invention further provides a control method of the cleaning robot and a cleaning robot system.

Description

Cleaning robot system, cleaning robot and control method thereof Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning robot and a control method thereof. Background Art

[0002] With the advancement of technology, more and more cleaning robots are entering households, performing automated sweeping and mopping tasks. Existing cleaning robots already implement different operating modes based on different floor materials. For example, in many environments, where both flooring and carpets coexist, cleaning robots can implement different cleaning strategies. However, existing cleaning robots typically only have one cleaning strategy for carpets, resulting in poor environmental adaptability.

[0003] Summary of the Invention

[0004] In view of this, a cleaning robot and a cleaning robot system are provided, and a control method of the cleaning robot is also proposed.

[0005] A cleaning robot comprises: a main body, a walking mechanism, which is arranged on the main body and drives the cleaning robot to move;

[0006] A control unit controls the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned; a mopping unit is provided on the main body, and the mopping unit has a mopping state, in which the mopping unit is used to perform mopping work; the mopping unit also has a lifting state and a disassembled state; when the cleaning robot moves on the carpet, the mopping unit is in the lifting state or the disassembled state.

[0007] In one embodiment, the cleaning robot further comprises:

[0008] The carpet recognition sensor is provided in the main body, recognizes the carpet and sends the carpet recognition result to the controller;

[0009] The controller is configured to: in response to a carpet recognition result of the carpet recognition sensor, control the mopping unit to detach from the main body so that the mopping unit is in a disassembled state; or control the mopping unit to lift so that the mopping unit is in a lifted state.

[0010] In one embodiment, the carpet recognition sensor is used to identify the carpet and detect the thickness of the carpet, and send the thickness of the carpet to the controller, and the controller is configured to: control the state of the mopping unit based on the thickness of the carpet; wherein,

[0011] If the thickness of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a lifted state;

[0012] If the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the mopping unit is controlled to detach from the cleaning robot so that the mopping unit is in a disassembled state.

[0013] In one embodiment, the controller is further configured to: if the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the cleaning robot to walk along the edge of the carpet or walk at a distance from the carpet.

[0014] In one embodiment, the cleaning robot further comprises:

[0015] A cleaning component is provided on the main body, wherein the cleaning component has a cleaning state, in which the cleaning component is used to perform a cleaning operation;

[0016] The cleaning robot has a sweeping mode and an operating mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.

[0017] In one embodiment, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; and control the mopping unit to lift when the cleaning robot is in the working mode associated with the mopping unit so that the mopping unit is in a lifted state.

[0018] In one embodiment, the working mode associated with the mopping unit includes a sweep-first-then-mop mode; the controller is configured to: when the cleaning robot is in the sweep-first-then-mop mode, control the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work.

[0019] The working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to: when the cleaning robot is in the sweeping and mopping mode, control the cleaning robot to drive onto the carpet while keeping the mopping unit lifted, and control the cleaning unit to perform cleaning work on the carpet.

[0020] In one embodiment, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; the controller is configured to: control the mopping unit to detach from the main body when the cleaning robot is in the sweeping mode, so that the mopping unit is in a disassembled state.

[0021] In one embodiment, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet;

[0022] If the cleaning robot is in a sweeping mode and the thickness of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;

[0023] If the cleaning robot is in a sweeping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is detached from the main body, so that the mopping unit is in a disassembled state;

[0024] If the cleaning robot is in a working mode associated with the mopping unit and the thickness of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;

[0025] If the cleaning robot is in a working mode associated with the mopping unit, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to drive onto the carpet while keeping the mopping unit lifted.

[0026] In one embodiment, the working mode associated with the mopping unit includes a sweeping and mopping mode; and the controller is configured to:

[0027] If the cleaning robot is in a sweeping and mopping mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a raised state; and the cleaning robot drives onto the carpet in the raised state so that the cleaning component cleans the carpet;

[0028] If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return from the current position to the base station to update the mopping unit so that the mopping unit is in a clean state; and the cleaning robot is controlled to drive onto the carpet while keeping the mopping unit lifted, so that the cleaning component can clean the carpet.

[0029] In one embodiment, the operating mode associated with the mopping unit includes a sweep-first-then-mop mode; and the controller is configured to:

[0030] If the cleaning robot is in a sweep-first-then-mop mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a raised state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit raised and the cleaning component not performing a cleaning operation;

[0031] If the cleaning robot is in the sweep-first-then-mop mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return from the current position to the base station to update the mopping unit so that the mopping unit is in a clean state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work.

[0032] In one embodiment, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet;

[0033] If the cleaning robot is in the sweeping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to replace the mopping unit so that the mopping unit is in a new state; the new mopping unit is controlled to be lifted, so that the cleaning robot moves on the carpet when the mopping unit is in the lifted state and the cleaning unit is in the cleaning state, thereby cleaning the carpet;

[0034] If the cleaning robot is in a sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to move on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit cleans the carpet;

[0035] If the cleaning robot is in the mopping mode of sweeping first and mopping later, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.

[0036] In one embodiment, the cleaning robot includes a lifting unit, which is arranged on the main body and drives the mopping unit to lift, so that the mopping unit is in a lifted state;

[0037] The lifting unit is further used to drive the mopping unit to descend, so that the mopping unit is in a mopping state.

[0038] In one embodiment, the cleaning robot includes an ejection unit configured to eject the mopping unit so that the mopping unit is in a disassembled state.

[0039] In one embodiment, the base station includes a disassembly component configured to disassemble the mopping unit to separate the mopping unit from the cleaning robot.

[0040] In one embodiment, the base station has a temporary storage location for receiving a mopping unit detached from the cleaning robot; or, the base station includes a replacement component configured to receive a mopping component detached from the cleaning robot.

[0041] In one embodiment, the base station includes a replacement component configured to replace the mopping unit for the cleaning robot after the mopping unit is detached, so that the mopping unit is in a clean state.

[0042] In one embodiment, the base station includes a cleaning component configured to clean the mopping unit after the cleaning robot returns to the base station or the mopping component is separated from the main body, so that the mopping unit is in a clean state.

[0043] In one embodiment, the cleaning robot further comprises: a cleaning component, disposed on the main body, the cleaning component having a cleaning state, and the cleaning component being configured to perform cleaning work in the cleaning state;

[0044] The controller is configured to control the cleaning robot to switch to a cleaning state when the mopping cleaning element is lifted or separated from the main body, so that the cleaning component performs the cleaning work on the carpet.

[0045] In one embodiment, the controller is configured to control the cleaning robot to walk along the edge of the carpet or walk at a distance from the carpet when the mopping cleaning element is lifted or separated from the main body.

[0046] In one embodiment, the mopping unit includes a mopping cleaning element and a mopping floor panel, wherein the mopping floor panel is configured to be removably mounted with the mopping cleaning element;

[0047] When the cleaning robot moves on the carpet, at least the mopping cleaning element is in a raised state or a disassembled state.

[0048] A method for controlling a cleaning robot, characterized in that the cleaning robot includes a main body, a mopping unit provided on the main body and having a mopping cleaning member, a carpet recognition sensor, and a controller, wherein the mopping unit is configured to perform a mopping operation, and the carpet recognition sensor is configured to recognize a carpet;

[0049] The method is applied to the controller and comprises the steps of:

[0050] Detecting whether the target area in front of the cleaning robot is a carpet by the carpet recognition sensor;

[0051] If the carpet recognition sensor detects a carpet, the mopping unit is controlled to separate from the main body, or the mopping unit is controlled to be lifted.

[0052] In one embodiment, the carpet recognition sensor is configured to recognize a carpet and send a detected thickness value of the carpet to the controller;

[0053] The method comprises:

[0054] If the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, controlling the mopping unit to detach from the cleaning robot;

[0055] If the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit.

[0056] In one embodiment, the method further comprises:

[0057] If the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, the cleaning robot is controlled to walk along the edge of the carpet or walk with a distance from the carpet.

[0058] In one embodiment, the cleaning robot further comprises: a cleaning component, disposed on the main body, the cleaning component having a cleaning state, wherein in the cleaning state, the cleaning component is used to perform cleaning work;

[0059] The cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.

[0060] In one embodiment, the method includes:

[0061] When the cleaning robot is in a sweeping mode, if the carpet recognition sensor detects the carpet, the mopping unit is controlled to detach from the cleaning robot or to be lifted.

[0062] In one embodiment, the method includes:

[0063] When the cleaning robot is in the sweeping mode, the mopping unit is controlled to separate from the main body, so that the mopping unit is in a disassembled state.

[0064] In one embodiment, the method includes:

[0065] controlling the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet;

[0066] If the cleaning robot is in a sweeping mode and the thickness of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;

[0067] If the cleaning robot is in sweeping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is detached from the main body, so that the mopping unit is in a disassembled state.

[0068] In one embodiment, the working mode associated with the mopping unit includes a sweeping and mopping mode;

[0069] The method comprises:

[0070] If the cleaning robot is in a sweeping and mopping mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a raised state; and the cleaning robot drives onto the carpet in the raised state so that the cleaning component cleans the carpet;

[0071] If the cleaning robot is in a sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to move on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit cleans the carpet;

[0072] In one embodiment, the working mode associated with the mopping unit includes a sweep-first-then-mop mode; wherein, in the sweep-first-then-mop mode, the mopping unit is in a mopping state;

[0073] The method comprises:

[0074] If the cleaning robot is in a sweep-first-then-mop mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a raised state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit raised and the cleaning component not performing a cleaning operation;

[0075] If the cleaning robot is in the mopping mode of sweeping first and mopping later, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.

[0076] A cleaning robot system comprises a base station and the above-mentioned cleaning robot, wherein the base station comprises at least one of the following components;

[0077] Disassembly component, disassembling the mopping unit of the cleaning robot;

[0078] Replace the components and replace the mopping unit of the cleaning robot with a clean one;

[0079] The cleaning component is used to clean the mopping unit of the cleaning robot.

[0080] A cleaning robot comprises a main body, a sweeping unit provided on the main body and having a cleaning head, a mopping unit provided with a mopping cleaning member, a carpet recognition sensor and a control unit, wherein the sweeping unit is configured to perform sweeping work; the mopping unit is configured to perform mopping work; the carpet recognition sensor is configured to recognize a carpet and send a detected carpet thickness value to the control unit; the control unit is configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning member to detach from the cleaning robot or control the cleaning robot to update the mopping cleaning member so that the mopping cleaning member is in a clean state, and control the cleaning robot to drive onto the carpet.

[0081] When the carpet sensor of the above-mentioned cleaning robot detects that the carpet thickness value is greater than a first preset value and less than or equal to a second preset value, the cleaning robot disengages from the mopping cleaning part or updates the mopping cleaning part, so that the cleaning robot will not dirty the carpet when it subsequently drives onto the carpet and cleans the carpet.

[0082] In one embodiment, the control unit is further configured to: when the carpet thickness value detected by the carpet recognition sensor is less than or equal to a first preset value, control the cleaning robot to lift the mopping cleaning element and drive onto the carpet.

[0083] In one embodiment, the cleaning robot includes a sweeping and mopping mode, and the control unit is further configured to: in the sweeping and mopping mode: when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the cleaning robot to drive from the current position into the base station, and at the same time control the cleaning robot to detach from the mopping cleaning component in the base station, and after the mopping cleaning component is detached, control the cleaning robot to return to the current position and perform the cleaning work on the carpet; or, when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the cleaning robot to drive from the current position into the base station and update the mopping cleaning component in the base station so that the mopping cleaning component is in a clean state, and control the cleaning robot to return to the current position and perform the cleaning work on the carpet.

[0084] In one embodiment, the control unit is configured to control the cleaning robot to perform the cleaning work on the carpet while keeping the mopping cleaning element lifted.

[0085] In one embodiment, the control unit is further configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the cleaning robot to walk along the edge of the carpet or walk with a distance from the carpet.

[0086] In one embodiment, the control unit is further configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the mopping cleaning element to detach from the cleaning robot or control the cleaning robot to update the mopping cleaning element so that the mopping cleaning element is in a clean state, and control the cleaning robot to drive onto the carpet.

[0087] In one embodiment, updating the mopping cleaning element includes replacing the mopping cleaning element with a clean one, or cleaning the mopping cleaning element.

[0088] A control method for a cleaning robot, the cleaning robot comprising a main body, a sweeping unit provided on the main body and having a cleaning head, a mopping unit provided with a mopping cleaning member, a carpet recognition sensor, and a control unit, the sweeping unit being configured to perform sweeping work, the mopping unit being configured to perform mopping work, the carpet recognition sensor being configured to recognize a carpet and transmitting a detected carpet thickness value to the control unit; the method being applied to the control unit, comprising the steps of: detecting in real time by the carpet recognition sensor whether a target area in front of the cleaning robot is a carpet and obtaining a carpet thickness value; when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, controlling the mopping cleaning member to detach from the cleaning robot or controlling the cleaning robot to update the mopping cleaning member so that the mopping cleaning member is in a clean state, and controlling the cleaning robot to drive onto the carpet.

[0089] In one embodiment, the method further includes the step of controlling the cleaning robot to lift the mopping cleaning element and drive onto the carpet when the carpet thickness value detected by the carpet recognition sensor is less than or equal to a first preset value.

[0090] In one embodiment, when the carpet thickness value detected by the carpet recognition sensor is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping cleaning element and drive onto the carpet, including the steps of: controlling the cleaning unit of the cleaning robot to perform cleaning work and clean the carpet.

[0091] In one embodiment, when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, the mopping cleaning component is controlled to detach from the cleaning robot or the cleaning robot is controlled to update the mopping cleaning component so that the mopping cleaning component is in a clean state, and the cleaning robot is controlled to drive onto the carpet, including the steps of: controlling the cleaning robot to drive from the current position into the base station and detach from the base station or controlling the cleaning robot to update the mopping cleaning component so that the mopping cleaning component is in a clean state; controlling the cleaning robot to return to the current position; and controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet.

[0092] In one embodiment, controlling the cleaning unit of the cleaning robot to perform a cleaning operation to clean the carpet includes: performing the cleaning operation on the carpet while keeping the mopping cleaning element lifted.

[0093] In one embodiment, the method further includes the steps of: when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, controlling the cleaning robot to walk along the edge of the carpet or walk at a distance from the carpet; or, when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, controlling the mopping cleaning element to detach from the cleaning robot or controlling the cleaning robot to update the mopping cleaning element so that the mopping cleaning element is in a clean state, and controlling the cleaning robot to drive onto the carpet. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0095] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0096] FIG1 is a schematic diagram of a cleaning robot system according to an embodiment of the present invention.

[0097] FIG2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.

[0098] FIG3 is a schematic structural diagram of a lifting and disassembly mechanism according to an embodiment of the present invention.

[0099] FIG4 is a schematic structural diagram of a base station according to an embodiment of the present invention.

[0100] FIG5 is a system principle diagram of a control method for a cleaning robot according to an embodiment of the present invention.

[0101] FIG6 is a schematic diagram of the cleaning robot during normal cleaning.

[0102] FIG7 is a schematic diagram of a cleaning robot detecting a low-thickness carpet during normal cleaning.

[0103] FIG8 is a schematic diagram of a cleaning robot detecting a thick carpet during normal cleaning.

[0104] FIG9 is a schematic diagram showing a cleaning robot returning to a base station and removing a mop plate after detecting a thick carpet during normal cleaning.

[0105] The corresponding numbers of the relevant components in the figure are as follows:

[0106] 100. Cleaning robot; 10. Main body; 110. Shell; 120. Walking mechanism; 20. Cleaning unit; 210. Roller brush; 220. Side brush; 230. Dust box; 30. Mopping unit; 310. Mop board; 320. Mopping cleaning parts; 40. Lifting mechanism; 410. Motor; 420. Drive shaft; 430. First cam; 440. Second cam; 450. Mop board mounting bracket; 460. Frame; 50. Carpet recognition sensor; 60. Control unit; 70. Water adding module; 80. Detection component; 200. Base station; 201. Space; 202. Replacement component; 300. Carpet. DETAILED DESCRIPTION

[0107] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0108] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0110] The present disclosure provides a cleaning robot, comprising:

[0111] main body,

[0112] A walking mechanism, provided on the main body, drives the cleaning robot to move;

[0113] A control unit controls the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned;

[0114] a mopping unit, provided on the main body, wherein the mopping unit has a mopping state, and in the mopping state, the mopping unit is used to perform a mopping operation;

[0115] Wherein, the mopping unit has a non-mopping state, wherein the non-mopping state includes at least one of a lifting state and a disassembled state; wherein the mopping state refers to a state in which the mopping unit is in contact with the surface of the area to be cleaned, and the disassembled state refers to a state in which the mopping unit is detached from the main body; the lifting state refers to a state in which the mopping unit is lifted and not in contact with the surface of the area to be cleaned, so that the mopping unit can not perform the mopping work.

[0116] Taking into account that there may be carpets in the use environment of the cleaning robot, in order to avoid the mopping unit from contaminating the carpet, in one embodiment, the mopping unit can be disassembled so that the mopping unit has a disassembled state; wherein the mopping unit includes at least a mopping cleaning piece. In one embodiment, the mopping unit may also include a mop board for detachably mounting the mopping cleaning piece to form a mopping surface, and the mopping surface can be used to mop the surface of the area to be cleaned.

[0117] It should be pointed out that, in addition to the need to disassemble the mopping unit in the scenario where the cleaning robot cleans carpets, in other scenarios, such as overcoming obstacles (such as climbing stairs, etc.), in order to avoid damage to the mopping unit caused by the stairs or to avoid the mopping unit affecting obstacle overcoming, the mopping unit can also be disassembled in the obstacle overcoming scenario, and this disclosure does not limit this.

[0118] In one embodiment, the mopping unit can be removed by the cleaning robot, that is, the host has the function of removing the mopping unit.

[0119] In order to realize the disassembly of the mopping unit, in one embodiment, the main body is provided with a disassembly mechanism, so that the main body can realize the detachment of the mopping unit from the main body, so that the mopping unit is in a disassembled state.

[0120] In one embodiment, the disassembly mechanism of the main body includes an ejection unit provided on the main body for ejecting the mopping unit to separate from the main body, wherein the ejection unit may be, for example, a second cam.

[0121] Of course, in other embodiments, the mopping unit can also be removed by the base station, that is, the base station has the function of removing the mopping unit. At this time, the host can return to the base station and the base station will remove the mopping unit on the host.

[0122] In order to realize the disassembly function of the base station, in one embodiment, the base station is provided with a disassembly mechanism, so that the base station can separate the mopping unit from the host.

[0123] In one embodiment, the disassembly mechanism of the base station can be, for example, a disassembly component for disassembling the mopping unit of the cleaning robot. In addition, when the base station has a replacement function, the disassembly mechanism of the base station can be, for example, a replacement component for disassembling or replacing the mopping unit.

[0124] As for the location for disassembling the mopping unit, in one embodiment, the cleaning robot returns to the base station and then disassembles the mopping unit. The disassembly can be achieved by the disassembly mechanism of the host or by the disassembly structure of the base station, which is not limited in this embodiment.

[0125] It should be noted that the mopping unit may include a mop board and a mopping cleaning member that can be installed on the mop board. Therefore, when the host or base station disassembles the mopping unit, it can be understood as disassembling the mopping unit as a whole, that is, disassembling the mop board connected to the mopping cleaning member together, or it can be understood as disassembling only the mopping cleaning member while the mop board is not disassembled. It should be understood that the removal of the mopping cleaning member can be achieved by disassembling the mop board, which will not be elaborated in this embodiment.

[0126] Considering the problem of how to deal with the mopping units disassembled from the base station, in one embodiment, the base station has components for storing, recycling, replacing, cleaning, etc. the mopping units.

[0127] In order to store the mopping unit, in one embodiment, the base station has a temporary storage location for temporarily storing the disassembled mopping unit.

[0128] In order to recycle the mopping unit, in one embodiment, the base station has a recycling component to receive the ejected mopping unit; the recycling component may, for example, include a recycling bin to accommodate the disassembled mopping unit.

[0129] In order to replace the mopping unit and keep the mopping state in a new state (clean state), in one embodiment, the base station has a replacement component to replace the clean mopping unit. It should be noted that the replacement component can also receive the ejected mopping unit, that is, the replacement component can also serve as a recycling component.

[0130] In order to clean the mopping unit and keep the cleaning robot in a fresh state, in one embodiment, the base station has a cleaning component to clean the mopping unit of the cleaning robot. It should be noted that the mopping unit can be cleaned in a state separated from the main body or in a state where it is not separated from the main body, and this disclosure does not limit this.

[0131] As for the subsequent actions of the cleaning robot after the mopping unit is separated from the main body, in one embodiment, if the cleaning robot has a cleaning unit, the cleaning robot can switch the cleaning unit to the cleaning state when the mopping unit is in the disassembled state, and perform cleaning operations on the working surface.

[0132] For example, the cleaning robot has a sweeping mode and is in the sweeping mode. Since there is no need for a mopping unit to perform mopping work, the cleaning robot can use the cleaning unit to perform cleaning operations when the mopping unit is in a disassembled state; that is, the cleaning robot can perform cleaning operations on any work surface such as carpets or floors when the mopping unit is in the sweeping mode.

[0133] Of course, in another embodiment, if the cleaning robot has no cleaning tasks, the cleaning robot can wait at the base station and be in standby state; in other embodiments, if the cleaning robot in standby state meets the maintenance conditions, the base station can perform maintenance operations such as charging, rehydration, and dust collection on the cleaning robot.

[0134] In one embodiment, the mopping unit can be disassembled and lifted; that is, the mopping unit has a lifted state and a disassembled state.

[0135] Of course, the mopping unit can also have a replacement state (also called a clean state), where the replacement state means that the mopping unit is replaced from an old (or used, e.g., dirty) to a new (or unused, e.g., clean). To achieve the replacement of the mopping unit, in one embodiment, the base station has a replacement function. For example, the base station includes a replacement component for replacing the mopping unit so that the mopping unit is in the replacement state; or the base station includes a cleaning component for cleaning the mopping unit so that the mopping unit is in the replacement state.

[0136] For example, the main unit can both lift the mopping unit, placing it in an elevated state, and remove it, placing it in a removed state. That is, the main unit has both the lifting and removal functions of the mopping unit. The mopping unit includes at least a mopping cleaning element. Of course, in other embodiments, the mopping unit may also include a mopping plate for detachably mounting the mopping cleaning element to form a mopping surface, which can be used to mop the surface of the area to be cleaned.

[0137] It should be noted that, in other embodiments, the removal of the mopping unit can also be achieved by the base station, and the lifting of the mopping unit can be achieved by the host; in other words, the base station has the function of disassembling the mopping unit, and the host has the function of lifting the mopping unit.

[0138] It should be noted that the lifting or disassembly state of the mopping unit can be controlled by the control unit of the host. For example, when the host has the two functions of lifting and disassembling the mopping unit, the control unit can control the lifting or disassembly of the mopping unit so that the mopping state is in the lifting or disassembly state; of course, when the base station has a detachable mopping unit, the disassembly of the mopping unit can also be achieved through communication interaction between the control unit and the base station, which will not be elaborated in this embodiment.

[0139] The method of removing the mopping unit has been discussed above, so here we will only briefly explain the method of lifting the mopping unit:

[0140] In order to achieve the lifting of the mopping unit, in one embodiment, the cleaning robot includes a lifting mechanism, and the lifting mechanism is configured to drive the mopping unit to lift, so that the mopping unit is in a lifted state.

[0141] Among them, the lifting of the mopping unit can be achieved by mechanical lifting, such as cam lifting, gear rack lifting, etc. In one embodiment, the lifting mechanism includes a cam lifting mechanism, such as a first cam, etc., which is used to realize the lifting unit of the mopping unit.

[0142] It should be noted that when the mopping unit includes a mopping plate and a mopping cleaning member, then, when the main body lifts the mopping unit, it can be understood as lifting the mopping cleaning member, or it can be understood as lifting the mopping unit as a whole, that is, lifting the mopping plate with the mopping cleaning member; wherein, the lifting of the mopping cleaning member can be achieved by lifting the mopping plate; it can also be understood that the lifting mechanism and the mopping unit are lifted together. Of course, when the mopping unit is separated from the main body, the lifting mechanism (especially the mopping plate mounting frame connected to the mopping plate) can also be lifted separately, which is not described in detail in this embodiment;

[0143] Taking into account the connection problem between the mopping unit and the lifting mechanism, in one embodiment, the lifting mechanism and the mopping unit are connected magnetically; further, the mop board of the mopping unit can be adsorbed on the mop board mounting bracket by a magnet.

[0144] Taking into account that the cleaning robot usually encounters carpets during movement, in order to avoid the mopping unit from contaminating the carpet, in one embodiment, since the mopping unit can be removed or lifted, the cleaning robot can pass through the carpet with the mopping unit removed or lifted; in other words, when the cleaning robot moves on the carpet, the mopping unit is in a disassembled or lifted state; of course, in other embodiments, when moving on the carpet, the mopping unit on the cleaning robot can also be in a replaced state.

[0145] Furthermore, when encountering a carpet, the mopping unit on the cleaning robot is in a disassembled or raised state, so that the cleaning robot can move and pass through the carpet with the mopping unit disassembled or raised. It should be noted that in other embodiments, when encountering a carpet, the mopping unit on the cleaning robot may also be in a replaced state.

[0146] Of course, in order to avoid the mopping unit from contaminating the carpet, in other embodiments, the cleaning robot may not drive onto the carpet, for example, by walking around the carpet along the edge of the carpet (or at a predetermined distance from the edge of the carpet), and the mopping unit may clean the edge of the carpet at the same time; of course, the cleaning robot may also walk around the carpet along the edge of the carpet when the mopping unit is in a raised or disassembled state.

[0147] Considering how to determine whether the cleaning robot encounters a carpet, in one embodiment, the cleaning robot includes a carpet recognition sensor, which is provided on the main body and is used to recognize the carpet.

[0148] Therefore, in one embodiment, when encountering a carpet, the cleaning robot can select one of the following states: lifting the mopping unit, disassembling the mopping unit, or replacing the mopping unit with a new one, thereby avoiding contamination of the carpet when the cleaning robot passes through the carpet.

[0149] It should be pointed out that, given that whether the cleaning robot drives onto the carpet is related to the mode of the cleaning robot, in other embodiments, it is also possible to first determine, based on the mode of the cleaning robot, whether the cleaning robot needs to put the mopping unit into the lifted or removed state when encountering the carpet. In other words, the prerequisite for the control unit to control the mopping unit to be in the lifted or removed state when encountering the carpet is that the mode of the cleaning robot can be determined first.

[0150] For example, it makes sense to drive onto a carpet when cleaning it. Therefore, if the cleaning robot is in a mode associated with the cleaning unit, including a sweeping mode and a sweep-and-mop mode, the control unit will control the mopping unit to be raised or removed when the cleaning robot encounters the carpet. It should be noted that the sweeping mode may include a sweep-first-then-mop mode and a sweep-first-then-mop mode.

[0151] For another example, in order to avoid cleaning the carpet and to avoid contaminating the carpet, if the cleaning robot is in the single mopping mode, the control unit does not need to control the mopping unit to lift or disassemble when the cleaning robot encounters the carpet. It should be noted that the single mopping mode may include a sweep-first-then-mop mode and a mopping mode after mopping. Of course, taking into account certain special scenarios, such as islands (for example, there is a floor within the preset range of two carpets), carpets or floors near thresholds (in order to cross the threshold), etc., at this time, even in the single mopping mode, when encountering a carpet, it makes sense to lift or disassemble the mopping unit. Therefore, if the cleaning robot is in the single mopping mode, the control unit can also control the mopping unit to lift or disassemble when the cleaning robot encounters a carpet.

[0152] Given that carpets have various thicknesses, in one embodiment, a carpet with a thickness less than or equal to a first preset value is defined as a short-pile carpet; a carpet with a thickness greater than the first preset value and less than or equal to a second preset value is defined as a long-pile carpet; and a carpet with a thickness greater than the second preset value is defined as an extra-long-pile carpet.

[0153] In one embodiment, the carpet recognition sensor can also be used to detect the thickness of the carpet, so that the cleaning robot can determine the status of the mopping unit based on the carpet thickness. For example, when the cleaning robot moves over a short-pile carpet, the mopping unit is in an elevated state to avoid contamination of the carpet. Furthermore, to enable the mopping unit to pass over the short-pile carpet in an elevated state, in one embodiment, the mopping unit is in an elevated state when the cleaning robot encounters a short-pile carpet.

[0154] The aforementioned "encountering a carpet" can be understood as the cleaning robot recognizing a carpet or being at a preset distance from the carpet. Taking into account the different detection accuracy or sensitivity of carpet recognition sensors (e.g., the time or distance required to recognize a carpet), if the carpet recognition sensor has high sensitivity, the aforementioned "encountering a carpet" can be understood as the cleaning robot recognizing a carpet and being at a preset distance from the carpet; if the carpet recognition sensor has low sensitivity, the aforementioned "encountering a carpet" can be understood as simply recognizing the carpet.

[0155] For another example, when the cleaning robot moves on a shag carpet, the mopping unit is in a disassembled state; that is, the cleaning robot moves on the shag carpet with the mopping unit in a disassembled state;

[0156] Similarly, in order to enable the mopping unit to pass through a long-haired carpet in a disassembled state, in one embodiment, when the cleaning robot encounters a long-haired carpet, the mopping unit is in a raised state.

[0157] Furthermore, considering that the mopping unit includes a mop plate and a mopping cleaning member, the lifting mechanism includes a mop plate bracket connected to the mopping unit (particularly the mop plate); if the mopping unit in a disassembled state refers to a state in which the mopping cleaning member is disassembled, then when the cleaning robot moves on a shaggy carpet, the mop plate of the mopping unit with the mopping cleaning member disassembled can be in a raised state, that is, the mop plate is in a raised state driven by the lifting mechanism, thereby improving the mobility of the cleaning robot while avoiding contamination of the carpet. Similarly, if the mopping unit in a disassembled state refers to a state in which the mopping unit is completely disassembled, then when the cleaning robot moves on the shaggy carpet, the lifting mechanism, particularly the mop plate mounting bracket connected to the mop plate, can be in a raised state, that is, when the mopping unit is completely disassembled, the mop plate mounting bracket of the lifting mechanism can be in a raised state, reducing movement resistance and making it easier for the cleaning robot to move on the shaggy carpet. Of course, in other embodiments, considering that the height of the mopping unit (especially the mop board) is higher than the long-haired carpet, when the mopping unit is completely disassembled, the cleaning robot can also move on the long-haired carpet when the lifting mechanism (especially the mop board mounting frame) is not in the lifted state.

[0158] Of course, in other embodiments, when the cleaning robot moves on the long-haired carpet, the mopping unit may be in a replaced state. Furthermore, when the cleaning robot moves on the long-haired carpet, the replaced mopping unit is in a raised state, thereby improving the mobility of the cleaning robot while avoiding contamination of the carpet.

[0159] For another example, considering that extra-long-pile carpets may affect the normal driving of the cleaning robot, such as getting entangled or stuck, in order to avoid this problem and prevent the carpet from being contaminated, in one embodiment, when the cleaning robot encounters an extra-long-pile carpet, no matter what state the mopping unit is in, the cleaning robot will not drive onto the carpet. For example, the cleaning robot can bypass the carpet by walking along the edge of the carpet or at a predetermined distance from the edge of the carpet. In other words, when the cleaning robot encounters an extra-long-pile carpet, the mopping unit can be in any state of being lifted, disassembled, or replaced, and the cleaning robot will not drive onto the extra-long-pile carpet or the cleaning robot will bypass the extra-long-pile carpet.

[0160] Furthermore, the carpet recognition sensor is used to detect the thickness of the carpet and send the detected carpet thickness value to the control unit. The control unit can control the state of the mopping unit according to the carpet thickness value.

[0161] For example, the control unit is configured to: if the thickness value of the carpet is less than or equal to a first preset value (that is, the carpet is a short-pile carpet), control the mopping unit to lift so that the mopping unit is in a lifted state; further, the control unit can drive the mopping unit to lift by controlling the lifting mechanism. For another example, the control unit is configured to: if the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value (that is, the carpet is a long-haired carpet), control the mopping unit to separate from the main body, so that the mopping unit is in a disassembled state; further, the control unit is configured to separate the mopping unit from the main body at the base station when the cleaning robot returns to the base station; it should be noted that the mopping unit can be separated from the main body in one of the following ways: Way A: the control unit can push the mopping unit out by controlling the disassembly mechanism on the host to separate it from the main body; Way B, the control unit can interact with the base station (for example, the control module of the base station), and the control module of the base station controls the disassembly structure on the base station to separate the mopping unit of the cleaning robot from the main body of the cleaning robot; Way C, the control unit can interact with the disassembly structure of the base station through instructions, and the control unit of the cleaning robot controls the disassembly structure of the base station to separate the mopping unit from the main body of the cleaning robot.

[0162] Given that the mopping unit may include a mop board and a mopping cleaning member, the lifting mechanism may include a mop board mounting bracket connected to the mop board; in one embodiment, the control unit is configured to control the entire mopping unit (i.e., together with the mop board and the mopping cleaning member connected thereto) to be disassembled if the thickness value of the carpet is greater than a first preset value and less than or equal to a second preset value (i.e., the carpet is a long-haired carpet); further, the control unit is also configured to: control the lifting mechanism, especially the mop board mounting bracket connected to the mop board, to be in a lifted state; for example, in a scenario where the cleaning robot encounters a long-haired carpet, the control unit controls the mop board mounting bracket to lift; or, the control unit controls the cleaning robot to move on the long-haired carpet when the mop board mounting bracket is in a lifted state; thereby, the cleaning robot can move more easily on the long-haired carpet.

[0163] It is understood that when the mopping unit is removed, the timing for lifting the mop plate mounting frame should meet the following requirements: at any time between the moment the cleaning robot removes the mopping unit and the moment the cleaning robot drives onto the long-haired carpet, the control unit controls the mop plate mounting frame to lift, so that the mop plate mounting frame is in a lifted state and moves on the long-haired carpet;

[0164] Of course, considering that the thickness of the mopping unit (especially the mop board) is usually greater than the thickness of the long-haired carpet, in other embodiments, when the mopping unit is completely disassembled, the control unit can also control the cleaning robot to move on the long-haired carpet when the lifting mechanism (especially the mop board mounting frame) is not in the lifted state.

[0165] In another embodiment, the control unit is configured to: if the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value (that is, the carpet is a long-haired carpet), control the mopping cleaning part to be removed; wherein the mop board may not be removed; at this time, in order to reduce the movement resistance of the cleaning robot on the long-haired carpet, the control unit is further configured to: control the mop board to be lifted, and pass through the carpet while the mop board remains lifted; for example, in a scenario where the cleaning robot encounters a long-haired carpet, the control unit controls the mop board to be lifted, or the control unit controls the cleaning robot to move on the long-haired carpet while the mop board remains lifted; thereby enabling the cleaning robot to move more easily on the long-haired carpet.

[0166] Of course, in other embodiments, the control unit is configured as follows: when the cleaning robot encounters a long-haired carpet (i.e., the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value), it controls the replacement of the clean mopping unit so that the mopping unit is in a replaced state. At this time, the cleaning robot can move on the long-haired carpet while the mopping unit is in a replaced state; further, when the cleaning robot encounters a long-haired carpet, the control unit controls the clean mopping unit (i.e., the replaced mopping unit) to be lifted; or, the control unit controls the cleaning robot to move on the long-haired carpet while the clean mopping unit (i.e., the replaced mopping unit) is lifted; so that the clean mopping unit does not contaminate the carpet, and at the same time avoids the clean mopping unit from being contaminated by the carpet; this achieves the goal of avoiding mutual contamination between the mopping unit and the carpet while improving the mobility of the cleaning robot, which is beneficial to improving cleaning efficiency.

[0167] For another example, the control unit is configured to control the cleaning robot to walk along the edge of the carpet or walk at a distance from the carpet if the thickness of the carpet is greater than a second preset value (ie, the carpet is an extra-long-pile carpet).

[0168] In one embodiment, the cleaning robot includes a cleaning unit, which is provided on the main body, and the cleaning unit has a cleaning state. In the cleaning state, the cleaning unit is used to perform cleaning work; wherein the cleaning unit has a cleaning working head, which can be, for example, one or a combination of a roller brush, a suction port, and a side brush, so as to perform cleaning work in the cleaning state.

[0169] In one embodiment, the cleaning robot has a sweeping unit and a mopping unit, so that the cleaning robot has multiple working modes. For example, the working modes of the cleaning robot include but are not limited to at least one of the following: sweeping mode, sweeping and mopping mode, sweeping first and then mopping mode (mainly a mopping mode of sweeping first and then mopping), and single mopping mode; wherein, in the sweeping mode, the mopping unit does not work, so as to facilitate the distinction between the sweeping and mopping modes; in addition, it should be noted that the sweeping mode may include a sweeping first mode of a sweeping first and then mopping mode.

[0170] Considering that the cleaning robot can have multiple modes, the cleaning strategy on carpets of different thicknesses is also related to the working mode of the cleaning robot.

[0171] On the one hand, short-hair carpet, lifting, long-hair carpet, mopping unit disassembly, considering the mopping mode, cleaning robot

[0172] On the other hand, in one embodiment, whether the cleaning robot cleans the carpet when it moves on it is related to whether the cleaning robot has a need to clean. For example, when the cleaning robot encounters a short-pile carpet or moves on a short-pile carpet, the mopping unit is in a raised state; at this time, for modes with cleaning needs, such as sweep-and-mop mode or sweeping mode, the cleaning unit is in a cleaning state so that the cleaning robot can clean the carpet; and for modes without cleaning needs, such as sweep first and then mop (mainly the mopping mode with mopping at the end) or the single mopping mode, the cleaning unit does not perform cleaning work.

[0173] That is, when the cleaning robot is in sweeping mode and the thickness value of the carpet is less than or equal to a first preset value, the cleaning robot moves on the carpet and cleans the carpet while the cleaning unit is in the cleaning state and the mopping unit is in the raised state; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in sweeping mode and the thickness value of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in the raised state; and control the cleaning robot to move on the carpet while keeping the mopping unit lifted and the cleaning unit in the cleaning state of performing cleaning work, so as to clean the carpet; further, when the cleaning robot completes cleaning the carpet while keeping the mopping unit lifted and the cleaning unit in the cleaning state of performing cleaning work, the cleaning robot continues to perform subsequent cleaning work while still keeping the mopping unit lifted and the cleaning unit in the cleaning state of performing cleaning work. For example, the control unit is configured to control the cleaning robot to keep the mopping unit lifted and the cleaning unit in the cleaning state of performing cleaning work in response to a carpet cleaning completion signal sent by the carpet recognition sensor and continue cleaning work.

[0174] When the cleaning robot is in the sweeping and mopping mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot moves on the carpet while the cleaning unit is in the cleaning state and the mopping unit is in the raised state to clean the carpet; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in the raised state; and control the cleaning robot to move in the cleaning state while keeping the mopping unit raised and the cleaning unit in the cleaning state to perform the cleaning work. The cleaning robot moves on the carpet to clean the carpet; further, when the cleaning robot completes cleaning the carpet while keeping the mopping unit lifted and the cleaning unit in the cleaning state to perform the cleaning work, the mopping unit switches from the lifted state to the mopping state so as to continue to perform subsequent mopping work, especially mopping work on non-carpets; for example, the control unit is configured to control the mopping unit to switch from the lifted state to the mopping state in response to a carpet cleaning completion signal sent by the carpet recognition sensor, so that the cleaning robot continues to perform the sweeping and mopping work when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0175] When the cleaning robot is in the sweep-first-then-mop mode (mopping mode in the back-mopping mode), and the thickness value of the carpet is less than or equal to a first preset value, the cleaning robot crosses the carpet when the cleaning unit does not perform the cleaning work and the mopping unit is in a raised state; therefore, in one embodiment, the controller is configured to: if the cleaning robot is in the sweep-first-then-mop mode (mopping mode in the back-mopping mode), and the thickness value of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and control the cleaning robot to keep the mopping unit raised and the cleaning unit not performing the cleaning work. The cleaning robot crosses the carpet in the state of performing cleaning work; further, after the cleaning robot crosses the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work, the mopping unit switches from the lifted state to the mopping state so as to continue to perform subsequent mopping work, especially mopping work on non-carpets; for example, the control unit is configured to respond to the carpet crossing completion signal sent by the carpet recognition sensor, control the mopping unit to switch from the lifted state to the mopping state, so that the cleaning robot continues to perform mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work. When the cleaning robot is in single mopping mode and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot crosses the carpet when the cleaning unit is not performing cleaning work and the mopping unit is in a raised state; further, after the cleaning robot crosses the carpet without performing cleaning work and the mopping unit is in a raised state, the mopping unit switches from the raised state to the mopping state so as to continue to perform subsequent mopping work; for example, the control unit is configured to control the mopping unit to switch from the raised state to the mopping state in response to a carpet crossing completion signal sent by the carpet recognition sensor, so that the cleaning robot continues to perform mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work.

[0176] In summary, considering the above-mentioned mopping modes, such as the sweep-and-mop mode, the sweep-first-then-mop mode, and the single-mop mode, since the cleaning robot moves (e.g., sweeps or crosses) on the short-pile carpet with the mopping unit raised, when the cleaning robot completes cleaning the carpet or crossing the carpet, in order to ensure that the mopping operation continues, when the cleaning robot is in the operating mode associated with the mopping unit and the mopping unit is in the raised state and crosses the short-pile carpet, the mopping unit should switch from the raised state to the mopping state to continue the subsequent mopping operation on the non-carpet. Therefore, in one embodiment, the control unit is configured to: when the cleaning robot is in the operating mode associated with the mopping unit and the mopping unit is in the raised state and crosses the short-pile carpet, control the mopping unit to switch from the raised state to the mopping state, for example, control the lifting mechanism to drive the mopping unit to descend from a first position that does not contact the work surface to a second position that contacts the work surface, so that the mopping unit can continue to perform the mopping operation on the work surface.

[0177] It should be noted that the completion of carpet cleaning or carpet crossing can be marked by the carpet recognition result of the carpet recognition sensor (for example, the presence or absence of carpet); this embodiment will not elaborate on this.

[0178] For another example, when the cleaning robot encounters a long-haired carpet or moves on a long-haired carpet, the mopping unit is in a disassembled state; at this time, for modes with cleaning requirements, such as the sweep-and-mop mode or the sweeping mode, the cleaning unit is also in a cleaning state so that the cleaning robot can clean the carpet; and for modes without cleaning requirements, such as sweeping first and then mopping (mainly the mopping mode with the rear mop) or the single mopping mode, the cleaning unit does not need to perform cleaning work.

[0179] In other words, when the cleaning robot is in the sweeping mode and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot moves on the carpet and cleans the carpet when the cleaning unit is in the cleaning state and the mopping unit is in the disassembled state; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping mode and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to detach the mopping unit from the main body, for example, control the cleaning robot to return to the base station, and at the base station, the mopping unit is detached from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, so that the mopping unit is in the disassembled state; The cleaning robot is controlled to move on the carpet while the mopping unit is kept disassembled and the cleaning unit is in a cleaning state to perform a cleaning task, so as to clean the carpet. Furthermore, when the cleaning robot completes cleaning the carpet while the mopping unit is kept disassembled and the cleaning unit is in a cleaning state to perform a cleaning task, the cleaning robot continues to perform subsequent cleaning tasks while the mopping unit is kept disassembled and the cleaning unit is in a cleaning state to perform a cleaning task. For example, the control unit is configured to control the cleaning robot to continue cleaning while the mopping unit is kept disassembled and the cleaning unit is in a cleaning state to perform a cleaning task in response to a carpet cleaning completion signal sent by the carpet recognition sensor. That is, when the cleaning robot is in the cleaning mode, the mopping unit is always in a disassembled state, and the cleaning unit is always in a cleaning state.When the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot moves on the carpet while the mopping unit is in a disassembled state and the cleaning unit is in a cleaning state to clean the carpet; therefore, in one embodiment, the control unit is configured as follows: if the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to detach the mopping unit from the main body, for example, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to move on the carpet while keeping the mopping unit in a disassembled state and the cleaning unit in a cleaning state to perform cleaning work on the carpet; further, the cleaning robot When the robot completes cleaning the carpet while keeping the mopping unit in a disassembled state and the cleaning unit in a cleaning state to perform the cleaning work, in order to continue to perform subsequent mopping work, especially mopping work on non-carpets, the mopping unit should be switched from a disassembled state to a mopping state at this time; therefore, the control unit is configured to control the cleaning robot to install the mopping unit in response to the carpet cleaning completion signal sent by the carpet recognition sensor, for example, to control the cleaning robot to return from the current position (here refers to the position where the carpet cleaning is completed) to the base station, reinstall the originally disassembled mopping unit on the main body, or install a new mopping unit on the main body, and return to the current position (i.e. the position where the carpet cleaning is completed), switch to the mopping state, so that the cleaning robot continues to perform the sweeping and mopping work when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0180] It is understandable that the timing for the mopping unit to switch from the disassembled state to the mopping state should satisfy the following: the control unit controls the mopping unit to descend at any time between the moment the cleaning robot installs the mopping unit and the moment the cleaning robot returns to the current position (the position where the carpet cleaning is completed); or, the control unit controls the mopping unit to descend at any position on the planned path from the base station position where the cleaning robot installs the mopping unit to the position where the cleaning robot returns to the current position (the position where the carpet cleaning is completed), so that the mopping unit is in the mopping state and continues to perform subsequent mopping work; wherein the planned path does not pass through any carpet. Of course, in other embodiments, if the planned path cannot avoid carpets, that is, if there are carpets on the planned path, the control unit controls the mopping unit to descend at any non-carpet position on the planned path from the base station position where the cleaning robot installs the mopping unit to the position where the cleaning robot returns to the current position (the position where the carpet cleaning is completed).

[0181] When the cleaning robot is in the sweep-first-then-mop mode (mopping mode in the back-mopping phase), and the thickness value of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot crosses the carpet while the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work; therefore, in one embodiment, the controller is configured as follows: if the cleaning robot is in the sweep-first-then-mop mode (mopping mode in the back-mopping phase), and the thickness value of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to separate the mopping unit from the main body, for example, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot at the base station, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet while the mopping unit is kept disassembled and the cleaning unit is not performing cleaning work; proceed In one step, after the cleaning robot crosses the carpet while keeping the mopping unit disassembled and the cleaning unit not performing the cleaning work, the mopping unit switches from the disassembled state to the mopping state so as to continue to perform subsequent mopping work, especially mopping work on non-carpets; therefore, the control unit is configured to control the cleaning robot to install the mopping unit in response to the carpet crossing completion signal sent by the carpet recognition sensor, for example, to control the cleaning robot to return from the current position (here refers to: the position where the carpet crossing is completed) to the base station, reinstall the originally disassembled mopping unit on the main body, or install the new mopping unit on the main body, and return to the current position (i.e. the position where the carpet crossing is completed), switch to the mopping state, so that the cleaning robot continues to perform mopping work while the mopping unit is in the mopping state and the cleaning unit is not performing the cleaning work. It should be understood that the timing for the mopping unit to switch from the disassembled state to the mopping state should satisfy the following: the control unit controls the mopping unit to descend at any time between the moment the cleaning robot installs the mopping unit and the moment the cleaning robot returns to its current position (the position where the carpet crossing is completed); or, the control unit controls the mopping unit to descend at any position on the planned path from the base station position where the cleaning robot installs the mopping unit to the position where the cleaning robot returns to its current position (the position where the carpet crossing is completed), so that the mopping unit is in the mopping state and continues to perform subsequent mopping work; wherein the planned path does not pass through any carpet. Of course, in other embodiments, if the planned path cannot avoid carpets, that is, if there are carpet locations on the planned path, the control unit controls the mopping unit to descend at any non-carpet location on the planned path from the base station position where the cleaning robot installs the mopping unit to the position where the cleaning robot returns to its current position (the position where the carpet crossing is completed).

[0182] When the cleaning robot is in single mopping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot crosses the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work; further, after the cleaning robot crosses the carpet in a disassembled state and the cleaning unit is not performing cleaning work, the mopping unit switches from the disassembled state to the mopping state so as to continue to perform subsequent mopping work; therefore, in one embodiment, the control unit is configured to control the cleaning robot to install the mopping unit in response to a carpet crossing completion signal sent by the carpet recognition sensor, for example, to control the cleaning robot to return from the current position (here: the position where the carpet crossing is completed) to the base station, reinstall the originally disassembled mopping unit on the main body, or install a new mopping unit on the main body, and return to the current position (i.e., the position where the carpet crossing is completed), switch to the mopping state, so that the cleaning robot continues to perform mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work.

[0183] In summary, since the cleaning unit is not working in either the "drag" mode in the sweep-first-then-drag mode or the single-mop mode, the strategy corresponding to the "drag" mode in the sweep-first-then-drag mode is also applicable to the single-mop mode that only performs mopping work.

[0184] For example, in another embodiment, when the cleaning robot encounters a long-haired carpet or moves on a long-haired carpet, the mopping unit may also be in a replacement state; at this time, the mopping unit in the replacement state is clean and will not cause pollution to the carpet; in order to improve the mobility of the cleaning robot on the long-haired carpet and avoid the carpet from causing pollution to the mopping unit, the replaced mopping unit should further be moved on the long-haired carpet in a raised state; similarly, for modes with cleaning requirements, such as sweep-and-mop mode or sweeping mode, the cleaning unit is in a cleaning state so that the cleaning robot can clean the carpet; and for modes without cleaning requirements, such as sweep first and then mop (mainly the mopping mode with the rear mop) or the single mop mode, the cleaning unit does not need to perform cleaning work.

[0185] That is to say, in order to avoid contaminating the carpet and at the same time avoid the influence of the carpet on the mopping unit and improve the mobility performance of the cleaning robot, when the cleaning robot is in the sweeping mode and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot moves on the carpet and cleans the carpet when the cleaning unit is in the cleaning state and the replaced mopping unit is in the lifted state; therefore, in one embodiment, the control unit is configured as follows: if the cleaning robot is in the sweeping mode and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to replace the mopping unit so that the mopping unit is in a replaced state, for example, control the cleaning robot to return from the current position (here refers to the position where the carpet is encountered) to the base station, and at the base station, the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the new mopping unit is installed on the main body of the cleaning robot by the replacement component of the base station, so that the mopping unit In a replacement state; or control the cleaning robot to return from the current position (here refers to the position where the carpet is encountered), and the base station completes the disassembly and installation of the mopping unit by the replacement structure of the base station at the base station, so that the mopping unit is in a replacement state; control the mopping unit in the replacement state to be lifted, so that the cleaning robot moves on the carpet while keeping the new mopping unit lifted and the cleaning unit in a cleaning state to perform cleaning work, so as to clean the carpet; further, when the cleaning robot completes cleaning the carpet by keeping the new mopping unit lifted and the cleaning unit in a cleaning state to perform cleaning work, the cleaning robot still keeps the mopping unit lifted and the cleaning unit in a cleaning state to perform cleaning work, and continues to perform subsequent cleaning work. For example, the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, and control the cleaning robot to keep the mopping unit lifted and the cleaning unit in a cleaning state to perform cleaning work and continue to perform cleaning work.

[0186] When the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot moves on the carpet in the lifting state when the replaced mopping unit is in the cleaning state to clean the carpet; therefore, in one embodiment, the control unit is configured as follows: if the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to replace the mopping unit so that the mopping unit is in a replaced state, for example, the cleaning robot is controlled to return from the current position (here refers to the position where the carpet is encountered) to the base station, and the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the replacement component of the base station installs the new mopping unit on the main body of the cleaning robot, so that the mopping unit is in a replaced state; or the cleaning robot is controlled to return from the current position (here refers to the position where the carpet is encountered) to the base station, and the replacement structure of the base station completes the mopping at the base station. The disassembly and installation of the floor unit puts the mopping unit in a replacement state; the mopping unit is controlled to switch from the replacement state to the lifting state (for example, the mopping unit in the replacement state is controlled to lift, so that the new mopping unit is in the lifting state), so that the cleaning robot moves on the carpet while keeping the new mopping unit in the lifted state and the cleaning unit in the cleaning state to perform the cleaning work, so as to clean the carpet; further, when the cleaning robot completes cleaning the carpet while keeping the mopping unit in the lifted state and the cleaning unit in the cleaning state to perform the cleaning work, in order to continue to perform subsequent mopping work, especially mopping work for non-carpets, at this time, the mopping unit should be switched from the lifting state to the mopping state; therefore, the control unit is configured to control the cleaning robot to switch the mopping unit from the lifting state to the mopping state in response to the carpet cleaning completion signal sent by the carpet recognition sensor, so that the cleaning robot continues to perform the sweeping and mopping work when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0187] It is understandable that the timing for the mopping unit to switch from the replacement state to the raised state should meet the following requirements: at any time between the moment the mopping unit is installed on the cleaning robot and the moment the cleaning robot returns to its current position (i.e., the position where it encounters a carpet), the control unit controls the new mopping unit to be raised; or, at any position on the planned path from the base station position where the mopping unit is installed on the cleaning robot to the position where the cleaning robot returns to its current position (i.e., the position where it encounters a carpet), the control unit controls the mopping unit to be raised, so that the mopping unit is in the raised state and continues to move on the carpet it encounters; wherein the planned path does not pass through any carpet. Of course, in other embodiments, if the planned path cannot avoid carpets, that is, if there are carpets on the planned path, the control unit controls the mopping unit to be raised at the position where the mopping unit is installed on the cleaning robot to the position where the cleaning robot first encounters a carpet on the planned path from the base station position where the mopping unit is installed on the cleaning robot to the position where the cleaning robot first encounters a carpet.

[0188] When the cleaning robot is in the sweep-first-then-mop mode (mopping mode during rear mopping), and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot crosses the carpet when the replaced mopping unit is in a raised state and the cleaning unit is not performing cleaning work; therefore, in one embodiment, the controller is configured as follows: if the cleaning robot is in the sweep-first-then-mop mode (mopping mode during rear mopping), and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to replace the mopping unit so that the mopping unit is in a replaced state, for example, the cleaning robot is controlled to return from the current position (here refers to the position where the carpet is encountered) to the base station, and at the base station, the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the new mopping unit is installed on the main body of the cleaning robot by the replacement component of the base station, so that the mopping unit is in a replaced state; or the cleaning robot is controlled to return from the current position (here refers to the position where the carpet is encountered) to the base station, and at the base station, the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the new mopping unit is installed on the main body of the cleaning robot by the replacement component of the base station, so that the mopping unit is in a replaced state; or The robot returns to the base station from its current position (here, the position where it encounters the carpet), and at the base station, the replacement structure of the base station completes the removal and installation of the mopping unit, so that the mopping unit is in a new state; and the mopping unit in the new state is controlled to be lifted, so that the cleaning robot crosses the carpet while the new mopping unit is kept lifted and the cleaning unit is not performing a cleaning operation; further, after the cleaning robot crosses the carpet while the mopping unit is kept lifted and the cleaning unit is not performing a cleaning operation, the mopping unit switches from the lifted state to the mopping state to continue to perform subsequent mopping operations, especially mopping operations on non-carpets; therefore, in one embodiment, the control unit is configured to control the cleaning robot to switch from the lifted state to the mopping state in response to a carpet crossing completion signal sent by the carpet recognition sensor, so that the cleaning robot continues to perform mopping operations while the mopping unit is in the mopping state and the cleaning unit is in the cleaning state. It should be noted that the working mode of the cleaning robot can be set at the factory, can be input by the user through the interface of the cleaning robot, or can be set by the user through an application, and this is not limited by the present disclosure.

[0189] Given that carpets have various thicknesses and cleaning robots have multiple modes, regarding the order of determining the working mode and carpet thickness, in one embodiment, the working mode of the cleaning robot is first determined, such as receiving the working mode selected by the user or determining it according to the factory mode in the absence of user input; the cleaning robot then performs cleaning work in this working mode, and when encountering a carpet, it identifies the thickness of the carpet; finally, corresponding strategies are executed according to the working mode of the cleaning robot and the carpet thickness.

[0190] Of course, in other embodiments, when encountering a carpet, the thickness of the carpet can be identified first, and then the operating mode of the cleaning robot can be determined, and finally a corresponding strategy can be executed based on the operating mode of the cleaning robot and the thickness of the carpet. This disclosure is not limited to this.

[0191] The following is a brief description of the cleaning robot's response strategies for carpets of various thicknesses and cleaning robots with various modes, with reference to Table 1:

[0192] 1. If the cleaning robot is in sweeping mode and the thickness of the carpet is less than or equal to a first preset value, the mopping unit is controlled to be raised, so that the mopping unit is in a raised state; further, the cleaning robot is controlled to move on the carpet when the mopping unit is in the raised state and the cleaning unit is in the cleaning state, so as to clean the carpet;

[0193] In addition, if the carpet cleaning is completed, the cleaning robot is controlled to continue cleaning when the mopping unit is in the raised state and the cleaning unit is in the cleaning state.

[0194] 2. If the cleaning robot is in sweeping mode and the carpet thickness is greater than the first preset value and less than or equal to the second preset value,

[0195] Strategy 1: Control the cleaning robot to return to the base station and detach the mopping unit from the main body, so that the mopping unit is in a disassembled state. Furthermore, control the cleaning robot to move on the carpet while the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, thereby cleaning the carpet.

[0196] In addition, if the carpet cleaning is completed, the cleaning robot is controlled to keep the mopping unit in the disassembled state and the cleaning unit in the cleaning state to continue cleaning.

[0197] Strategy 2: Control the cleaning robot to return to the base station and replace the mopping unit so that the mopping unit is in a new state; further, control the new mopping unit to be lifted, so that the cleaning robot moves on the carpet while the mopping unit is in the lifted state and the cleaning unit is in the cleaning state, thereby cleaning the carpet.

[0198] It should be noted that, if the carpet cleaning is completed, the cleaning robot is controlled to keep the mopping unit in the raised state, and the cleaning unit is in the cleaning state to continue the cleaning work.

[0199] 3. If the cleaning robot is in the sweeping and mopping mode and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; further, control the cleaning robot to move on the carpet when the mopping unit is in the raised state and the cleaning unit is in the cleaning state, so as to clean the carpet;

[0200] Furthermore, if the carpet is cleaned, the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to sweep and mop when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0201] 4. If the cleaning robot is in sweeping and mopping mode, and the carpet thickness is greater than the first preset value and less than or equal to the second preset value,

[0202] Strategy 1: Control the cleaning robot to return from its current location to the base station to disassemble the mopping unit, leaving the mopping unit in a disassembled state. Furthermore, control the cleaning robot to return to its current location and move over the carpet with the mopping unit in a disassembled state and the cleaning unit in a cleaning state, so that the cleaning unit cleans the carpet.

[0203] Considering that the cleaning robot may have a lifting mechanism for lifting the mopping unit, wherein the lifting mechanism includes a mop plate mounting frame connected to the mopping unit, in order to improve the mobility of the cleaning robot on the carpet and avoid the influence that may be caused by the mounting frame; in one embodiment, after the mopping unit is removed, the mop plate mounting frame is controlled to be lifted, so that the cleaning robot moves on the carpet when the mopping unit is in a removed state, the mop plate mounting frame is in a lifted state, and the cleaning unit is in a cleaning state;

[0204] It should be noted that after the carpet is cleaned, the cleaning robot is controlled to return to the base station to install the mopping unit, and the mopping unit is controlled to switch to the mopping state, so that the cleaning robot continues to sweep and mop when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0205] Strategy 2: Control the cleaning robot to return from the current position to the base station to update the mopping unit, so that the mopping unit is in a new state; further, control the new mopping unit to be lifted, so that the cleaning robot moves on the carpet when the new mopping unit is in the lifted state and the cleaning unit is in the cleaning state, so as to clean the carpet.

[0206] It is understandable that after the carpet is cleaned, the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to sweep and mop when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.

[0207] 5. If the cleaning robot is in the sweep-then-mop mode (where the mopping unit is in the mopping state), and the carpet thickness is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit (i.e., switch from the mopping state to the lifting state), so that the mopping unit is in the lifting state; further, the cleaning robot is controlled to cross the carpet in the state where the mopping unit is in the lifting state and the cleaning unit is not performing a cleaning operation;

[0208] It should be noted that if the carpet crossing is completed, the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit is not performing the cleaning work.

[0209] 6. If the cleaning robot is in the sweep-first-then-mop mode, and the carpet thickness is greater than the first preset value and less than or equal to the second preset value,

[0210] Strategy 1: Control the cleaning robot to return from its current location to the base station to disassemble the mopping unit, leaving it in a disassembled state. Furthermore, control the cleaning robot to return to its current location and cross the carpet while the mopping unit is disassembled and the cleaning unit is not cleaning.

[0211] It should be noted that if the carpet crossing is completed, the cleaning robot is controlled to return to the base station to install the mopping unit, and the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit is not performing the cleaning work.

[0212] Strategy 2: Control the cleaning robot to return from its current position to the base station to update the mopping unit so that the mopping unit is in a new state; further, control the new mopping unit to be lifted, so that the cleaning robot crosses the carpet when the mopping unit is lifted and the cleaning unit is not performing cleaning work.

[0213] It is understandable that if the carpet crossing is completed, the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit is not performing the cleaning work.

[0214] Table 1 Strategy table of cleaning robots under different modes and different carpet thicknesses

[0215]

[0216]

[0217] It should be pointed out that the scenarios in which the mopping unit is lifted are not limited to the above-mentioned scenarios where the cleaning robot encounters carpets, but can also include obstacle crossing, return (return to the base station), transfer, etc.; in order to adapt to different scenario requirements, the mopping unit of the cleaning robot is in a lifted state when encountering carpets, crossing obstacles, transferring or returning to the base station; wherein transfer refers to the process of the cleaning robot moving from one area (area A) to another area (such as area B) to switch areas (such as starting to clean another area), wherein area A and area B are two different areas, and the area division can be done by the cleaning robot, such as the cleaning robot automatically divides according to the actual wall surface or the cleaning robot divides according to the function of the area (such as kitchen, bathroom, living room, bedroom, etc.); it can also be divided by the user, such as the user manually divides by hand-drawing on the generated map through the App; wherein the starting point for the mopping unit to be lifted is the location where the cleaning robot finished cleaning the previous area (area A). To facilitate understanding of the concept of transition, in one embodiment, when the cleaning robot finishes cleaning area A and moves to the cleaning starting point of area B to clean, the process is called transition, wherein the position where the cleaning of area A ends is defined as the starting point of the transition; the position where the cleaning of area B starts is defined as the end point of the transition; the mopping unit is lifted at the starting point of the transition, and the cleaning robot moves from the starting point of the transition to the end point of the transition when the mopping unit is in the lifted state, and then at the end point of the transition, the mopping unit can be switched from the lifted state to the mopping state to mop area B.

[0218] In one embodiment, the cleaning robot may have multiple cleaning modes. Considering the requirements for the mopping unit in different modes, in one embodiment, the cleaning robot may determine the status of the mopping unit according to the mode it is in.

[0219] That is, the control unit is configured to: control the state of the mopping unit based on the mode in which the cleaning robot is located;

[0220] Taking into account that some modes are not related to the mopping unit, such as the sweeping mode, the mopping unit does not work in the sweeping mode. Therefore, in one embodiment, when the cleaning robot is in the sweeping mode, the control unit controls the mopping unit to detach from the main body, so that the mopping unit is in a disassembled state.

[0221] Some modes are associated with the mopping unit, such as the sweep-and-mop mode, the sweep-first-then-mop mode, the single-mop mode, etc. In these modes, the mopping unit is working. Therefore, when the cleaning robot is in the working mode associated with the mopping unit, the mopping unit is installed on the main body. When the cleaning robot encounters a scene that requires the mopping unit to be lifted, the control unit controls the mopping unit to be lifted, so that the mopping unit is in the lifted state; and when the scene that requires the mopping unit to be lifted disappears, the control unit controls the mopping unit to be lowered, so that the mopping unit is in the mopping state and continues to perform the mopping work;

[0222] For example, let's take the scenario where a cleaning robot encounters a carpet as an example:

[0223] To avoid contaminating the carpet, in one embodiment, when the cleaning robot is in a working mode associated with the mopping unit and encounters a carpet, the control unit controls the mopping unit to lift, so that the cleaning robot crosses the carpet with the mopping unit in the lifted state;

[0224] Furthermore, if crossing the carpet is completed, that is, the condition / scenario that triggers the mopping unit to lift disappears, and the mopping unit needs to perform mopping work. At this time, the control unit controls the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.

[0225] It can be understood that, in the process of crossing the carpet, if the above-mentioned working mode is associated with the mopping unit, it is also associated with the cleaning unit, such as the sweeping and mopping mode. At this time, the cleaning unit is in a cleaning state, so as to clean the carpet in the process of crossing the carpet; and in the process of crossing the carpet, if it is in a working mode associated with the mopping unit, it is also unrelated to the cleaning unit, such as the sweep-first-then-mop mode (mopping mode with rear mopping) and the single mopping mode. At this time, the cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor in the process of crossing the carpet.

[0226] For another example, take the scenario of a cleaning robot transitioning to another area as an example: in order to avoid cross-contamination between different areas, in one embodiment, when the cleaning robot is in a working mode associated with a mopping unit and the cleaning robot is transitioning (for example, cleaning of the current area is finished and the robot is about to move to the next area for cleaning), the control unit controls the mopping unit to lift (for example, controls the mopping unit to switch from a mopping state to a lifted state at the starting point of the transition), so that the cleaning robot moves from the starting point of the transition to the end point of the transition while the mopping unit is in the lifted state;

[0227] Furthermore, if the cleaning robot reaches the end point of the transfer, the condition / scene that triggers the lifting of the mopping unit disappears, and the mopping unit needs to perform mopping work. Therefore, the control unit can control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.

[0228] It can be understood that in the process of transition (moving from the starting point of the transition to the end point of the transition), if the above-mentioned working mode is associated with the mopping unit, it is also associated with the cleaning unit, such as the sweeping and mopping mode. At this time, the cleaning unit is in a cleaning state, so that the cleaning work is performed by the cleaning unit during the transition; and in the process of transition, if it is in a working mode associated with the mopping unit, it is also unrelated to the cleaning unit, such as the sweep-first and mop-later mode (mopping mode with rear mopping) and the single mopping mode. At this time, the cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor during the transition.

[0229] For example, let’s take the scenario of the cleaning robot returning to the scene as an example.

[0230] In order to avoid secondary contamination of the mopped area during the return process, in one embodiment, when the cleaning robot is in a working mode associated with the mopping unit and the cleaning robot meets the maintenance conditions, the control unit controls the mopping unit to lift (for example, controls the mopping unit to switch from the mopping state to the lifted state at the current position), so that the cleaning robot moves from the current position to the position of the base station when the mopping unit is in the lifted state; wherein the maintenance conditions include but are not limited to charging (charging the cleaning robot), replenishing fluid (replenishing liquid in the water tank of the cleaning robot), dust collection (recovering garbage in the dust box of the cleaning robot), and replacing mopping cleaning parts.

[0231] Furthermore, if the cleaning robot reaches the base station to complete the maintenance operation and returns to the breakpoint position (i.e., returns to the current position from the base station), the condition / scenario that triggers the lifting of the mopping unit disappears, and the mopping unit can continue to mop the floor. Therefore, the control unit can control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.

[0232] In one embodiment, of course, during the regression process, if the above-mentioned working mode is associated with the mopping unit, it is also associated with the cleaning unit, such as the sweep-and-mop mode. At this time, the cleaning unit is in a cleaning state, so that the cleaning unit performs the cleaning work during the regression process; and if it is in a working mode associated with the mopping unit, it is also unrelated to the cleaning unit, such as the sweep-first-then-mop mode (mopping mode with mopping later) and the single mopping mode. At this time, the cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops the floor nor sweeps the floor during the regression process.

[0233] Of course, in other embodiments, during the return process, regardless of whether it is in a working mode associated with the mopping unit or whether it is associated with the cleaning unit, in order to prevent secondary contamination problems during the return process, the cleaning unit of the cleaning robot is in a non-cleaning state during the return process, that is, the cleaning robot neither mops the floor nor sweeps the floor.

[0234] As shown in Figures 1 and 2, schematic diagrams of a cleaning robot system according to an embodiment of the present invention are shown. The cleaning robot system includes a cleaning robot 100 and a base station 200. The cleaning robot 100 can travel according to a predetermined program and return to the base station 200 when needed. When the cleaning robot 100 returns to the base station 200, it can recharge, remove the mopping cleaning element 320, or replace the mopping cleaning element 320. Replacing the mopping cleaning element 320 can include replacing it with a clean mopping cleaning element 320, or cleaning the mopping cleaning element 320, wherein the cleaning mopping cleaning element 320 includes drying the mopping cleaning element 320, or the mopping cleaning element 320 can be cleaned simultaneously to remove stains. The cleaning mopping cleaning element 320 can be cleaned while the mopping cleaning element 320 is installed on the cleaning robot 100, or it can be removed for cleaning and then reinstalled on the cleaning robot 100. The clean mopping cleaning element 320 can include replacing it with a clean, unused mopping cleaning element 320, or an old mopping cleaning element 320 that has been at least cleaned or dried. The specific type of the mopping cleaning member 320 is not limited, and it can be a mop, mop paper, sponge, etc.; the mopping cleaning member 320 can be disposable or reusable.

[0235] As shown in Figures 2 and 3, the cleaning robot 100 includes a main body 10, a cleaning unit 20, a mopping unit 30, a lifting mechanism 40, a carpet recognition sensor 50, and a control unit 60. The mopping unit 30 is mounted on the lifting mechanism 40. The cleaning unit 20 is configured to perform cleaning operations, the mopping unit 30 is configured to perform mopping operations, the lifting mechanism 40 is configured to lift and remove the mopping unit 30, and the carpet recognition sensor 50 is configured to recognize a carpet 300 (as shown in Figures 7 and 8). The control unit 60 can control the cleaning robot 100 to perform different operating modes based on the recognition results. The type of control unit 60 is not specifically limited and can include an embedded digital signal processor (DSP), a microprocessor (MPU), an application-specific integrated circuit (ASIC), etc. Detailed description is given below with reference to the accompanying drawings.

[0236] The main body 10 specifically includes a housing 110 that houses other components and a running mechanism 120 that drives the cleaning robot 100 to move automatically. A rechargeable battery (not shown) is disposed within the main body 10. The running mechanism 120 is specifically configured as running wheels or tracks. The rechargeable battery can be a nickel-cadmium, nickel-metal hydride, lithium-ion, or other type of battery.

[0237] The cleaning unit 20 is configured to perform cleaning work while the cleaning robot 100 is moving. Illustratively, the cleaning unit 20 includes a roller brush 210 and a side brush 220 disposed at the bottom of the main body 10. The roller brush 210 and the side brush 220 can be driven to rotate by a motor. The cleaning unit 20 also includes a dust box 230 disposed at the bottom of the main body 10. The roller brush 210 and the side brush 220 constitute the cleaning working head of the cleaning unit 20. The roller brush 210 and the side brush 220 can also be disposed alternatively. In other embodiments, the cleaning working head can also be a vacuum cleaner.

[0238] The mopping unit 30 is configured to perform mopping tasks while the cleaning robot 100 is moving. It includes a mopping cleaning element. Schematically, the mopping unit 30 includes a mopping plate 310 and a mopping cleaning element 320 mounted on the mopping plate 310. As shown in Figure 3, the cleaning robot 100 may also include a water supply module 70 that automatically supplies water to the mopping unit 30. The water supply module 70 can be controlled to spray water onto the mopping cleaning element 320 as needed to keep the mopping unit 30 moist.

[0239] The lifting mechanism 40 is configured to mount the mopping unit 30. The lifting mechanism 40 can raise or lower the mopping unit 30 and eject the mopping unit 30 from the lifting mechanism 40. When the lifting mechanism 40 raises the mopping unit 30, the water supply module 70 does not operate, does not spray water onto the mopping cleaning element 320, and the mopping unit 30 does not operate.

[0240] Illustratively, the lifting mechanism 40 includes a motor 410, a drive shaft 420 driven by the motor 410, a first cam 430 and a second cam 440 mounted on the drive shaft 420, and a mop plate mounting bracket 450. The mop plate mounting bracket 450 is capable of contacting the first cam 430. The mop plate 310 of the mopping unit 30 is mounted on the mop plate mounting bracket 450 and is capable of contacting the second cam 440.

[0241] Specifically, the mop plate 310 of the mopping unit 30 can be attached to the mop plate mounting bracket 450 via magnets. When the drive shaft 420 rotates, the first cam 430 drives the mop plate mounting bracket 450 to raise and lower the mopping unit 30. When the first cam 430 raises the mop plate 310 to its highest point, the second cam 440 releases the magnet's attraction and allows the mopping unit 30 to be removed from the mop plate mounting bracket 450. When the first cam 430 rotates in the opposite direction, the mop plate mounting bracket 450 descends. This allows the mopping unit 30 to be raised and removed. When the lifting mechanism 40 raises the mopping unit 30, it cannot perform mopping operations. When the lifting mechanism 40 lowers the mopping unit 30, it can perform mopping operations.

[0242] As shown in Figure 3, the mop plate mounting frame 450 contacts the first cam 430 through the square frame 460, wherein the square frame 460 is covered outside the first cam 430. When the first cam 430 rotates, the cam surface of the first cam 430 contacts the inner wall of the square frame 460. The above-mentioned first cam 430 is a lifting unit for realizing the mopping unit 30, and the second cam 440 is an ejection unit for ejecting the mopping unit 30. It is understandable that the lifting unit in the lifting mechanism 40 is not limited to the above-mentioned first cam 430, and can be a linear motion module driven by a motor. The ejection unit in the lifting mechanism 40 is not limited to the above-mentioned second cam 440, and can be a linear motion module driven by a motor.

[0243] Furthermore, in the above-described exemplary embodiment, when the lifting mechanism 40 lifts the mopping unit 30, it can simultaneously lift the mopping unit 30 to remove it from the lifting mechanism 40. By lifting the mopping unit 30 to remove it from the lifting mechanism 40, the lifting mechanism 40 detaches the mopping unit 30 from the cleaning robot. The base station 200 then performs other actions, such as temporarily storing the removed mopping unit 30 or replacing it with a clean one. In other embodiments, the mopping unit 30 can be lifted first but not lifted, and then lifted when needed. In this embodiment, the mopping cleaning element 320 is detached and replaced by removing or replacing the entire mopping unit 30. However, in other embodiments, only the mopping cleaning element 320 can be replaced, i.e., the mopping plate 310 in the mopping unit 30 is not replaced. In this case, it can be understood that the mopping unit 30 only includes the mopping cleaning element 320, and the lifting mechanism 40 only raises or lowers the mopping cleaning element 320. It should be noted that the disassembly (or lifting) of the mopping cleaning member can be achieved by disassembly (or lifting) of the mop plate.

[0244] In addition, in this embodiment, the mop plate 310 and the lifting mechanism 40 of the mopping unit 30 can be integrated and raised and lowered together; or they can be two independent components, and the mop plate 310 can be raised and lowered under the drive of the lifting mechanism 40.

[0245] As shown in FIG4 , the base station 200 has a space 201 into which the cleaning robot 100 can enter. A replacement assembly 202 is provided within the base station 200. The replacement assembly 202 is configured to receive the ejected mopping unit 30 and replace it with a clean one when the cleaning robot 100 enters the base station 200, according to a replacement instruction. The replacement assembly 202 may also simply receive the mopping unit 30 ejected by the second cam 440, i.e., simply place the mopping unit 30 into the mopping unit storage position without replacing it with a clean one. As shown in FIG2 , the cleaning robot 100 also includes a detection assembly 80, which is configured to detect whether the mopping unit 30 is in the mopping state and whether the cleaning unit 20 is in the cleaning state. Schematically, the detection assembly 80 includes a position sensor that determines whether the mopping unit 30 is in the mopping state by detecting changes in the position of the lifting mechanism 40. Schematically, the detection assembly 80 includes an angle sensor that determines whether the mopping unit 30 is in the cleaning state by detecting the operation of the motor of the cleaning unit 20.

[0246] In the above embodiment, the replacement assembly 202 can cooperate with the lifting mechanism 40 to replace the mopping unit 30 with a clean one. In other embodiments, the replacement assembly 202 can independently replace the mopping unit 30. Furthermore, the replacement assembly 202 can be configured solely to remove the mopping unit 30, thereby separating it from the cleaning robot 100.

[0247] In some embodiments, the base station 200 includes a cleaning component for cleaning the mopping cleaning member 320 of the cleaning robot 100. The cleaning component cleans the mopping cleaning member 320 of the cleaning robot 100 to keep it in a clean state.

[0248] In some embodiments, the base station 200 includes a mopping unit storage location that can temporarily store a disassembled mopping unit 30. During storage, the mopping unit 30 can be cleaned to maintain a clean state, or the mopping unit 30 can be replaced in the mopping unit storage location. It should be noted that when cleaning or replacing the mopping unit 30, only the mopping cleaning element 320 can be cleaned or replaced, or the mopping plate 310 to which the mopping cleaning element 320 is mounted can be cleaned or replaced together. Of course, other components of the mopping unit 30 can also be cleaned or replaced together, and this embodiment does not specifically limit this.

[0249] In some embodiments, the base station 200 has a disassembly component for disassembling the mopping cleaning member 320 for the cleaning robot. The disassembly component is configured to disassemble the mopping cleaning member 320 but is not configured to replace the mopping cleaning member 320 .

[0250] In some embodiments, the base station 200 has a cleaning assembly for cleaning the mopping cleaning element 320 of the cleaning robot 100. When the cleaning robot 100 enters the base station 200, the cleaning assembly can clean the mopping cleaning element 320 on the cleaning robot 100.

[0251] In order to improve the convenience of use and meet the working requirements of different scenarios, the cleaning robot 100 can have a first working mode, a second working mode and a third working mode when operating, so that the user can choose one of them according to their needs. The first working mode is defined as a sweeping and mopping mode, that is, when the cleaning robot 100 is walking, the cleaning unit 20 performs the cleaning task, and the mopping unit 30 performs the mopping work at the same time. The second working mode is defined as a sweep-first-then-mop mode, that is, the cleaning robot 100 first cleans the area to be cleaned in the sweeping mode, and then works in the mopping mode; wherein, in the sweeping mode, the mopping unit 30 does not work, and in the mopping mode, the cleaning unit 20 does not work. The third working mode is a simple sweeping mode.

[0252] The inventors have found that when the mopping unit 30 is in the mopping state, it may be in the first working mode or the second working mode mentioned above. Since the mopping unit 30 is in a wet and dirty state, when the target area of ​​the cleaning robot 100 is the carpet 300, the existing cleaning strategy cannot cope with carpets 300 of different thicknesses, resulting in the inability to clean the carpet 300 or soiling the carpet 300 when encountering thicker carpets.

[0253] In addition, the inventors have found that even when the cleaning robot is in sweeping mode (which can be the sweeping mode in the sweep-first-then-mop mode, or the third working mode mentioned above), when encountering a thicker carpet, the mopping cleaning element 320 carried by the robot may be in a dirty state. At this time, if the robot continues to sweep the floor, the mopping cleaning element 320 may still dirty the carpet 300.

[0254] In response to the above problems, the embodiments of the present invention propose the following improvement solutions.

[0255] The carpet recognition sensor 50 is configured to recognize the carpet 300 and send the detected thickness value of the carpet 300 to the control unit 60. The control unit 60 can control the cleaning robot 100 to execute different working modes according to different thickness values of the carpet 300. Schematically, the carpet recognition sensor 50 can use ultrasonic detection to recognize the thickness of the carpet 300, and can detect according to the energy change and time reflected by the object. Corresponding to the electronic signal is the change of the value. The value range can be divided by testing, and the thickness of the carpet 300 can be distinguished by this value range division. As shown in FIG. 2, the carpet recognition sensor 50 can be arranged at the front side of the robot or the front of the robot floor. Schematically, the carpet recognition sensor 50 can be a vision sensor, and can detect the side thickness of the carpet 300 through an image, and can be arranged at the middle position of the front side of the robot.

[0256] The control unit 60 is configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 satisfies 0 < d ≤ H1, that is, when the thickness value of the carpet 300 is less than or equal to the first preset value, control the lifting mechanism 40 to lift the mopping unit 30 and the cleaning robot 100 to drive onto the carpet 300.

[0257] The control unit 60 is further configured to: when the thickness value of the carpet detected by the carpet recognition sensor is greater than the first preset value (H1) and less than or equal to the second preset value (H2), that is, when the thickness d of the carpet 300 satisfies H1 < d ≤ H2, control the cleaning robot 100 to disengage or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part is in a clean state; and control the cleaning unit 20 to switch from a non-cleaning state to a sweeping state and the cleaning robot 100 to drive onto the carpet 300.

[0258] Among them, the cleaning robot 100 disengaging from the mopping cleaning part 320 means disassembling the mopping cleaning part 320. Before the mopping cleaning part 320 is installed next time, the cleaning robot 100 is in a state of not carrying the mopping cleaning part 320 during operation. It can be disassembled by the cleaning robot 100 itself or by the base station 200. Updating the mopping cleaning part 320 can be replacing a new mopping cleaning part 320 or cleaning the mopping cleaning part 320 in use.

[0259] The control unit 60 is further configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the second preset value, that is, when the carpet thickness d satisfies H2 < d, control the cleaning robot 100 to walk along the edge of the carpet 300 or walk at a distance from the carpet;

[0260] Of course, in other embodiments, the cleaning robot 100 may also be configured to include an avoidance mode, so that the cleaning robot walks along the edge of the carpet 300 or walks at a distance from the carpet 300 in the avoidance mode.

[0261] The control unit 60 is also configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a second preset value, control the mopping cleaning element 320 to detach from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning element 320, so that the mopping cleaning element 320 is in a clean state, and control the cleaning unit to switch from a non-cleaning state to a sweeping state and drive onto the carpet.

[0262] 5 , which illustrates the control principle of the cleaning robot 100 according to an embodiment of the present invention, is briefly described below.

[0263] Taking the mopping unit 30 in the mopping state as an example, the carpet sensor detects in real time whether the target area in front of the cleaning robot 100 is the carpet 300 and sends the acquired thickness value of the carpet 300 to the control unit 60 .

[0264] When the carpet sensor does not detect the carpet 300 (ie, the thickness of the carpet 300 is 0), the mopping unit 30 is not lifted, and the cleaning robot 100 continues the original cleaning strategy.

[0265] When the carpet sensor detects that the carpet 300 has a thickness less than or equal to a first preset value, it is defined as a low-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30. If the cleaning robot 100 is in the first operating mode (sweep-and-mop mode), the cleaning robot 100 is controlled to drive onto the carpet 300, and the cleaning unit 20 of the cleaning robot 100 performs a cleaning operation to clean the carpet 300. When the carpet sensor detects that the carpet 300 has a thickness greater than the first preset value and less than or equal to a second preset value, if the cleaning robot 100 is in the second operating mode (sweep-then-mop mode), the cleaning robot 100 will cross over the carpet 300 without the cleaning unit 20 performing a cleaning operation. In embodiments of the present invention, crossing over the carpet 300 means that the cleaning robot 100 drives over the carpet 300 from one side of the carpet 300 and reaches the other side of the carpet 300.

[0266] That is, when the thickness of the carpet 300 detected by the carpet recognition sensor 50 is less than or equal to the first preset value, the cleaning robot 100 is controlled to lift the mopping cleaning member 320. No matter how the cleaning robot passes through the carpet 300 subsequently, the carpet 300 will not be soiled.

[0267] When the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, it is defined as a shag carpet. For a shag carpet, the cleaning robot 100 can still easily pass through; the control unit 60 controls the mopping cleaning part 320 to detach from the cleaning robot 100 or controls the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part 320 is in a clean state, so that the carpet 300 will not be soiled when the cleaning robot 100 drives onto the carpet. The cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement component 202 in the base station 200 to replace the clean mopping unit 30, or clean the mop unit 30 in the base station 200 (or other locations), so that the cleaning robot 100 will not soil the carpet 300 whether it sweeps the carpet 300 or not after driving onto the carpet 300 subsequently.

[0268] Specifically, when the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value (H1 < d ≤ H2), if the cleaning robot 100 is in the first working mode, the cleaning robot 100 will continue to clean the carpet 300 while keeping the mopping unit 30 lifted. At this time, the mopping cleaning part 320 is updated, so it will not pollute the carpet 300. When the carpet sensor detects that the thickness d of the carpet 300 satisfies H1 < d ≤ H2, if the cleaning robot 100 is in the second working mode, the cleaning robot 100 will walk along the edge of the carpet 300. At this time, the mopping cleaning part 320 is updated, so it will not soil the edge of the carpet; or, the cleaning robot 100 crosses the carpet 300 while keeping the mopping unit 30 lifted and the cleaning unit 20 not performing the cleaning work. At this time, the mopping cleaning part 320 is updated and will not soil the carpet.

[0269] In addition, when the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, the cleaning robot 100 can drive onto the carpet 300 regardless of the working mode. The control unit 60 controls the cleaning unit 20 to switch from the non-cleaning state to the sweeping state to clean the carpet 20. At this time, the carpet 300 will not be soiled.

[0270] When the thickness of the carpet 300 is greater than the second preset value, it is defined as an extra-long shag carpet. The cleaning robot 100 is controlled to walk along the edge of the carpet 300 or walk at a distance from the carpet. Of course, in other embodiments, when the thickness of the carpet 300 is greater than the second preset value, the control unit 60 can also control the mopping cleaning part 320 to detach from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part 320 is in a clean state, control the cleaning robot 100 to drive onto the carpet 300 and the cleaning unit 20 to perform the cleaning work.

[0271] In other embodiments, when the thickness of the carpet 300 is greater than a second preset value, the cleaning robot 100 is controlled to enter the avoidance mode, so that the cleaning robot 100 walks along the edge of the carpet 300 or walks at a distance from the carpet 300 in the avoidance mode.

[0272] Schematically, the first preset value H1 is 10-15mm, and the second preset value H2 is 15-25mm. Preferably, the first preset value H1 is 12mm, and the second preset value H2 is 20mm. Carpets 300 with a thickness of 12mm or less are defined as short-hair carpets. The cleaning robot 100 only needs to lift the mopping unit 30. After the cleaning robot 100 drives onto the carpet 300, the carpet 300 will not be soiled regardless of whether it cleans the carpet 300. Carpets 300 with a thickness of more than 12mm and less than 20mm are defined as long-hair carpets. It should be noted that the above-mentioned values ​​of H1 and H2 are all examples. During specific implementation, the above-mentioned H1 and H2 can be redefined with reference to the ability of the lifting mechanism 40 to lift the height of the mopping unit 30. For example, if the lifting capacity of the lifting mechanism 40 is only 8mm, then H1 can be determined as 8mm.

[0273] Schematically, the control unit 60 is configured as follows: in the first working mode of the cleaning robot 100: when the thickness of the carpet 300 detected by the carpet recognition sensor 50 is less than or equal to a first preset value, the cleaning robot 100 is controlled to lift the mopping unit 30, and the cleaning robot 100 is controlled to drive onto the carpet 300 and clean the carpet 300.

[0274] Schematically, the control unit 60 is configured as follows: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a first preset value and less than or equal to a second preset value, the cleaning robot 100 is controlled to drive from the current position into the base station 200 and detach from the mopping cleaning part in the base station 200, and after the mopping cleaning part 320 is detached, the cleaning robot 100 is controlled to return to the current position and perform the cleaning work on the carpet 300.

[0275] Schematically, the control unit 60 is configured as follows: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a first preset value and less than or equal to a second preset value, after the cleaning work is completed, the cleaning robot 100 is controlled to return to the base station 200 to install the mop unit 30, and return to continue to perform cleaning and mopping work at the same time.

[0276] Schematically, the control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot 100 to drive into the base station 200 from the current position, and update the mopping cleaning member 320 in the base station 200 to make the mopping cleaning member 320 in a clean state, and control the cleaning robot 100 to return to the current position and perform a cleaning operation on the carpet 300. Schematically, as shown in FIG. 9, in the base station 200, the mopping cleaning member 320 is updated by replacing the mop unit 30. The replacement component 202 descends to transfer the lifted mop unit 30 away and re-place a new mop unit 30.

[0277] Schematically, the control unit 60 is configured to: in the second working mode of the cleaning robot 100: control the cleaning robot 100 to cross the carpet 300 while keeping the mopping cleaning member 320 lifted and the cleaning unit 20 not performing a cleaning operation, and after the cleaning robot 100 crosses the carpet 300, control the mopping cleaning member 320 to perform the mopping operation. In the second working mode, the carpet 300 has been previously cleaned by the cleaning unit 20, so the cleaning robot 100 can continue to perform the mopping operation after crossing the carpet 300.

[0278] Schematically, the control unit 60 is configured to: in the second working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot 100 to drive into the base station 200 and replace the mopping cleaning member 320 with a new one in the base station, and control the cleaning robot 100 to return to the current position, and cross the carpet 300 while keeping the mopping cleaning member 320 lifted and the cleaning unit 20 not performing a cleaning operation, and after the cleaning robot 100 crosses the carpet 300, control the mopping cleaning member 320 to perform the mopping operation; or when the carpet thickness d detected by the carpet recognition sensor satisfies H1 < d ≤ H2, control the cleaning robot 100 to walk along the edge of the carpet 300 and the mopping cleaning member 320 to perform the mopping operation. Whether mopping after crossing the carpet 3, or walking along the edge of the carpet 300 and mopping, since the mopping cleaning member 320 is updated, the carpet 300 will not be contaminated.

[0279] It should be noted that if the cleaning robot 100 is in the sweeping mode at this time, it shall be processed as follows:

[0280] When the carpet sensor detects that the carpet 300 has a thickness less than or equal to a first preset value, it is defined as a low-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30. If the cleaning robot 100 is in the first operating mode, the cleaning robot 100 is controlled to drive onto the carpet 300, and the cleaning unit 20 of the cleaning robot 100 performs the cleaning operation.

[0281] When the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, the cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement component 202 in the base station 200 to replace the new mopping unit 30, or clean the mopping unit 30 in the base station 200 (or other locations), so that the cleaning robot 100 will not dirty the carpet 300 regardless of whether it cleans the carpet 300 after driving onto it.

[0282] When the thickness of the carpet 300 is greater than the second preset value, it is defined as an extra-long-pile carpet, and the cleaning robot 100 is controlled to enter the avoidance mode. The avoidance mode includes the cleaning robot 100 walking along the edge of the carpet 300 and bypassing the carpet 300.

[0283] The above is presented and will be described below in conjunction with specific application scenarios.

[0284] As shown in Figure 6 , the mopping unit 30 of the cleaning robot 100 is in the mopping mode. As shown in Figure 7 , when encountering a carpet 300 with a thickness d of no more than 10 mm, the lifting mechanism 40 of the cleaning robot 100 lifts the mopping unit 30, and the cleaning robot 100 drives onto the carpet 300. At this point, if the cleaning robot 100 is operating in the first operating mode, the lifting mechanism 40 lifts the mopping unit 30 and controls the cleaning robot 100 to drive onto the carpet 300. The control unit 60 also controls the cleaning robot 100 to clean the carpet 300. If the cleaning robot 100 is operating in the second operating mode, the cleaning robot 100 will cross the carpet 300 with the mopping unit 30 raised and the cleaning unit 20 not performing any cleaning work. After crossing the carpet 300, the lifting mechanism 40 lowers the mopping unit 30 and continues mopping.

[0285] As shown in FIG8 , when encountering a carpet 300 with a thickness d between 10 mm and 20 mm:

[0286] If the cleaning robot 100 is working in the first working mode, the cleaning robot 100 returns to the base station 200 to replace the new mopping unit 30. Then, when the mopping unit 30 is in the raised state, the cleaning unit 20 is controlled to continue cleaning the carpet 300.

[0287] If the cleaning robot 100 is operating in the second operating mode, as shown in FIG9 , the cleaning robot 100 returns to the base station 200 to replace the mopping unit 30 with a new one using the replacement assembly 202. The robot then returns to the base station 200, with the mopping unit 30 raised, and crosses the carpet 300. After the cleaning robot 100 crosses the carpet 300, the lifting mechanism 40 lowers the mopping unit 30 and continues mopping. Alternatively, since there is no need to clean the carpet 300, the cleaning robot 100 may not drive onto the carpet 300, but instead walk along the edge of the carpet 300 and mop the floor.

[0288] The cleaning robot 100 according to the embodiment of the present invention executes different cleaning strategies for carpets 300 of different thicknesses. This ensures that when the mopping unit 30 is in the mopping state, regardless of the operating mode of the cleaning robot 100, the mopping unit 30 will not contaminate the carpet 300 when the cleaning robot 100 executes subsequent action instructions, thereby facilitating the cleaning of the carpet 300. Furthermore, the cleaning robot 100 according to the embodiment of the present invention may be provided with only the mopping unit 30, without the cleaning unit 20. Similarly, when the cleaning robot 100 encounters carpets of varying thicknesses, the mopping unit 30 will not contaminate the carpet 300 when the cleaning robot 100 executes subsequent action instructions.

[0289] An embodiment of the present invention further provides a control method for a cleaning robot, which can be applied to the cleaning robot 100 of the above embodiment. Referring to FIG5 , the control method for the cleaning robot 100 is applied to a control unit 60 and includes the following steps.

[0290] S100 , detecting in real time by the carpet recognition sensor 50 whether the target area in front of the cleaning robot 100 is the carpet 300 and obtaining the thickness value of the carpet 300 .

[0291] S200. When the carpet thickness value detected by the carpet recognition sensor 50 is greater than a first preset value and less than or equal to a second preset value, the cleaning robot 100 is controlled to disengage or update the mopping cleaning part 320 so that the mopping cleaning part 320 is in a clean state, and the cleaning robot 100 drives onto the carpet 300.

[0292] In the above control method, when the carpet recognition sensor 50 detects that the thickness of the carpet 300 is greater than a first preset value and less than or equal to a second preset value, the cleaning robot 100 disengages from the mopping cleaning component 320 or updates the mopping cleaning component 320, so that the subsequent cleaning robot will not dirty the carpet 300 when it drives onto the carpet and cleans the carpet 300.

[0293] In some embodiments, S200 includes the steps of:

[0294] S210 , controlling the cleaning robot 100 to drive from the current position into the base station 200 and detach from the base station 200 , or controlling the cleaning robot 100 to update the mopping cleaning member 320 , so that the mopping cleaning member 320 is in a clean state.

[0295] S220: Control the cleaning robot 100 to return to the current position.

[0296] S230, controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet; or crossing the carpet 300 when the cleaning unit 20 is not performing cleaning work.

[0297] Furthermore, the cleaning robot 100 further includes a detection component 80, and the above-mentioned S230 includes the steps of:

[0298] S231 , controlling the detection component 80 to detect the working status of the mopping unit 30 and the cleaning unit 20 .

[0299] S232 : When the cleaning unit 20 is in the sweeping state and the mopping unit 30 is in the mopping state, control the cleaning robot 100 to perform a sweeping action to clean the carpet 300 .

[0300] S233, when the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, control the cleaning robot 100 to walk and mop along the edge of the carpet 300 or to cross the carpet 300 when the cleaning unit 20 is not performing the cleaning work.

[0301] When the cleaning unit 20 is in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the first working mode of sweeping and mopping. When encountering a thicker carpet 300 (long-haired carpet), the cleaning robot 100 is controlled to perform the cleaning action while raising the mopping unit 30 to clean the carpet 300.

[0302] When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, the cleaning robot 100 is in the second operating mode of sweeping first and mopping later. When encountering a thick carpet 300 (long-pile carpet), since the carpet 300 has already been cleaned by the cleaning unit 20, the cleaning robot 100 does not need to get on the carpet 300 and can directly walk along the edge of the carpet 300 to mop the floor. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, the cleaning robot 100 is in the second operating mode of sweeping first and mopping later. In this case, the cleaning unit 20 can also step over the carpet 300 without cleaning, and then perform mopping after stepping over the carpet 300. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, the cleaning robot 100 is in the second operating mode of sweeping first and mopping later. In this case, the cleaning unit 20 can also step over the carpet 300 to perform cleaning, that is, sweep again.

[0303] Furthermore, in S230, controlling the cleaning unit 20 of the cleaning robot 100 to perform a cleaning operation to clean the carpet 300 includes performing the cleaning operation on the carpet 300 while maintaining the raised state of the mopping cleaning element 320. Although the mopping cleaning element 320 does not soil the carpet, raising it can reduce resistance when the cleaning robot 100 moves forward.

[0304] In some embodiments, the control method of the cleaning robot further includes the steps of:

[0305] S300 : When the carpet thickness value detected by the carpet recognition sensor 50 is less than or equal to a first preset value, the cleaning robot 100 is controlled to lift the mopping cleaning element 320 and drive onto the carpet.

[0306] When the carpet thickness value is less than or equal to the first preset value, the surface encounters a carpet 300 (short-pile carpet) with a smaller thickness. The cleaning robot 100 lifts the mopping cleaning element 320 and drives onto the carpet 300. The mopping cleaning element 320 will not dirty the carpet.

[0307] Furthermore, S300 includes the following steps: S310, controlling the cleaning unit of the cleaning robot to perform a cleaning operation to clean the carpet. If the cleaning robot 100 is in the first sweeping and mopping mode, when encountering a thin carpet 300 (a low-pile carpet), the cleaning robot 100 is controlled to perform a cleaning operation with the mopping unit 30 raised to clean the carpet 300.

[0308] In some embodiments, the control method of the cleaning robot further includes the steps of:

[0309] S400: When the carpet thickness value detected by the carpet recognition sensor 50 is greater than a second preset value, the cleaning robot 100 is controlled to walk along the edge of the carpet 300 or to walk with a distance from the carpet; or, when the carpet thickness value detected by the carpet recognition sensor 50 is greater than a second preset value, the mopping cleaning element 320 is controlled to detach from the cleaning robot 100 or the cleaning robot is controlled to update the mopping cleaning element 320 so that the mopping cleaning element is in a clean state, and the cleaning robot 100 is controlled to drive onto the carpet.

[0310] When the carpet thickness value is greater than the second preset value, it indicates that the cleaning robot 100 has encountered an extra-long-pile carpet, which is defined as an extra-long-pile carpet. The cleaning robot 100 cannot cross over or has difficulty crossing over. Therefore, regardless of whether the cleaning robot 100 is in the first operating mode or the second operating mode, the cleaning robot 100 can walk along the edge of the carpet 300, with the cleaning unit 20 performing cleaning and the mopping unit 30 performing mopping, or the mopping unit 30 performing mopping.

[0311] Specifically, if the cleaning robot 100 is in the first working mode at this time, the cleaning robot 100 sweeps and mops while walking along the edge of the carpet 300. If the cleaning robot 100 is in the second working mode at this time, the cleaning robot 100 only mops the floor while walking along the edge of the carpet 300.

[0312] Additionally, if the carpet thickness exceeds a second preset value, the cleaning robot 100 can be forced onto the carpet 300. If the cleaning robot 100 is in the first operating mode, the cleaning unit 20 is controlled to switch from a non-cleaning state to a cleaning state and clean the carpet. If the cleaning robot 100 is in the second operating mode, the mopping cleaning element 320 can remain raised while the robot 100 crosses the carpet.

[0313] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0314] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0315] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0316] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0317] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A cleaning robot, It is characterized in that The cleaning robot comprises: main body, A walking mechanism, provided on the main body, drives the cleaning robot to move; A control unit controls the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned; A mopping unit is provided on the main body, the mopping unit has a mopping state, in which the mopping unit is used to perform mopping work; the mopping unit also has a lifting state and a disassembly state; When the cleaning robot moves on the carpet, the mopping unit is in a raised state or a disassembled state.

2. The cleaning robot according to claim 1, It is characterized in that The cleaning robot also includes: A carpet recognition sensor is provided in the main body to recognize the carpet and send the carpet recognition result to the controller; The controller is configured to: in response to a carpet recognition result of the carpet recognition sensor, control the mopping unit to detach from the main body so that the mopping unit is in a disassembled state; or control the mopping unit to lift so that the mopping unit is in a lifted state.

3. The cleaning robot according to claim 2, It is characterized in that The carpet recognition sensor is used to recognize the carpet and detect the thickness of the carpet, and send the thickness of the carpet to the controller. The controller is configured to: Based on the thickness value of the carpet, the state of the mopping unit is controlled; wherein, If the thickness of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a lifted state; If the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the mopping unit is controlled to be detached from the cleaning robot so that the mopping unit is in a disassembled state.

4. The cleaning robot according to claim 3, It is characterized in that The controller is further configured to control the cleaning robot to walk along the edge of the carpet or walk with a distance from the carpet if the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value.

5. The cleaning robot according to claim 2, It is characterized in that The cleaning robot also includes: A cleaning unit is provided on the main body, the cleaning unit has a cleaning state, and in the cleaning state, the cleaning unit is used to perform cleaning work; The cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.

6. The cleaning robot according to claim 5, It is characterized in that The controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; and control the mopping unit to lift when the cleaning robot is in the working mode associated with the mopping unit, so that the mopping unit is in a lifted state.

7. The cleaning robot according to claim 6, It is characterized in that The working mode associated with the mopping unit includes a sweep-first-mop-later mode; the controller is configured to: when the cleaning robot is in the sweep-first-mop-later mode, control the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work; The working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to: when the cleaning robot is in the sweeping and mopping mode, control the cleaning robot to drive onto the carpet while keeping the mopping unit lifted, and control the cleaning unit to perform cleaning work on the carpet.

8. The cleaning robot according to claim 2, It is characterized in that The controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; the controller is configured to: control the mopping unit to detach from the main body when the cleaning robot is in the sweeping mode, so that the mopping unit is in a disassembled state.

9. The cleaning robot according to claim 5, It is characterized in that The controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet; If the cleaning robot is in a sweeping mode and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a lifted state; If the cleaning robot is in a sweeping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the mopping unit is in a disassembled state; If the cleaning robot is in a working mode associated with the mopping unit, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a lifted state; If the cleaning robot is in a working mode associated with the mopping unit, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to drive onto the carpet while keeping the mopping unit lifted.

10. The cleaning robot according to claim 9, It is characterized in that The working mode associated with the mopping unit includes a sweeping and mopping mode; and the controller is configured to: If the cleaning robot is in a sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a lifted state; and the cleaning robot drives onto the carpet when the mopping unit is in the lifted state, so that the cleaning component cleans the carpet; If the cleaning robot is in a sweeping and mopping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return from the current position to a base station to update the mopping unit so that the mopping unit is in a clean state; and the cleaning robot is controlled to drive onto the carpet while keeping the mopping unit lifted, so that the cleaning component can clean the carpet.

11. The cleaning robot according to claim 10, It is characterized in that The working mode associated with the mopping unit includes a sweep-first-mop-later mode; and the controller is configured to: If the cleaning robot is in a sweep-before-mop mode, and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a lifted state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work; If the cleaning robot is in a sweep-first-then-mop mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return from the current position to the base station to update the mopping unit so that the mopping unit is in a clean state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work.

12. The cleaning robot according to claim 5, It is characterized in that The controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet; If the cleaning robot is in the sweeping mode, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to replace the mopping unit so that the mopping unit is in a replaced state; the new mopping unit is controlled to be lifted, so that the cleaning robot moves on the carpet when the mopping unit is in a lifted state and the cleaning unit is in a cleaning state, so as to clean the carpet; If the cleaning robot is in a sweeping and mopping mode, and the thickness value of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to move on the carpet when the mopping unit is in a disassembled state and the cleaning unit is in a cleaning state, so that the cleaning unit cleans the carpet; If the cleaning robot is in a mopping mode of sweeping before mopping, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.

13. The cleaning robot according to claim 1, It is characterized in that The cleaning robot includes a lifting unit, which is arranged on the main body and drives the mopping unit to lift up, so that the mopping unit is in a lifted state; The lifting unit is also used to drive the mopping unit to descend, so that the mopping unit is in a mopping state.

14. The cleaning robot according to claim 1, It is characterized in that The cleaning robot includes an ejection unit configured to eject the mopping unit so that the mopping unit is in a disassembled state.

15. The cleaning robot according to claim 9, It is characterized in that The base station includes a disassembly component configured to disassemble the mopping unit to separate the mopping unit from the cleaning robot.

16. The cleaning robot according to claim 9, It is characterized in that The base station has a temporary storage location for receiving a mopping unit detached from the cleaning robot; or, the base station includes a replacement component configured to receive a mopping component detached from the cleaning robot.

17. The cleaning robot according to claim 9, It is characterized in that The base station includes a replacement component configured to replace the mopping unit for the cleaning robot after the mopping unit is detached, so that the mopping unit is in a clean state.

18. The cleaning robot according to claim 9, It is characterized in that The base station includes a cleaning component configured to clean the mopping unit after the cleaning robot returns to the base station or the mopping component is separated from the main body, so that the mopping unit is in a clean state.

19. The cleaning robot according to claim 1, It is characterized in that The cleaning robot further comprises: a cleaning unit, which is disposed on the main body, the cleaning unit having a cleaning state, and the cleaning unit being configured to perform cleaning work in the cleaning state; The controller is configured to control the cleaning robot to switch to a cleaning state when the mopping cleaning element is lifted or separated from the main body, so that the cleaning unit performs the cleaning work on the carpet.

20. The cleaning robot according to claim 1, It is characterized in that The controller is configured to control the cleaning robot to walk along the edge of the carpet or walk with a distance from the carpet when the mopping cleaning element is lifted or separated from the main body.

21. The cleaning robot according to claim 1, It is characterized in that The mopping unit comprises a mopping cleaning member and a mopping floor panel, wherein the mopping floor panel is configured to be removably mounted with the mopping cleaning member; When the cleaning robot moves on the carpet, at least the mopping cleaning element is in a raised state or a disassembled state.

22. A cleaning robot system, It is characterized in that It comprises a base station and a cleaning robot as described in any one of claims 1 to 21, wherein The base station comprises at least one of the following components; A disassembly component is used to disassemble the mopping unit of the cleaning robot; Replace components to replace a clean mopping unit for the cleaning robot; A cleaning component is used to clean the mopping unit of the cleaning robot.

23. A control method for a cleaning robot, It is characterized in that The cleaning robot comprises a main body, a mopping unit having a mopping cleaning member, a carpet recognition sensor and a controller provided on the main body, wherein the mopping unit is configured to perform a mopping operation, and the carpet recognition sensor is configured to recognize a carpet; The method is applied to the controller and comprises the steps of: Detecting whether the target area in front of the cleaning robot is a carpet by the carpet recognition sensor; If the carpet recognition sensor detects a carpet, the mopping unit is controlled to be detached from the main body, or the mopping unit is controlled to be lifted.

24. The control method according to claim 23, It is characterized in that The carpet recognition sensor is configured to recognize a carpet and send a detected thickness value of the carpet to the controller; The method comprises: If the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, controlling the mopping unit to detach from the cleaning robot; If the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit.

25. The control method according to claim 23, It is characterized in that The method further comprises: If the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, the cleaning robot is controlled to walk along the edge of the carpet or walk with a distance from the carpet.

26. The control method according to claim 23, It is characterized in that The cleaning robot further comprises: a cleaning unit, which is arranged on the main body, and the cleaning unit has a cleaning state, in which the cleaning unit is used to perform cleaning work; The cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.

27. The control method according to claim 26, It is characterized in that The method comprises: When the cleaning robot is in a sweeping mode, if the carpet recognition sensor detects the carpet, the mopping unit is controlled to detach from the cleaning robot or to be lifted.

28. The control method according to claim 26, It is characterized in that The method comprises: When the cleaning robot is in the sweeping mode, the mopping unit is controlled to be detached from the main body, so that the mopping unit is in a disassembled state.

29. The control method according to claim 28, It is characterized in that The method comprises: Controlling the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet; If the cleaning robot is in a sweeping mode and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a lifted state; If the cleaning robot is in a sweeping mode and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to a base station, and the mopping unit is detached from the main body, so that the mopping unit is in a disassembled state.

29. The control method according to claim 28, characterized in that the working mode associated with the mopping unit comprises a sweeping and mopping mode; The method comprises: If the cleaning robot is in a sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a lifted state; and the cleaning robot drives onto the carpet when the mopping unit is in the lifted state, so that the cleaning component cleans the carpet; If the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to move on the carpet when the mopping unit is in a disassembled state and the cleaning unit is in a cleaning state, so that the cleaning unit cleans the carpet.

30. The control method according to claim 28, It is characterized in that The working mode associated with the mopping unit includes a sweep-first-then-mop mode; wherein, in the sweep-first-then-mop mode, the mopping unit is in a mopping state; The method comprises: If the cleaning robot is in a sweep-before-mop mode, and the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit so that the mopping unit is in a lifted state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work; If the cleaning robot is in a mopping mode of sweeping before mopping, and the thickness of the carpet is greater than a first preset value and less than or equal to a second preset value, the cleaning robot is controlled to return to the base station to disassemble the mopping unit so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.

31. A cleaning robot, It is characterized in that The cleaning robot comprises a main body, a cleaning unit provided on the main body and having a cleaning working head, a mopping unit having a mopping cleaning member, a carpet recognition sensor and a control unit, wherein the cleaning unit is configured to perform a cleaning work; and the mopping unit is configured to perform a mopping work; The carpet recognition sensor is configured to recognize a carpet and send a thickness value of the detected carpet to the control unit; The control unit is configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning element to detach from the cleaning robot or control the cleaning robot to update the mopping cleaning element so that the mopping cleaning element is in a clean state, and control the cleaning robot to drive onto the carpet.

32. The cleaning robot according to claim 31, It is characterized in that Updating the mopping cleaning element includes: replacing the mopping cleaning element with a clean one, or cleaning the mopping cleaning element.

33. A control method for a cleaning robot, It is characterized in that The cleaning robot comprises a main body, a cleaning unit provided on the main body and having a cleaning working head, a mopping unit provided with a mopping cleaning member, a carpet recognition sensor and a control unit, wherein the cleaning unit is configured to perform a cleaning work, the mopping unit is configured to perform a mopping work, and the carpet recognition sensor is configured to recognize a carpet and send a detected carpet thickness value to the control unit; The method is applied to the control unit and comprises the steps of: The carpet recognition sensor is used to detect in real time whether the target area in front of the cleaning robot is a carpet and obtain the thickness value of the carpet; When the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, the mopping cleaning element is controlled to detach from the cleaning robot or the cleaning robot is controlled to update the mopping cleaning element so that the mopping cleaning element is in a clean state, and the cleaning robot is controlled to drive onto the carpet.

34. The method according to claim 33, It is characterized in that When the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, the mopping cleaning element is controlled to detach from the cleaning robot or the cleaning robot is controlled to update the mopping cleaning element so that the mopping cleaning element is in a clean state, and the cleaning robot is controlled to drive onto the carpet, including the steps of: Control the cleaning robot to drive from the current position into the base station and detach from the base station or control the cleaning robot to update the mopping cleaning member so that the mopping cleaning member is in a clean state; Controlling the cleaning robot to return to the current position; The cleaning unit of the cleaning robot is controlled to perform cleaning work to clean the carpet.

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