Cleaning assembly control method, cleaning robot and cleaning system

Abstract

The embodiment of the invention discloses a cleaning assembly control method, a cleaning robot and a cleaning system.The cleaning assembly is arranged on the cleaning robot, the cleaning assembly is used for rotating to act on a working face, and when the cleaning robot conducts cleaning along the edge, when it is monitored that an obstacle appears on the travel path of the cleaning robot, the obstacle is detected to act on the working face; and before the cleaning robot conducts arc winding or obstacle crossing on the obstacle, the cleaning robot is controlled to stop rotation of the cleaning assembly, lift the cleaning assembly, reduce the rotating speed of the cleaning assembly and / or reduce the pressure of the cleaning assembly on the working face. Before the obstacle is subjected to arc winding or obstacle crossing, the rotating speed of the cleaning assembly is reduced, the pressure on the working face is reduced, or the cleaning assembly is lifted or even stops rotating, so that interaction force, including friction force, centripetal force and the like, borne by the cleaning assembly on the cleaning robot under special conditions can be reduced or eliminated; and damage to the cleaning assembly on the cleaning robot is relieved or even avoided.

Description

Technical Field

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

[0002] During the cleaning process of the sweeper, the continuously rotating roller brush, drum mop, crawler mop and other cleaning parts are subject to multiple interaction forces when the sweeper is arcing or spinning, including the interaction between the cleaning part and the ground, the interaction between the cleaning part and the auto-drive, and the tension generated by the cleaning part during movement. In addition, when the sweeper turns, the sweeper will also be subject to the centripetal force generated by the turning speed and turning radius. This force will cause the sweeper's cleaning parts to tilt toward the center of the turn, and the smaller the turning radius, the greater the centripetal force, and the greater the lateral force on the cleaning parts. The combined force of the above forces may cause the cleaning parts to deviate, twist, or even be damaged. Summary of the invention

[0003] The present invention provides a cleaning component control method, a cleaning robot and a cleaning system, which can alleviate or even avoid the technical problem of damage to the cleaning component on the cleaning robot.

[0004] In a first aspect, a cleaning component control method is provided, wherein the cleaning component is disposed on a cleaning robot, and the cleaning component is used to rotate to act on a working surface, and the cleaning component control method comprises:

[0005] It is detected that there are obstacles on the route of the cleaning robot;

[0006] Before the cleaning robot makes an arc around or crosses an obstacle, the cleaning robot is controlled to perform one or more of the following changes:

[0007] Stop the rotation of the cleaning component;

[0008] Lift the cleaning assembly;

[0009] Reduce the speed of the cleaning components;

[0010] Reduces pressure of cleaning components on the work surface.

[0011] Optionally, after circling or crossing the obstacle, the cleaning component control method further includes:

[0012] When it is determined that the cleaning robot has completed arcing or obstacle crossing, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes:

[0013] Turn on the rotary cleaning component;

[0014] Sink cleaning assembly;

[0015] Increase the speed of the cleaning components;

[0016] Increase the pressure of the cleaning assembly on the work surface.

[0017] In a second aspect, a cleaning component control method is provided, wherein the cleaning component is disposed on a cleaning robot, and the cleaning component is used to rotate to act on a working surface, and the cleaning component control method comprises:

[0018] Determine a preset route in the current cleaning task of the cleaning robot, the preset route including a straight line route and a waiting route;

[0019] When the preset route to be traveled is the waiting route, before the cleaning robot turns, spins or circles according to the waiting route, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes:

[0020] Stop the rotation of the cleaning component;

[0021] Lift the cleaning assembly;

[0022] Reduce the speed of the cleaning components;

[0023] Reduces pressure of cleaning components on the work surface.

[0024] Optionally, after the cleaning robot turns or spins according to the route to be turned, the cleaning component control method further includes:

[0025] After determining that the cleaning robot has passed the route to be transferred, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes:

[0026] Turn on the rotary cleaning component;

[0027] Sink cleaning assembly;

[0028] Increase the speed of the cleaning components;

[0029] Increase the pressure of the cleaning assembly on the work surface.

[0030] In a third aspect, a cleaning component control method is provided, wherein the cleaning component is disposed on a cleaning robot, and the cleaning component is used to rotate to act on a working surface, and the cleaning component control method comprises:

[0031] If the cleaning robot meets the preset slow-down condition, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes:

[0032] Stop the cleaning assembly from rotating;

[0033] Lift the cleaning assembly;

[0034] Reduce the speed of the cleaning components;

[0035] Reduces pressure of cleaning components on the work surface.

[0036] Optionally, the preset slow-down condition includes one or more of the following conditions:

[0037] Cleaning robot takes a turn 、 Spin or arc;

[0038] The cleaning robot can overcome obstacles;

[0039] The time during which the cleaning component of the cleaning robot is in a working state during a cleaning task satisfies a first preset time length;

[0040] The dirtiness of the cleaning components of the cleaning robot meets a preset dirtiness threshold;

[0041] The total time duration of the cleaning component of the cleaning robot being in the working state meets the second preset time duration;

[0042] The cleaning robot re-enters the cleaned area during a cleaning task;

[0043] Cleaning robots navigate narrow areas;

[0044] The cleaning robot enters the second working surface from the first working surface;

[0045] The cleaning components of the cleaning robot cannot be in working condition.

[0046] In a fourth aspect, a cleaning robot is provided, the cleaning robot comprising:

[0047] A cleaning component, when the cleaning component is in a working state, the cleaning component rotates to clean the working surface;

[0048] a memory for storing a computer program executable on the processor;

[0049] A processor connected to the cleaning component and the memory respectively, the processor is used to call the computer program stored in the memory to control the cleaning component to execute the computer program to implement the various steps of the cleaning component control method introduced above.

[0050] In a fifth aspect, a cleaning system is provided, which includes: the cleaning robot introduced above, and a base station communicatively connected to the cleaning robot.

[0051] The above-mentioned cleaning component control method, cleaning robot and cleaning system, the cleaning robot is provided with a cleaning component for rotating to act on the working surface, when the cleaning robot is cleaning along the edge, the cleaning component rotates to clean the working surface, when it is detected that an obstacle appears in the path of the cleaning robot, and before the cleaning robot makes an arc around the obstacle or crosses the obstacle, the cleaning robot is controlled to stop the rotation of the cleaning component, lift the cleaning component, reduce the rotation speed of the cleaning component, and reduce the pressure of the cleaning component on the working surface. Because the cleaning component reduces the rotation speed, reduces the pressure on the working surface, or lifts the cleaning component or even stops before making an arc around the obstacle or crosses the obstacle, it can achieve the reduction or elimination of the interaction forces including friction, centripetal force, etc. on the cleaning component of the cleaning robot under special circumstances, thereby reducing or even avoiding the damage of the cleaning component on the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 A basic flow chart of a cleaning component control method according to an embodiment of the present invention;

[0054] Figure 2 A schematic flow chart of a first cleaning component control method provided by an embodiment of the present invention;

[0055] Figure 3 A schematic flow chart of a second cleaning component control method provided by an embodiment of the present invention;

[0056] Figure 4 A schematic flow chart of a third cleaning component control method provided by an embodiment of the present invention;

[0057] Figure 5 A basic structural block diagram of a first cleaning robot provided by an embodiment of the present invention;

[0058] Figure 6 This is a basic structural block diagram of a second cleaning robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0060] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The sequence numbers of the operations, such as S101, S102, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0062] The present invention provides a cleaning component control method, which is applied to a cleaning robot. The cleaning robot is provided with a cleaning component. When the cleaning component is in a working state, the cleaning component rotates to clean the working surface. The cleaning component can be rotated by a cleaning drive device (such as a motor) on the cleaning robot to clean the working surface. The faster the rotation speed, the better the cleaning effect of the cleaning component on the working surface. The cleaning robot may also include a pressure device, and the pressure structure may adjust the pressure of the cleaning component on the working surface. The greater the pressure, the better the cleaning effect of the cleaning robot on the working surface. It is understandable that the cleaning component may also apply pressure to the working surface while rotating to improve the cleaning effect. The working surface may be a cement floor, a tile floor, a carpet surface, or in some cases a desktop.

[0063] When the cleaning robot turns, spins, overcomes obstacles, and makes an arc around obstacles, the cleaning component on it continues to rotate and act on the working surface. At this time, the cleaning component will be affected by multiple forces, including the interaction between the cleaning component and the ground, the interaction between the cleaning component and the autopilot, the tension generated by the cleaning component during movement, and the centripetal force exerted on the cleaning robot when turning. The combined force of various forces may cause the cleaning component to deviate or twist, which will cause damage to the cleaning component in the long run.

[0064] It is understandable that the cleaning robot can perform different cleaning tasks, such as cleaning along the edge and cleaning along a preset route (e.g., bow-shaped cleaning, back-shaped cleaning). When the cleaning robot performs a cleaning task, the cleaning component will generally rotate to act on the working surface to clean the working surface. The cleaning component can be a roller brush, a drum mop, and a crawler mop. The present invention mainly introduces the cleaning component control method of the present invention using the cleaning component as a crawler mop.

[0065] For the cleaning robot to perform the cleaning task of sweeping along the edge, the present invention provides a cleaning component control method, please refer to Figure 1 ,like Figure 1 As shown, the present invention provides a cleaning component control method, comprising:

[0066] S101, monitoring whether obstacles appear when the cleaning robot is cleaning along the edge.

[0067] S102, when an obstacle is detected in the path of the cleaning robot, before the cleaning robot makes an arc around or crosses the obstacle, the cleaning component on the cleaning robot is controlled to perform one or more changes, including: stopping the rotation of the cleaning component; lifting the cleaning component; reducing the rotation speed of the cleaning component; reducing the pressure of the cleaning component on the work surface.

[0068] See also Figure 2 In some embodiments, the cleaning component control method provided by the present invention may include:

[0069] S201, monitoring whether obstacles appear when the cleaning robot is cleaning along the edge.

[0070] S202: When an obstacle is detected on the route of the cleaning robot, before the cleaning robot goes around or crosses the obstacle, the cleaning components on the cleaning robot are controlled to perform one or more changes.

[0071] When the cleaning robot is cleaning along the edge, it may encounter obstacles. At this time, the cleaning robot may need to bypass the obstacles or cross the obstacles to continue cleaning along the edge. Before the cleaning robot can bypass the obstacles or cross the obstacles, the cleaning component control method provided by the present invention needs to make some changes to the cleaning component, specifically:

[0072] The cleaning component may stop rotating, that is, the cleaning component stops acting on the working surface. Taking the crawler mop as an example, the main crawler shaft stops rotating, and the crawler mop stops actively contacting the working surface. The crawler mop does not actively act on the working surface (the mop does not rotate), but may passively contact the working surface.

[0073] It can be a lifting cleaning component, in which case the cleaning component is lifted and has a certain distance from the work mask, in which case the cleaning component can rotate normally or not;

[0074] The rotation speed of the cleaning component may be reduced, that is, the rotation speed of the cleaning component is slowed down. Taking the crawler mop as an example, the rotation speed of the main crawler shaft is controlled to slow down to reduce the rotation speed of the crawler mop (and the strength of the working surface);

[0075] The pressure of the cleaning component on the work surface may be reduced. In some examples, the cleaning effect is increased by increasing the pressure of the cleaning component on the work surface through a driving member. Therefore, in the present invention, the force of the driving member on the cleaning component may be reduced to reduce the pressure of the cleaning component on the work surface, thereby reducing the friction between the mop and the work surface and slowing down the damage to the mop.

[0076] Of course, in some examples, it may be a combination of lifting the cleaning component, reducing the rotation speed of the cleaning component, and reducing the pressure of the cleaning component on the work surface, or it may be a combination of controlling the cleaning component in all three ways.

[0077] S203: The cleaning robot makes an arc around or crosses the obstacle.

[0078] When encountering obstacles of irregular shapes or closely arranged furniture, arcing is an effective obstacle avoidance strategy. If the robot drives directly forward, it may collide with the obstacle, but by arcing, it can flexibly change the driving direction and bypass the obstacle to continue cleaning. For example, when cleaning the living room, if there are obstacles such as sofa legs, the robot can move in an arc around the edge of the sofa leg to avoid collision and clean the area around the sofa leg. Of course, in addition to avoiding obstacles, when cleaning the room, corners, furniture edges and other areas are usually difficult to clean. By moving in an arc, the cleaning robot can get closer to these corners to ensure the integrity of the cleaning. For example, in an L-shaped corner, the robot can move in an arc along the arc of the corner to clean up the dust and debris on both sides of the corner to avoid missing anything.

[0079] In some other examples, the cleaning component control method further includes, after step S203:

[0080] S204, determining that the cleaning robot has completed arcing or obstacle crossing, and then controlling the cleaning component on the cleaning robot to restore to the state of the cleaning component before the arcing or obstacle crossing is completed, including:

[0081] If the cleaning component is stopped before the arc or obstacle crossing is completed, the cleaning component can be restarted;

[0082] If the cleaning assembly is lifted away from the work surface before the arc or obstacle crossing is completed, the cleaning assembly can be lowered to contact the work surface.

[0083] If the speed of the cleaning component is reduced before the arcing or obstacle crossing is completed, the speed of the cleaning component may be increased accordingly;

[0084] If the pressure of the cleaning assembly on the working surface is reduced before arcing or obstacle crossing is completed, the pressure of the cleaning assembly on the working surface is increased after arcing and obstacle crossing.

[0085] Of course, in addition to being able to restore to the state before arcing and obstacle crossing, such as the rotation speed and the pressure on the working surface are restored to the state before the reduction, the cleaning component can also have a higher rotation speed and greater pressure on the working surface than before arcing and obstacle crossing, and is not limited to the above-mentioned recovery methods.

[0086] The above-mentioned cleaning component control method can reduce or eliminate the various interaction forces, including friction, centripetal force, etc., on the cleaning component of the cleaning robot under special circumstances, because the cleaning component reduces its rotation speed, reduces the pressure on the work surface, or lifts the cleaning component or even stops it before circling or crossing an obstacle. This can reduce or even avoid damage to the cleaning component on the cleaning robot.

[0087] The cleaning robot can perform cleaning tasks according to a preset route. The preset route includes a bow shape, a U shape, and a M shape. In the process of moving or cleaning according to the preset route, the preset route can be used to confirm which sections of the road may require the cleaning robot to turn, rotate, or go around an arc. In order to avoid or slow down the wear of the cleaning component, the present invention also provides a cleaning component control method. The cleaning component is arranged on the cleaning robot. When the cleaning robot cleans according to the preset route, the cleaning component rotates to clean the working surface. See Figure 3 , the cleaning component control method comprises:

[0088] S301, determining a preset route in the current cleaning task of the cleaning robot, where the preset route includes a straight line route and a waiting route.

[0089] The preset route is a pre-planned route along which the cleaning robot will clean the working surface. The preset route can be a bow shape, a U shape, and a cross shape. In the bow shape, the U shape, and the cross shape, the cleaning robot needs to turn, rotate, and go around an arc in some sections to keep it on the predetermined track route. Turning, rotating, and going around an arc are a way for the cleaning robot to adjust its direction. In the present invention, this type of route that requires the cleaning robot to turn, rotate, and go around an arc is called a waiting route.

[0090] Among them, bow-shaped cleaning means that the cleaning robot moves in a "bow" shape in the cleaning area. It will first clean in a straight line in one direction. When it reaches the boundary of the cleaning area (such as a wall or the edge of furniture), it will turn and then clean in the opposite straight line in a direction parallel to the previous one. This is repeated to form a "bow"-shaped path, gradually covering the entire cleaning area.

[0091] The U-shaped cleaning is similar to the bow-shaped cleaning, but its path shape is closer to a complete U-shaped cleaning or multiple nested U-shaped cleaning. The robot starts from a corner of the room and cleans in a clockwise or counterclockwise direction along the edge of the wall, gradually moving towards the center of the room during the circle, forming a U-shaped cleaning track.

[0092] Cross-shaped cleaning is to divide the room into multiple areas, with the center of the room as the intersection point, and the robot cleans along a route similar to the shape of a cross. Usually, it starts from one corner of the room, cleans along the diagonal direction to the opposite corner, and then turns to another diagonal direction perpendicular to the diagonal to continue cleaning, and so on, forming a cross-shaped path.

[0093] S302: When the preset route to be traveled is the waiting route, before the cleaning robot turns, spins or circles according to the waiting route, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes:

[0094] The cleaning component may be stopped from rotating, that is, the cleaning component stops acting on the working surface. Taking a crawler mop as an example, the main crawler shaft stops rotating, and the crawler mop thereon stops actively contacting the working surface.

[0095] It can be a lifting cleaning component, in which case the cleaning component is lifted and has a certain distance from the work mask, in which case the cleaning component can rotate normally or not;

[0096] The rotation speed of the cleaning component may be reduced, that is, the rotation speed of the cleaning component is slowed down. Taking a crawler mop as an example, the rotation speed of the main crawler shaft is controlled to be slowed down to reduce the rotation speed of the cleaning component.

[0097] The pressure of the cleaning component on the work surface may be reduced. In some examples, the cleaning effect is increased by increasing the pressure of the cleaning component on the work surface through a driving member. Therefore, in the present invention, the force of the driving member on the cleaning component may be reduced to reduce the pressure of the cleaning component on the work surface, thereby reducing the friction between the mop and the work surface and slowing down the damage to the mop.

[0098] Of course, in some examples, it may be a combination of lifting the cleaning component, reducing the rotation speed of the cleaning component, and reducing the pressure of the cleaning component on the work surface, or it may be a combination of controlling the cleaning component in all three ways.

[0099] S303, the cleaning robot turns, spins, or circles according to the route to be turned;

[0100] In some other examples, after the cleaning robot passes through the waiting route, according to the preset route planning, it should move along a straight line route at this time, and the cleaning state of the cleaning component on the working surface can be restored at this time, that is, the cleaning component control method provided by the present invention also includes:

[0101] S304: After determining that the cleaning robot has passed the route to be turned, control the cleaning component on the cleaning robot to start rotating, or increase the rotation speed of the cleaning component and / or increase the pressure of the cleaning component on the working surface.

[0102] Similar to the previous embodiment, if the cleaning component is stopped before passing the waiting route, the cleaning component can be restarted; if the cleaning component is lifted away from the working surface before passing the waiting route, the cleaning component can be sunk to contact the working surface at this time; if the speed of the cleaning component is reduced before passing the waiting route, the speed of the cleaning component can be increased accordingly; if the pressure of the cleaning component on the working surface is reduced before passing the waiting route, the pressure of the cleaning component on the working surface can be increased after passing the waiting route. Of course, in addition to being able to restore to the state before passing the waiting route, such as the speed and pressure on the working surface are restored to the state before the reduction, the cleaning component can also be in a higher speed and greater pressure on the working surface than before arcing and overcoming obstacles, etc., and is not limited to the above-mentioned recovery methods.

[0103] The above-mentioned cleaning component control method determines the preset route in the current cleaning task of the cleaning robot, including a straight route and a waiting route. When the preset route to be traveled is the waiting route, before the cleaning robot turns, spins or makes an arc according to the waiting route, the cleaning component reduces the rotation speed, reduces the pressure on the working surface, or lifts the cleaning component or even stops rotating. This can reduce or eliminate the interaction forces including friction, centripetal force, etc. on the cleaning component of the cleaning robot under special circumstances, thereby reducing or even avoiding damage to the cleaning component on the cleaning robot.

[0104] Similarly, when the cleaning component is in working condition, the cleaning component rotates and acts on the working surface. If the cleaning robot encounters some special situations such as turning or crossing obstacles during the cleaning process, if the cleaning component continues to rotate and act on the working surface, the cleaning component will be affected by multiple forces, including the interaction between the cleaning component and the ground, the interaction between the cleaning component and the autopilot, the tension generated by the cleaning component during movement, and the centripetal force received by the cleaning robot when turning. The combined force of various forces may cause the cleaning component to deviate or twist, which will cause damage to the cleaning component in the long term. In addition to the above-mentioned need to change the execution mode of the cleaning component, there are other possible situations that require the protection of the cleaning component. Therefore, the present invention also provides a cleaning component control method, in which the cleaning component is set on the cleaning robot, and the cleaning component rotates to clean the working surface. Please see Figure 4 , the cleaning component control method comprises:

[0105] S401. When the cleaning component is in working state, determine whether the cleaning robot meets the preset slow stop condition.

[0106] The preset slow-stop condition refers to the triggering condition for controlling the cleaning component on the cleaning robot to stop rotating, slow down the speed or reduce the pressure. When the cleaning robot is turning, spinning, crossing obstacles, and arcing around obstacles, the cleaning component on it continues to rotate and act on the working surface. At this time, the cleaning component will be affected by multiple forces, including the interaction between the cleaning component and the ground, the interaction between the cleaning component and the auto-drive, the tension generated by the cleaning component during movement, and the centripetal force when the cleaning robot turns. The combined force of various forces may cause the cleaning component to deviate or twist, which will cause damage to the cleaning component in the long run. Therefore, the cleaning component control method provided by the present invention can monitor whether the cleaning robot meets the preset slow-stop condition. If it does, the cleaning component on the cleaning robot is controlled to stop rotating, or the speed of the cleaning component is reduced, and / or the pressure of the cleaning component on the working surface is reduced.

[0107] In some examples, the preset slow-down conditions may include the following situations:

[0108] Whether the cleaning robot meets the preset slow-stop condition can be determined by continuously monitoring whether the cleaning robot encounters an obstacle. The obstacle situation of the cleaning robot can be obtained through the sensors on the cleaning robot, such as the cleaning robot camera, line laser sensor, radar, etc. At this time, the cleaning robot will perform an arc to avoid or overcome the obstacle. In this case, the preset slow-stop condition can be that the cleaning robot performs a series of actions when encountering an obstacle, including turning. 、Spinning or circling in an arc, of course, can also be the cleaning robot crossing obstacles. Whether it is circling in an arc or crossing obstacles depends on the obstacle handling logic of the cleaning robot. Of course, the preset slow stop condition can also be that the cleaning robot crosses the obstacle or circles in an arc when it encounters an obstacle during edge cleaning. Here, crossing obstacles means crossing the surface of obstacles, and circling in an arc means bypassing obstacles.

[0109] Of course, in other examples of the present invention, the current behavior of the cleaning robot can be determined by the cleaning task preset by the cleaning robot. In this case, the preset slow-stop condition can be when the cleaning robot needs to turn or spin. Of course, the preset slow-stop condition can also be when the cleaning robot performs bow-shaped cleaning, round-shaped cleaning, cross-shaped cleaning and turns or spins.

[0110] In addition, the preset slow-stop condition may be that the time during which the cleaning component of the cleaning robot is in a working state during a cleaning task satisfies a first preset time. After a certain period of time, the cleaning component will be dirty. In order to avoid contaminating the working surface, it can be set to limit the effect of the cleaning component on the working surface after a certain period of time during a cleaning task.

[0111] The preset slow stop condition may be that the dirtiness of the cleaning component of the cleaning robot meets the preset dirtiness threshold. Similar to the above situation, in order to prevent the cleaning component from contaminating the working surface after cleaning, the dirtiness of the cleaning component can be detected, and when the preset dirtiness threshold is met, the effect of the cleaning component on the working surface can be correspondingly limited. The method of detecting the cleaning component can be obtained by detecting the turbidity of the sewage obtained by washing the cleaning component, which is not limited here.

[0112] The preset slow-stop condition may also be that the total time length of the cleaning component of the cleaning robot being in the working state meets the second preset time length. The cleaning component needs to be cleaned in multiple cleaning tasks. When the total time length of the working surface cleaned by the cleaning component meets the second preset time length, it can be determined that the cleaning component needs to be replaced or needs to be returned to the base station for cleaning. At this time, the effect of the cleaning component on the working surface can be limited to avoid contamination.

[0113] The preset slow stop condition may also be that the cleaning robot re-enters the cleaned area during a cleaning task. The cleaned area is an area that has been cleaned, and limiting the effect of the cleaning component on the work surface can avoid secondary contamination.

[0114] The preset slow stop condition may also be that the cleaning robot passes through a narrow area. Limiting the effect of the cleaning component on the work surface can reduce the impact on the cleaning robot passing through the narrow area, which helps the cleaning robot to pass.

[0115] The preset slow stop condition may also be that the cleaning robot enters the second working surface from the first working surface. There is a transition surface between the first working surface and the second working surface, such as a threshold, and the cleaning robot can limit the effect of the cleaning component on the working surface when passing through the transition surface, which is helpful for passage.

[0116] The preset slow stop condition can also be that the cleaning component of the cleaning robot cannot be in working state. When the cleaning component cannot be in normal working state, the effect of the cleaning component on the working surface can be limited at this moment to avoid bumping and scratching the working surface, which also helps to pass.

[0117] S402: If the cleaning robot meets the preset slow-stop condition, the cleaning component on the cleaning robot is controlled to perform one or more of the following operations:

[0118] The rotation of the cleaning component may be stopped, that is, the cleaning component stops acting on the working surface. Taking the crawler mop as an example, at this time, the main crawler shaft stops rotating, and the crawler mop thereon stops actively contacting the working surface; the cleaning component may be lifted. At this time, the cleaning component is lifted and has a certain distance from the working surface. In this case, the cleaning component may rotate normally or not; the rotation speed of the cleaning component may be reduced, that is, the rotation speed of the cleaning component is slowed down. Taking the crawler mop as an example, at this time, the rotation speed of the main crawler shaft is controlled to slow down to reduce the rotation speed of the cleaning component; the pressure of the cleaning component on the working surface may be reduced. In some examples, a driving member is used to increase the pressure of the cleaning component on the working surface to increase the cleaning effect. Therefore, in the present invention, the force of the driving member on the cleaning component may be reduced to reduce the pressure of the cleaning component on the working surface, thereby reducing the friction between the mop and the working surface and slowing down the damage to the mop. Of course, in some examples, it may be a combination of lifting the cleaning component, reducing the rotation speed of the cleaning component, and reducing the pressure of the cleaning component on the working surface, or it may be a combination of controlling the cleaning component in all three ways, for example, reducing the rotation speed of the cleaning component when lifting, or reducing the rotation speed of the cleaning component when reducing the pressure of the cleaning component on the working surface, or it may be possible to stop the rotation of the cleaning component and lift the cleaning component at the same time.

[0119] In some examples, step S402 may further include:

[0120] S403, determining that the cleaning robot does not meet the preset slow stop condition;

[0121] Failure to meet the preset slow stop conditions may result in the cleaning robot completing a turn. 、Spinning or arcing may mean completing obstacle crossing, entering the next cleaning task, returning to the base station to remove dirt from the cleaning component during a cleaning task, the dirtiness does not meet a preset dirtiness threshold, the cleaning component entering an uncleaned area during a cleaning task, the cleaning robot passing through a narrow area and then entering a wider area, the cleaning robot crossing the boundary area of ​​the first working surface and the second working surface, or the cleaning component resuming the working state. Of course, the preset slow stop conditions in the present invention are not limited to these.

[0122] S404: Control the cleaning component on the cleaning robot to start rotating, or increase the rotation speed of the cleaning component and / or increase the pressure of the cleaning component on the working surface.

[0123] If the cleaning component is stopped before passing the waiting route, the cleaning component can be restarted; if the cleaning component is lifted away from the working surface before passing the waiting route, the cleaning component can be lowered to contact the working surface at this time; if the speed of the cleaning component is reduced before passing the waiting route, the speed of the cleaning component can be increased accordingly; if the pressure of the cleaning component on the working surface is reduced before passing the waiting route, the pressure of the cleaning component on the working surface can be increased after passing the waiting route. Of course, in addition to being able to restore to the state before passing the waiting route, such as the speed and pressure on the working surface are restored to the state before the reduction, the cleaning component can also be in a higher speed and greater pressure on the working surface than before arcing and overcoming obstacles, etc., and is not limited to the above-mentioned recovery methods.

[0124] The cleaning component control method provided by the present invention detects that the cleaning robot meets a preset slow-stop condition when the cleaning component is in a working state, and then controls the cleaning component on the cleaning robot to stop rotating, or reduces the rotation speed of the cleaning component and / or reduces the pressure of the cleaning component on the working surface. Since the cleaning component reduces the rotation speed, reduces the pressure on the working surface, or even stops rotating when the preset slow-stop condition is met, it is possible to reduce or eliminate the various interaction forces, including friction, centripetal force, etc., on the cleaning component of the cleaning robot under special circumstances, thereby reducing or even avoiding damage to the cleaning component on the cleaning robot.

[0125] The present invention also provides a cleaning robot, see Figure 5 , which includes:

[0126] A cleaning component, when the cleaning component is in a working state, the cleaning component rotates to clean the working surface;

[0127] a memory for storing a computer program executable on the processor;

[0128] The processors are connected to the cleaning component and the memory respectively, and are used to call the computer program stored in the memory to control the cleaning component to execute the computer program to implement the various steps of the cleaning component control method introduced above.

[0129] For some examples, see Figure 6 The cleaning robot may include a cleaning drive device, which drives the cleaning component to rotate to clean the work surface. The cleaning component is connected to the processor through the cleaning drive device. The processor controls the cleaning drive device to control the cleaning component to stop rotating or reduce the rotation speed.

[0130] For some other examples, see Figure 6 The cleaning robot may further include a pressure-applying device, which is connected to the processor and the cleaning component. The processor controls the pressure-applying device and thus controls the pressure applied by the cleaning component to the working surface and whether to apply pressure. It can be understood that the greater the pressure, the better the cleaning effect of the cleaning robot on the working surface.

[0131] The above-mentioned cleaning robot can control the cleaning component on the cleaning robot to stop rotating under predetermined conditions, or reduce the rotation speed of the cleaning component, reduce the pressure of the cleaning component on the working surface, and / or lift the cleaning component, so as to reduce or eliminate the various interaction forces including friction, centripetal force, etc. on the cleaning component of the cleaning robot under special circumstances, thereby reducing or even avoiding damage to the cleaning component on the cleaning robot.

[0132] The present invention also provides a cleaning system, comprising the cleaning robot described above, and a base station connected to the cleaning robot for communication. The base station is a device used in conjunction with the cleaning robot and has multiple functions. Its core purpose is to provide support for the cleaning robot to improve the cleaning efficiency and convenience of the robot. The base station can achieve one or more of the following functions:

[0133] Automatic charging function. When the battery level of the cleaning robot is below a certain threshold, it will use the built-in positioning system to find the location of the base station and automatically return to the base station for charging. The base station has a charging port and a corresponding charging circuit inside, which can provide an adaptive power supply for the cleaning robot. For example, the charging port of some base stations adopts a metal contact design. After the charging contacts at the bottom of the cleaning robot are precisely docked with it, it can be charged, just like a mobile phone placed on a wireless charger.

[0134] Dust collection function. After the cleaning robot completes its cleaning task, it will return to the base station and dump the collected dust, hair and other garbage into the dust collection device of the base station. The dust collection device of the base station has a relatively large capacity, and some can hold weeks or even months of garbage. For example, some high-end base stations use cyclonic dust collection technology, which uses high-speed rotating airflow to suck dust and debris out of the robot's dust box and collect them in the dust bag of the base station. This method can efficiently clean the robot's dust box and reduce the frequency of users dumping garbage.

[0135] Cleaning mop function. For cleaning robots that sweep and mop, the base station can clean the mop at the bottom of the cleaning robot. When the robot returns to the base station, the cleaning system in the base station will start. It usually cleans the mop by spraying water, rotating friction, etc. For example, some base stations are equipped with high-speed rotating cleaning brushes. After the mop is soaked with water, the cleaning brush will be in close contact with the mop and rotate to clean the stains on the mop, and then the sewage will be discharged through the drainage system.

[0136] Drying function. After cleaning the mop, some high-end base stations also have a drying function to prevent bacteria and odor from growing on the mop. The drying function is generally achieved by blowing hot air over the mop. For example, there will be a heating device and a fan inside the base station, and the hot air generated can dry the mop in a short time, leaving it dry and convenient for next use.

[0137] To solve the above technical problems, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the various steps of the cleaning component control method in the above embodiments can be implemented. In some cases, at least one step shown or described can be executed in a different order than that described in the above embodiments.

[0138] Computer-readable storage media is any storage medium that can be accessed by a computer system and can store data and programs persistently, which can be read, written and processed by the computer's processor. Common types include semiconductor storage media such as random access memory (RAM), read-only memory (ROM), and flash memory.

[0139] Those skilled in the art will understand that the structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] This embodiment further provides a computer program product, including a computer readable device, on which the computer program as shown above is stored. In this embodiment, the computer readable device may include the computer readable storage medium as shown above.

[0141] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0142] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0143] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0144] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for controlling a cleaning component, wherein the cleaning component is arranged on a cleaning robot and is used to rotate to act on a working surface, characterized in that: The cleaning component control method comprises: When the cleaning robot is cleaning along the edge, it is detected that an obstacle appears on the path of the cleaning robot; Before the cleaning robot makes an arc around or crosses the obstacle, the cleaning robot is controlled to perform one or more of the following changes: Stopping the rotation of the cleaning component; lifting the cleaning component; reducing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is reduced.

2. The cleaning component control method according to claim 1, characterized in that: After the obstacle is circling or traversing, the cleaning component control method further includes: When it is determined that the cleaning robot has completed arcing or obstacle crossing, the cleaning component on the cleaning robot is controlled to perform one or more of the following changes: Turning on and rotating the cleaning component; sinking the cleaning assembly; increasing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is increased.

3. A method for controlling a cleaning component, wherein the cleaning component is disposed on a cleaning robot and is used to rotate to act on a working surface, characterized in that: The cleaning component control method comprises: When the cleaning robot cleans according to a preset route, determining a preset route in a current cleaning task of the cleaning robot, wherein the preset route includes a straight line route and a waiting route; When the preset route to be traveled is the waiting route, before the cleaning robot turns, spins or circles according to the waiting route, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes: Stopping the rotation of the cleaning component; lifting the cleaning component; reducing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is reduced.

4. The cleaning component control method according to claim 3, characterized in that: After the cleaning robot turns or spins according to the route to be turned, the cleaning component control method further includes: After determining that the cleaning robot has passed the route to be transferred, controlling the cleaning components on the cleaning robot to perform one or more of the following changes: Turning on and rotating the cleaning component; sinking the cleaning assembly; increasing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is increased.

5. A method for controlling a cleaning component, wherein the cleaning component is arranged on a cleaning robot and is used to rotate to act on a working surface, characterized in that: The cleaning component control method comprises: If the cleaning robot meets the preset slow-stop condition, the cleaning components on the cleaning robot are controlled to perform one or more of the following changes: stopping the rotation of the cleaning component; lifting the cleaning component; reducing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is reduced.

6. The cleaning component control method according to claim 5, characterized in that: The cleaning component control method also includes: When the cleaning robot does not meet the preset slow stop condition, the cleaning component on the cleaning robot is controlled to perform one or more of the following changes: Turning on and rotating the cleaning component; sinking the cleaning assembly; increasing the rotation speed of the cleaning component; The pressure of the cleaning component on the work surface is increased.

7. The cleaning component control method according to any one of claims 5 or 6, characterized in that: The cleaning component includes one or more of a rolling brush, a roller mop and a crawler mop.

8. The cleaning component control method according to any one of claims 5 or 6, characterized in that: The preset slow-down condition includes one or more of the following conditions: The cleaning robot performs a turn 、 Spin or arc; The cleaning robot overcomes obstacles; The time during which the cleaning component of the cleaning robot is in a working state during a cleaning task satisfies a first preset time length; The dirtiness of the cleaning component of the cleaning robot meets a preset dirtiness threshold; The total time duration of the cleaning component of the cleaning robot being in the working state meets the second preset time duration; The cleaning robot re-enters the cleaned area during a cleaning task; The cleaning robot passes through a narrow area; The cleaning robot enters the second working surface from the first working surface; The cleaning components of the cleaning robot cannot be in working state.

9. A cleaning robot, characterized in that: The cleaning robot comprises: a cleaning assembly, the cleaning assembly being configured to rotate to act on a work surface; a memory for storing a computer program executable on the processor; A processor connected to the cleaning component and the memory respectively, the processor is used to call a computer program stored in the memory to control the cleaning component to execute the computer program to implement the various steps of the cleaning component control method as described in any one of claims 1 to 8.

10. A cleaning system, characterized in that: The cleaning system comprises: The cleaning robot as claimed in claim 9, and a base station communicatively connected to the cleaning robot.

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