Carpet cleaning method, sweeping robot and readable storage medium

Abstract

The embodiment of the invention provides a carpet cleaning method, a sweeping robot and a readable storage medium, when a carpet area is cleaned, the sweeping robot advances forward to execute a first cleaning operation on the carpet area through a rolling brush, and advances backward to execute a second cleaning operation on the carpet area through the rolling brush; the rotating direction of the driving wheel is the same as that of the rolling brush in the forward advancing process, and the rotating direction of the driving wheel is opposite to that of the rolling brush in the backward advancing process. By adopting the scheme, large-particle garbage on the carpet is cleaned through the first cleaning operation, and the number of times of beating the carpet by wool tops of the rolling brush is more than that in the second cleaning operation process, so that the carpet area can be deeply cleaned through the second cleaning operation to deeply clean dust at the bottom and in gaps of the carpet; the dust removal rate of different particles of the carpet is improved, and the cleaning effect of the carpet area is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to a carpet cleaning method, a sweeping robot, and a readable storage medium. Background Art

[0002] With the development of artificial intelligence (AI) technology, robots have gradually entered people's daily lives, bringing great convenience to people. For example, sweeping robots can automatically clean the room, saving a lot of manpower and material costs.

[0003] When the carpet needs to be cleaned, the cleaning method is similar to that of cleaning smooth and flat work surfaces such as floors and tiles: first advance along the edge and then advance in a bow-shaped traversal within the area. That is, after cleaning the edge of the carpet, the sweeping robot traverses and cleans the inside of the carpet.

[0004] However, carpets are not like floors, tiles, etc. The surface of carpets is not flat or smooth, but has many gaps and is relatively fluffy, making it easy for dust to hide at the bottom of the carpet and in the gaps of the carpet. The above cleaning method has a poor cleaning effect. Summary of the invention

[0005] The embodiments of the present application provide a carpet cleaning method, a sweeping robot and a readable storage medium. When cleaning a carpet, the first cleaning operation during forward movement and the second cleaning operation during reverse movement are combined to achieve the purpose of improving the cleaning effect of the carpet area.

[0006] In a first aspect, an embodiment of the present application provides a cleaning method, which is applied to a sweeping robot, wherein the sweeping robot has a roller brush and a driving wheel, and the method comprises:

[0007] advancing to perform a first cleaning operation on the carpet area by the roller brush;

[0008] traveling backward to perform a second cleaning operation on the carpet area by the roller brush;

[0009] Wherein, during the forward movement, the rotation direction of the driving wheel is the same as the rotation direction of the roller brush, and during the backward movement, the rotation direction of the driving wheel is opposite to the rotation direction of the roller brush.

[0010] In a second aspect, an embodiment of the present application provides a sweeping robot, comprising:

[0011] body;

[0012] A driving wheel, rotatably disposed on the body, for driving the sweeping robot to move forward;

[0013] A roller brush is rotatably disposed on the body and is used to perform cleaning tasks;

[0014] a control device, electrically connected to the driving wheel and the roller brush, for controlling the driving wheel and the roller brush to rotate in a first rotation direction when the sweeping robot performs a cleaning task in the carpet area, so that the sweeping robot moves forward to perform a first cleaning operation on the carpet area by the roller brush; and controlling the driving wheel to rotate in a second rotation direction and controlling the roller brush to rotate in the first rotation direction, so that the sweeping robot moves backward to perform a second cleaning operation on the carpet area by the roller brush;

[0015] Wherein, the first rotation direction and the second rotation direction are opposite.

[0016] In a third aspect, an embodiment of the present application provides a sweeping robot, comprising a body, drive wheels and a roller brush, as well as a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0017] The carpet cleaning method, sweeping robot and readable storage medium provided by the embodiments of the present application are such that when cleaning a carpet area, the sweeping robot moves forward to perform a first cleaning operation on the carpet area through a roller brush, and moves backward to perform a second cleaning operation on the carpet area through a roller brush. During the forward movement, the rotation direction of the driving wheel is the same as the rotation direction of the roller brush, and during the backward movement, the rotation direction of the driving wheel is opposite to the rotation direction of the roller brush. With this scheme, when cleaning a carpet area, the first cleaning operation is performed during the forward movement, and the second cleaning operation is performed during the backward movement. Large particles of garbage on the carpet are cleaned by the first cleaning operation. Compared with the forward movement, the hair strips of the roller brush hit the carpet more times during the second cleaning operation. Therefore, the carpet area can be deeply cleaned by the second cleaning operation to deeply clean the dust at the bottom and gaps of the carpet, thereby improving the dust removal rate of different particles on the carpet and achieving the purpose of improving the cleaning effect of the carpet area. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1A is a bottom view of the sweeping robot provided in an embodiment of the present application;

[0020] Figure 1Bis a side sectional view of a sweeping robot provided in an embodiment of the present application;

[0021] Figure 1C is a partial schematic diagram of a sweeping robot provided in an embodiment of the present application;

[0022] Figure 1D is a schematic diagram of a roller brush of a sweeping robot provided in an embodiment of the present application;

[0023] Figure 2A is a trajectory diagram of the bristles of the roller brush when the sweeping robot provided by the embodiment of the present application moves forward;

[0024] Figure 2B yes Figure 2A Enlarged view of the dotted rectangular area;

[0025] Figure 3A is a trajectory diagram of the hair strips when the sweeping robot provided by the embodiment of the present application moves backward;

[0026] Figure 3B yes Figure 3A Enlarged view of the dotted rectangular area;

[0027] Figure 4 is a flow chart of a carpet cleaning method provided by an embodiment of the present application;

[0028] Figure 5A is a schematic diagram of the rotation direction of the driving wheel and the roller brush when the sweeping robot provided by an embodiment of the present application moves forward;

[0029] Figure 5B Schematic diagram of the rotation direction of the driving wheel and the roller brush when the sweeping robot provided by the embodiment of the present application moves backward;

[0030] Figure 6 is a schematic diagram of a first motion and a second motion in a cleaning method provided in an embodiment of the present application;

[0031] Figure 7 is a schematic diagram of a target subpath in a cleaning method provided in an embodiment of the present application;

[0032] Fig. 8A is a schematic diagram of the process of the first cleaning operation in the cleaning method provided in an embodiment of the present application;

[0033] Figure 8B is a schematic diagram of the process of the second cleaning operation in the cleaning method provided in an embodiment of the present application;

[0034] Fig. 9 This is a flow chart of the first edge cleaning in the cleaning method provided in the embodiment of the present application;

[0035] Fig.10This is a flow chart of the second edge cleaning in the cleaning method provided in the embodiment of the present application;

[0036] Fig.11 This is a flowchart of the first traversal cleaning in the cleaning method provided in the embodiment of the present application;

[0037] Fig.12 This is a flow chart of the second traversal cleaning in the cleaning method provided in the embodiment of the present application;

[0038] Fig.13A This is a scene diagram of a sweeping robot rotating in place in the cleaning method provided in an embodiment of the present application;

[0039] Fig. 13B This is another scene diagram of the sweeping robot rotating in situ in the cleaning method provided in the embodiment of the present application;

[0040] Fig.14 is a schematic diagram of a cleaning robot encountering multiple obstacles in the cleaning method provided in an embodiment of the present application;

[0041] Fig.15A This is a schematic diagram of the first cleaning process in the cleaning method provided in the embodiment of the present application;

[0042] Fig. 15B It is a schematic diagram of the second cleaning process in the cleaning method provided in the embodiment of the present application;

[0043] Fig.16A This is a schematic diagram of the first cleaning process in the cleaning method provided in the embodiment of the present application;

[0044] Fig. 16B It is a schematic diagram of the second cleaning process in the cleaning method provided in the embodiment of the present application;

[0045] Fig.17 A schematic diagram of the structure of a sweeping robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In addition to cleaning common surfaces such as tiles and wooden floors, sweeping robots can also clean carpet areas. When cleaning carpet areas, the common method is similar to cleaning tiles and wooden floors: calculate the cleanable area on the carpet, generate edge paths and traversal paths based on the carpet's contours, cleanable areas, and restricted areas, and first clean the carpet area along the edge according to the edge paths. After that, traverse and clean the inside of the carpet according to the traversal path. Regardless of whether it is edge cleaning or traversal cleaning, the robot moves forward, so edge cleaning is called forward edge cleaning and traversal cleaning is called forward traversal.

[0047] However, the carpet is soft and has gaps, and dust often accumulates at the bottom of the carpet or in the gaps. The above cleaning method cannot remove the fine dust at the bottom of the carpet or in the gaps, that is, the above cleaning method has a low dust removal rate.

[0048] Based on this, an embodiment of the present application provides a cleaning method, a sweeping robot and a readable storage medium, which cleans the carpet area by combining a first cleaning operation during forward movement and a second cleaning operation during reverse movement, thereby achieving the purpose of improving the cleaning effect of the carpet area.

[0049] Figure 1A This is a bottom view of the sweeping robot provided in an embodiment of the present application. Figure 1B is a side sectional view of the sweeping robot provided in the embodiment of the present application. Figure 1A and Figure 1B The sweeping robot 100 provided in the embodiment of the present application includes a body 11, a roller brush 13, a driving wheel 15, a memory, a processor, etc. The body 11 is provided with a receiving cavity for receiving the roller brush 13, and the roller brush 13 is arranged in the receiving cavity. Exemplarily, the sweeping robot provided in the embodiment of the present application may also include a side brush 12, a mop 14, a scraper 16, an adjustment baffle 17, and a universal wheel 18 arranged on the body 11. Figure 1B The mop 14 is not installed on the middle body 11. The memory and processor are not shown in the figure. In addition, a fan, a dust box, a water supply component, etc. can also be set on the body of the sweeping robot 100. For example, please refer to Figure 1A and Figure 1B , the side brush 12 is used to clean the surface to be cleaned. The accommodating chamber for accommodating the roller brush 13 has a suction port, which is used for at least part of the roller brush 13 to extend to contact the surface to be cleaned. The roller brush 13 is detachably arranged in the accommodating chamber for replacement, cleaning, etc. The roller brush 13 continuously rotates and brushes the ground, and can sweep dust and garbage into the dust box of the sweeping robot 100. The mop 14 is a detachable component and can be automatically raised and lowered for switching sweeping and mopping tasks. The scraper bar 16 is arranged along the extension direction of the roller brush 13 and contacts the surface to be cleaned. The free end of the scraper bar 16 is used to prevent the garbage swept by the roller brush 13 from leaking to the rear side of the scraper bar 16. The universal wheel 18 is used to assist in changing the direction of the sweeping robot 100. A collision sensor assembly is arranged at the front of the sweeping robot 100 to detect whether there are obstacles, walls, furniture, etc. in front.

[0050] In the embodiment of the present application, the sweeping robot can perform sweeping tasks or mopping tasks alone, or can perform sweeping tasks and mopping tasks at the same time. The side brush 12, the roller brush 13, and the mop 14 are all arranged at the bottom of the body 11, and relative to the forward direction of the body 11, the side brush 12 and the roller brush 13 are arranged in front of the mop 14. Based on this structure, when the sweeping robot 100 performs sweeping tasks and mopping tasks at the same time, the effect of sweeping first and then mopping can be achieved.

[0051] Please refer to Figure 1A and Figure 1B When cleaning the carpet area, the mop 14 can be raised so as not to contact the carpet. The sweeping robot 100 performs a first cleaning operation and a second cleaning operation on the carpet area to clean the carpet area. The first cleaning operation is used to clean large particles of garbage on the carpet, and the second cleaning operation is used to perform deep cleaning on the carpet area to deeply clean the dust at the bottom and gaps of the carpet.

[0052] To achieve the first cleaning operation, the driving wheel 15 and the roller brush 13 rotate in the same direction, that is, the driving wheel 15 and the roller brush 13 both rotate in the first rotation direction, and the first rotation direction is, for example, clockwise. Exemplarily, the sweeping robot 100 moves forward under the drive of the driving wheel 15, and during the forward movement, the side brush 12 sweeps large particles of garbage to the bottom of the body 11, and the garbage is blocked by the scraper bar 16 and is difficult to leak to the rear side of the scraper bar 16. At the same time, the fan on the sweeping robot 100 works, thereby forming a negative pressure in the accommodation chamber, so that the garbage and air swept by the roller brush 13 are sucked in through the air flow channel, and the garbage is collected in the dust box after being filtered by the filter structure, and the clean air is discharged into the environment.

[0053] To achieve the second cleaning operation, the driving wheel 15 and the roller brush 13 rotate in opposite directions, that is, the roller brush 13 rotates in the first rotation direction, and the driving wheel 15 rotates in the second rotation direction, and the first rotation direction and the second rotation direction are opposite. The sweeping robot moves backwards under the drive of the driving wheel 15. During the backward process, since the driving wheel 15 and the roller brush 13 rotate in opposite directions, the number of times the wool strips on the roller brush 13 contact the ground per unit time increases, that is, the number of times the wool strips hit the ground increases. Each time the wool strips come into contact with the carpet, the wool on the carpet is rolled up to loosen the carpet, so that the dust hidden at the bottom and in the gaps can be easily sucked from the suction port to the air flow channel, and then collected in the dust box, so as to clean the dust at the bottom and in the gaps of the carpet.

[0054] Optional, see Figure 1B, the sweeping robot provided in the embodiment of the present application is also provided with an adjustment baffle 17 and a driving mechanism, and the driving mechanism is used to drive the adjustment baffle 17 to move. When the sweeping robot moves forward, the sweeping robot controls the driving mechanism to drive the adjustment baffle 17 to rise, so as to increase the size of the suction port of the accommodating cavity; and / or, when the sweeping robot moves backward, the sweeping robot controls the driving mechanism to drive the adjustment baffle 17 to descend, so as to reduce the size of the suction port. It should be noted that the raising and lowering of the adjustment baffle 17 in the embodiment of the present application are relative, and are not strictly limited to a certain raising position or a certain lowering position, as long as the position of the adjustment baffle 17 is higher than the position of the sweeping robot when the sweeping robot moves forward. In one embodiment, the adjustment baffle 17 has an ascending limit position and a descending limit position. For example, when the sweeping robot is in a forward movement, the adjustment baffle 17 is controlled to be in the ascending limit position, and when the sweeping robot is in a backward position, the adjustment baffle 17 is controlled to be in the descending limit position.

[0055] Figure 1C This is a partial schematic diagram of the sweeping robot provided in the embodiment of the present application. Figure 1B and Figure 1C , with the forward direction of the sweeping robot as a reference, an adjustment baffle 17 is provided in front of the roller brush 13. The adjustment baffle 17 is provided along the extension direction of the roller brush 13. The adjustment baffle 17 is driven by a driving mechanism to realize the lifting and lowering of the adjustment baffle 17. When the adjustment baffle 17 moves from A2 to A1 under the drive of the driving mechanism, it is lifted. After being lifted, the adjustment baffle 17 is as shown by the solid line in the figure. At this time, the width of the suction port is L1, and there is a certain gap between the adjustment baffle 17 and the carpet for large particles of garbage to be sucked in. When the adjustment baffle 17 moves from A1 to A2 under the drive of the driving mechanism, it is lowered. After being lowered, the adjustment baffle 17 is as shown in the solid line in the figure. Figure 1C As shown by the middle dotted line, at this time, the width of the suction port is L2, and L2 is smaller than L1. The smaller the suction port, the greater the suction force of the sweeping robot, making it easier to suck out the tiny dust hidden at the bottom of the carpet and in the gaps, thereby achieving the purpose of improving the dust removal rate.

[0056] When the sweeping robot performs the first cleaning operation, the fan of the sweeping robot is turned on, the side brush 12 rotates, the roller brush 13 rotates, the adjustment baffle 17 is lifted, and the cleaning target is large particles of garbage that are easy to interfere with the roller brush 13.

[0057] When the sweeping robot performs the second cleaning operation, the fan of the sweeping robot is turned on, the side brush 12 rotates, the roller brush 13 rotates, the adjustment baffle 17 descends, and the cleaning target is the fine dust particles hidden at the bottom and gaps of the carpet.

[0058] It should be noted that Figure 1CFor the sake of clarity, the adjusting baffle shown in the solid line and the adjusting baffle shown in the dotted line are staggered. In fact, the adjusting baffle shown in the solid line and the adjusting baffle shown in the dotted line only represent different positions of the adjusting baffle, and do not represent two staggered adjusting baffles.

[0059] By adopting this solution, an adjustment baffle is provided for adjusting the size of the suction port of the accommodating chamber, so as to improve the cleaning effect of large particles of garbage when the sweeping robot moves forward, and improve the dust removal rate of fine dust when moving backward.

[0060] It should be noted that although the above Figure 1A The sweeping robot 100 is described by taking the example of having a mop 14, that is, having a mopping function. However, the present application embodiment is not limited thereto, for example, the sweeping robot 100 may not be provided with a mop 14, that is, the sweeping robot 100 only has a sweeping function, not a mopping function.

[0061] In addition, in the embodiments of the present application, the surface to be cleaned is also referred to as a working surface, which may be a wooden floor, a tile, a carpet, etc. Since the carpet is soft and fluffy, the dust is mostly located at the bottom of the carpet fluff. When the sweeping robot moves on the carpet to clean the carpet, on the one hand, the dust at the bottom of the carpet fluff is not easy to be cleaned due to the carpet fluff covering it. On the other hand, since the scraper bar on the rear side of the roller brush cannot contact the bottom of the carpet, the suction port of the roller brush accommodating chamber cannot maintain a good negative pressure, which makes the sweeping robot have a poor dust removal effect when cleaning the carpet, that is, the dust removal rate is low. The traditional cleaning method for working surfaces such as wooden floors and tiles is not applicable to carpet areas. If the traditional cleaning method is used to clean the carpet area, the carpet cleaning effect will be poor. Therefore, the embodiments of the present application focus on improving the cleaning quality of the carpet.

[0062] In the embodiment of the present application, a collision sensor assembly may be provided at the front of the sweeping robot 100 to detect whether there are obstacles, walls, furniture, etc. in front. However, no collision sensor assembly is provided at the rear of the sweeping robot 100. Since the sweeping robot 100 of the embodiment of the present application can only perform the second cleaning operation by moving backward, in order to prevent the sweeping robot 100 from hitting walls, furniture, obstacles, etc. during the backward movement, in one method, the sweeping robot updates the environmental map in real time during the forward movement; or, the sweeping robot updates the environmental map after moving forward to perform the first cleaning operation, and when performing the second cleaning operation subsequently, it moves backward according to the latest environmental map to prevent collision during the backward movement.

[0063] In another embodiment, a radar is disposed at the rear of the cleaning robot 100, and the height of the detection range of the radar is lower than the height of the body. Figure 1BFor example, the rear part of the sweeping robot is close to the universal wheel 18, where a radar for detecting walls, furniture or obstacles is arranged. The height of the radar is lower than the top surface of the body 11, which is convenient for the sweeping robot to avoid obstacles when moving backward, thereby achieving the purpose of improving the safety of the sweeping robot.

[0064] It is understandable that, in actual application, the above two methods can exist at the same time to improve the safety and reliability of the reverse cleaning of the sweeping robot to a greater extent.

[0065] In the embodiment of the present application, the first cleaning operation is used to clean large particles of garbage on the carpet, and the second cleaning operation is used to perform deep cleaning of the carpet area. By combining the first cleaning operation and the second cleaning operation, the large particles of garbage can be cleaned and deep dust can be sucked. The roller brush is an important component for performing the first cleaning operation and the second cleaning operation. The roller brush can be a single-bristle roller brush, a double-bristle roller brush, a multi-bristle roller brush, etc., which is not limited in the embodiment of the present application.

[0066] Below, taking a double-bristle roller brush as an example, the following explains in detail why the sweeping robot can deeply clean the dust at the bottom and in the gaps of the carpet when moving backwards.

[0067] Figure 1D Schematic diagram of the roller brush of the sweeping robot provided in the embodiment of the present application. Figure 1D The roller brush provided in the embodiment of the present application includes a roller body 131, and a rubber strip 132 and a wool strip 133 which are spirally arranged on the outer peripheral wall of the roller body 131 along the length direction of the roller body 131. The spiral direction and spiral lead angle of the rubber strip 132 and the wool strip 133 are the same. The spiral arrangement direction of the rubber strip 132 and the wool strip 133 is opposite to the rotation direction of the roller brush during the first cleaning operation and the second cleaning operation. Among them, the wool strip 133 mainly plays the role of cleaning dust.

[0068] For the same position of the carpet, the wool strip 133 cleans the position once each time it passes through. The more times the wool strip 133 passes through per unit time, the better the cleaning effect on the position. Therefore, an effective way to improve the cleaning ability is to increase the number of times the wool strip 133 passes through the same position per unit time, that is, to increase the number of times the wool strip 133 cleans the same position. Since the wool strip 133 contacts the surface to be cleaned each time it cleans, it is equivalent to slapping the surface to be cleaned once, so increasing the number of times the wool strip 133 cleans the same position is also called increasing the number of slapping times.

[0069] Assuming that the driving wheel and the roller brush rotate in the same direction and at the same speed during the forward movement of the sweeping robot, at this time, the number of times the hair strips 133 of the roller brush hit the carpet per unit time is small, and a good cleaning effect cannot be achieved. If the number of times of hitting at this time is used as a reference number, it is obvious that as long as the number of hitting is higher than the reference number, the cleaning ability of the sweeping robot can be improved.

[0070] To increase the number of tapping times, you can consider the following methods:

[0071] Method A: Increase the speed of the roller brush while the sweeping robot is moving forward.

[0072] In this method, the sweeping robot moves forward, the driving wheel and the roller brush rotate in the same direction, but the speed of the roller brush is much higher than that of the driving wheel. However, this method requires a high speed of the motor of the sweeping robot, resulting in high noise and poor endurance of the sweeping robot.

[0073] Mode B: The sweeping robot moves forward, and the driving wheel and the roller brush rotate in opposite directions, that is, the rotation direction of the roller brush itself is changed so that it is opposite to the rotation direction of the driving wheel.

[0074] In this manner, due to the spiral arrangement of the rubber strip 132 and the wool strip 133, during the forward movement, if the rotation direction of the roller brush 13 is opposite to the rotation direction of the driving wheel, the spiral rotation direction of the roller brush 13 is the same as the rotation direction of the roller brush 13. Figure 1B At the angle shown, the scraper bar 16 is usually arranged at the rear side of the suction port of the storage chamber of the roller brush 13, while the scraper bar 16 is not arranged at the front side of the suction port of the storage chamber, so that when the sweeping robot moves forward, large particles of garbage can enter the storage chamber from the front side of the suction port of the storage chamber of the roller brush 13, and are blocked in the storage chamber by the scraper bar 16, so that the large particles of garbage can be sucked into the dust box of the sweeping robot. In this configuration of the sweeping robot, if the sweeping robot moves forward, the driving wheel 15 rotates clockwise and the roller brush 13 rotates counterclockwise, when the dust and garbage enter the storage chamber through the front side of the roller brush 13 and reach the position of the roller brush 13, the roller brush 13 will knock the dust and garbage forward to the surface to be cleaned, affecting the final cleaning effect.

[0075] It can be seen from this that the carpet cleaning effect cannot be guaranteed well by controlling the sweeping robot to change the rotation direction of the roller brush 13 itself when it moves forward.

[0076] Mode C: The sweeping robot moves backward, and the driving wheel and the roller brush rotate in opposite directions.

[0077] In this manner, due to the spiral arrangement of the rubber strip 132 and the wool strip 133, during the backward movement, if the roller brush 13 continues to maintain the same rotation direction, but the rotation direction of the driving wheel 15 is opposite to the rotation direction of the roller brush 13, the spiral rotation direction of the roller brush 13 is opposite to the rotation direction of the roller brush 13. For example, when the sweeping robot moves backward, the driving wheel 15 rotates counterclockwise, and the roller brush 13 rotates clockwise. When the side brush 12 sweeps the garbage to the position of the roller brush 13, the roller brush 13 sweeps the garbage into the dust box. Moreover, since the scraper strip 16 is arranged behind the roller brush 13, it can collect the garbage.

[0078] With this solution, the roller brush includes a roller body and rubber strips and wool strips spirally arranged on the outer peripheral wall of the roller body, and the spiral arrangement of the rubber strips and wool strips is opposite to the rotation direction of the roller brush, so that the roller brush can sweep garbage into the dust box during the first cleaning operation and the second cleaning operation without blowing the garbage away, thereby achieving the purpose of improving the carpet cleaning quality.

[0079] Among the above three methods, since method A and method B each have their own disadvantages, the embodiment of the present application uses method C to increase the number of times the bristles of the roller brush hit the carpet.

[0080] Next, the reason why the above-mentioned method C can increase the number of tapping times is explained in detail.

[0081] For example, if the brush is a double-bristle brush, the brush speed is 1100 rpm, and the forward speed of the sweeping robot is 0.2 m / s, please refer to Figure 1D The roller brush is a double-bristle roller brush, that is, a spiral channel is formed between adjacent rubber strips, with two spiral channels in total, a bristle strip is arranged in each spiral channel, and each bristle strip is provided with multiple bristles. Moreover, since the roller brush rotates at 1100rpm, that is, 1100 times per minute, the rotation frequency of the roller brush is 1100÷60=18.33 revolutions per second.

[0082] When the sweeping robot moves forward and the roller brush and the driving wheel rotate in the same direction, the motion trajectory of any bristle in the first strip corresponds to curve function 1, and the motion trajectory of any bristle in the second strip corresponds to curve function 2.

[0083] Curve function 1 is as follows:

[0084] x=-20.5×cos(18.33×t×360)+200×t

[0085] y=20.5×sin(18.33×t×360)+20

[0086] z=0

[0087] Curve function 2 is as follows:

[0088] x=20.5×cos(18.33×t×360-180)+200×t

[0089] y=20.5×sin(18.33×t×360-180)+20

[0090] z=0

[0091] According to the above two curve functions, the trajectory diagram of the two hair strips during the forward movement of the sweeping robot is obtained. For example, please refer to Figure 2A and Figure 2B .

[0092] Figure 2A is a trajectory diagram of the bristles of the roller brush when the sweeping robot provided by the embodiment of the present application moves forward, Figure 2B yes Figure 2A Enlarged view of the dotted rectangular area. Figure 2A and Figure 2B , the blue spiral track is the track of one bristle strip, and the black spiral track is the track of another bristle strip. Obviously, when the sweeping robot moves forward, some positions are cleaned three times, and some positions are cleaned twice. The length of the position cleaned three times is about 2.7 mm, and the length of the position cleaned twice is 2.8 mm. When the sweeping robot moves backward and the roller brush and the driving wheel rotate in opposite directions, the motion trajectory of any bristle in the first bristle strip corresponds to curve function 3, and the motion trajectory of any bristle in the second bristle strip corresponds to curve function 4.

[0093] Curve function 3 is as follows:

[0094] x=-20.5×cos(18.33×t×360)-200×t

[0095] y=20.5×sin(18.33×t×360)+20

[0096] z=0

[0097] Curve function 4 is as follows:

[0098] x=-20.5×cos(18.33×t×360-180)-200×t

[0099] y=20.5×sin(18.33×t×360-180)+20

[0100] z=0

[0101] According to the above two curve functions, the trajectory diagram of the two hair strips during the backward movement of the sweeping robot is obtained. For example, please refer to Figure 3A and Figure 3B .

[0102] Figure 3Ais a trajectory diagram of the fur strips when the sweeping robot provided in the embodiment of the present application moves backwards, Figure 3B yes Figure 3A Enlarged view of the dotted rectangular area. Figure 3A and Figure 3B , the blue spiral track is the track of one bristle strip, and the black spiral track is the track of another bristle strip. Obviously, when the sweeping robot moves backward, each position is cleaned three times.

[0103] Therefore, compared with the above Figure 2A and Figure 3A ,as well as Figure 2B and Figure 3B , it can be determined that: when moving backward, the number of taps on each position is greater, so moving backward can improve the dust removal rate of the sweeping robot.

[0104] It can be understood that when the roller brush is a single-bristle roller brush, since there is only one rubber strip and one bristle strip, there are no adjacent rubber strips at this time, and therefore there is no spiral channel formed between the adjacent rubber strips.

[0105] Next, based on the above Figure 1A to Figure 3B The cleaning method provided in the embodiment of the present application is described in detail. For example, please refer to Figure 4 .

[0106] Figure 4 1 is a flowchart of a carpet cleaning method provided by an embodiment of the present application. The execution subject of this embodiment is a sweeping robot, and this embodiment includes the following steps:

[0107] 401. Move forward to perform a first cleaning operation on the carpet area by using a roller brush.

[0108] 402. Travel backward to perform a second cleaning operation on the carpet area by using a rolling brush.

[0109] Wherein, during the forward movement, the rotation direction of the driving wheel is the same as the rotation direction of the roller brush, and during the backward movement, the rotation direction of the driving wheel is opposite to the rotation direction of the roller brush.

[0110] Figure 5A Schematic diagram of the rotation direction of the driving wheel and the roller brush of the sweeping robot provided in an embodiment of the present application when the sweeping robot moves forward. Figure 5B Schematic diagram of the rotation direction of the driving wheel and the roller brush when the sweeping robot provided by the embodiment of the present application moves backward. Figure 5A When the sweeping robot moves forward, the roller brush 13, the driving wheel 15 and the universal wheel 18 all rotate in a first rotation direction, and the first rotation direction is, for example, a clockwise direction.

[0111] Please refer to Figure 5BWhen the sweeping robot moves backward, the roller brush 13 maintains the first rotation direction unchanged, and the driving wheel 15 and the universal wheel 18 rotate in the second rotation direction, for example, the second rotation direction is counterclockwise.

[0112] In the embodiment of the present application, when the sweeping robot is moving forward, the driving wheel 15 and the roller brush 13 are controlled to rotate in the first rotation direction, so that the sweeping robot moves forward to perform a first cleaning operation on the carpet area through the roller brush, and the first cleaning operation is used to clean large particles of garbage. When the sweeping robot is moving backward, the driving wheel 15 is controlled to rotate in the second rotation direction and the roller brush 13 is controlled to rotate in the first rotation direction, so that the sweeping robot moves backward to perform a second cleaning operation on the carpet area through the roller brush, and the second cleaning operation is used to perform deep cleaning on the carpet area, so as to deeply clean the dust at the bottom of the carpet and in the gaps.

[0113] The carpet cleaning method provided by the embodiment of the present application is that when cleaning the carpet area, the sweeping robot moves forward to perform a first cleaning operation on the carpet area through a roller brush, and moves backward to perform a second cleaning operation on the carpet area through a roller brush. During the forward movement, the rotation direction of the driving wheel is the same as the rotation direction of the roller brush, and during the backward movement, the rotation direction of the driving wheel is opposite to the rotation direction of the roller brush. With this scheme, when cleaning the carpet area, the first cleaning operation is performed during the forward movement, and the second cleaning operation is performed during the backward movement. The large particles of garbage on the carpet are cleaned by the first cleaning operation. Compared with the forward movement, the hair strips of the roller brush hit the carpet more times during the second cleaning operation. Therefore, the carpet area can be deeply cleaned by the second cleaning operation to deeply clean the dust at the bottom and gaps of the carpet, improve the dust removal rate of different particles on the carpet, and achieve the purpose of improving the cleaning effect of the carpet area.

[0114] In an embodiment of the present application, the first cleaning operation includes the first edge cleaning and / or the first traversal cleaning, and the second cleaning operation includes the second edge cleaning and / or the second traversal cleaning. Since forward movement is also called positive movement, and backward movement is also called reverse movement. Therefore, the first edge cleaning can be called positive edge cleaning, the first traversal cleaning can be called positive traversal cleaning, the second edge cleaning can be called reverse edge cleaning, and the second traversal cleaning can be called reverse traversal cleaning. Among them, the traversal methods of the first traversal cleaning and the second traversal cleaning include but are not limited to bow-shaped traversal, return-shaped traversal, Z-shaped traversal, spiral traversal, etc. Furthermore, if the first traversal cleaning and the second traversal cleaning both adopt bow-shaped traversal, and the traversal directions are vertical, the sum of the two traversal cleanings constitutes a tic-tac-toe traversal.

[0115] In order to clean different types of garbage in the carpet area, the embodiment of the present application may not limit the order of the first cleaning operation and the second cleaning operation. In some embodiments, when the sweeping robot is traveling in the carpet area, the sweeping robot may perform the first cleaning operation before performing the second cleaning operation in at least part of the time period.

[0116] For example, the sweeping robot performs the first edge cleaning, the first traversal cleaning, the second edge cleaning and the second traversal cleaning in sequence.

[0117] For another example, the sweeping robot performs the first edge cleaning, the second edge cleaning, the first traversal cleaning, and the second traversal cleaning in sequence.

[0118] For another example, after the sweeping robot performs the first and second edge cleaning, the carpet is divided into a plurality of sub-areas. For each sub-area, the sweeping robot sequentially performs the first and second traversal cleaning on the sub-area.

[0119] As mentioned above, when the sweeping robot is in the first cleaning operation state, it can clean up large particles of garbage, and basically will not knock the large particles of garbage to the front of the suction port of the roller brush 13. Since the scraper bar 16 is arranged on the rear side of the suction port, if the second cleaning operation is performed first, when there are more large particles of garbage on the upper part of the carpet, the scraper bar 16 will prevent the large particles of garbage from entering the accommodating cavity of the roller brush 13 during the backward movement of the sweeping robot, and push the large particles of garbage backward during the backward movement, so that the large particles of garbage cannot be collected, and the overall cleaning efficiency is poor. By adopting this scheme, by successively performing the first cleaning operation and the second cleaning operation in at least part of the time period, the effect of first cleaning large particles of garbage and then deeply cleaning the dust at the bottom of the carpet and in the gaps is achieved, so as to achieve the purpose of improving the cleaning quality of the carpet area. Of course, in some embodiments, the sweeping robot can perform the second cleaning operation after completing the first cleaning operation on the entire area of ​​the carpet area.

[0120] Optionally, in the above embodiment, when the sweeping robot performs the first cleaning operation and then the second cleaning operation in a partial time period, the environment map can be updated in real time during the execution of the first cleaning operation, or the environment map can be updated after the first cleaning operation is completed. When the second cleaning operation is subsequently performed, the sweeping robot moves backward according to the updated environment map to perform the second cleaning operation on the carpet area through the roller brush.

[0121] For example, after the sweeping robot enters an unfamiliar environment for the first time, it creates an environmental map based on technologies such as Simultaneous Localization and Mapping (SLAM), and uses the environmental map to navigate when performing subsequent cleaning tasks. However, the environment often changes. For example, the user moved the tables and chairs at home; for another example, after the sweeping robot created the environmental map, the child put a puppet on the carpet in the living room. After the environment changes, if the environment map created initially continues to be used when moving backward, a collision will occur. To avoid this drawback, after the sweeping robot completes the first cleaning operation, it updates the environmental map so that the environmental map is consistent with the real-time environment. In other words, when the sweeping robot performs the first cleaning operation, it must not only complete the full coverage cleaning of the carpet area, but also sense obstacles around and on the carpet through sensors, etc., so as to update the environmental map and provide a reliable environmental map for the second cleaning operation. The environmental map indicates safe areas, obstacles, etc., to ensure that the sweeping robot will not collide and fall when performing the second cleaning operation.

[0122] The sweeping robot moves backwards according to the latest environmental map, which greatly avoids collision and falling events. In addition, there is no need to set up radar or other sensors for detecting obstacles at the rear of the sweeping robot, which is low-cost. Alternatively, after performing the first cleaning operation, the second cleaning operation is performed according to the environmental map updated by the first cleaning operation, and the rear obstacles of the sweeping robot during the second cleaning operation are detected by the rear radar of the sweeping robot or other sensors for detecting obstacles, thereby further improving the safety of the sweeping robot's reverse cleaning.

[0123] In an embodiment of the present application, before the sweeping robot performs the first cleaning operation, it plans a first path according to a pre-created environment map. Afterwards, it moves forward according to the first path to perform the first cleaning task. In the process of the sweeping robot moving forward according to the first path, it will inevitably encounter obstacles that do not appear in the environment map. The obstacle is referred to as the first obstacle below. When encountering the first obstacle, the sweeping robot alternately performs the first movement and the second movement to clean along the edge. After cleaning the first obstacle along the edge, it continues to move forward to continue to perform the first cleaning operation on the carpet area through the roller brush. Among them, the first movement refers to moving forward and cleaning along the boundary of the first obstacle, and the second movement refers to moving backward and cleaning along the tangent of the point on the boundary of the obstacle.

[0124] After the sweeping robot creates an environment map for an unfamiliar environment based on SLAM and other technologies, the environment changes due to the user moving tables and chairs, causing the first obstacle that is not marked in the environment map to appear in the environment. When the sweeping robot encounters the first obstacle, it performs two movements alternately on the first obstacle. For example, please refer to Figure 6 .

[0125] Figure 6 Schematic diagram of the first movement and the second movement in the cleaning method provided in the embodiment of the present application. Figure 6 , the carpet area is shown as the dotted line in the figure, and there is a first obstacle in the carpet area, as shown by the gray filled ellipse in the figure. When the sweeping robot performs the first traversal cleaning of the carpet area, it starts the bow traversal from the initial position, and the initial position is shown by the dotted line robot in the figure. When encountering the first obstacle, it moves backward and cleans along the edge of the first obstacle while moving backward along the tangent of the point on the boundary of the first obstacle, that is, the first obstacle is alternately cleaned along the edge by the first movement and the second movement. By alternating the first movement and the second movement, the surrounding area of ​​the first obstacle can be covered to the greatest extent, and high-quality cleaning of the area around the first obstacle can be achieved. Among them, the backward direction is shown in the direction of the dotted arrow in the figure. After the first obstacle is cleaned along the edge, the sweeping robot continues to move forward and continues to perform the first cleaning operation on the carpet area. The blank area in the figure is the untraversed area.

[0126] It can be understood that for obstacles marked in the environmental map, that is, obstacles that have appeared in the carpet area before the sweeping robot plans the first path, after the sweeping robot reaches the obstacle, it also alternately performs the first movement and the second movement around the obstacle, but there is no need to update the environmental map.

[0127] With this solution, when the sweeping robot encounters a first obstacle during the first cleaning operation, the sweeping robot alternately performs the first movement and the second movement to clean along the edge of the first obstacle, thereby improving the cleaning quality of the area around the first obstacle.

[0128] Optionally, in the above embodiment, after the sweeping robot finishes cleaning the edge of the first obstacle, it updates the first environment map according to the boundary of the first obstacle to obtain the second environment map, and replans the first path according to the second environment map. Afterwards, the sweeping robot continues to move forward according to the replanned first path to continue to perform the first cleaning operation on the carpet area through the roller brush. The first environment map is a map created for the environment where the carpet area is located before the sweeping robot performs the first cleaning operation, and the first path is a path planned by the sweeping robot according to the first environment map for performing the first cleaning operation.

[0129] In the embodiment of the present application, the environment map created before the sweeping robot performs the first cleaning operation is called the first environment map. The first environment map may be a map created for the first time when the sweeping robot enters the unfamiliar environment where the carpet is located, or a map created after the last time the carpet was cleaned. The sweeping robot plans a first path according to the first environment map, and performs the first cleaning operation according to the first path. During the first cleaning operation, if the first obstacle appears, the sweeping robot performs Figure 6 The corresponding cleaning method.

[0130] After cleaning the first obstacle along the edge, the sweeping robot updates the first environment map according to the boundary of the first obstacle to obtain the second environment map, and replans the first path according to the second environment map. Figure 6 , taking the standard bow-shaped traversal as an example, if the environment has not changed, that is, the first obstacle does not appear in the carpet area, the first path is a standard bow-shaped path, and the sweeping robot starts from the initial position: cleaning the carpet area from bottom to top. However, due to the appearance of the first obstacle in the carpet area, the first path needs to be replanned. After the sweeping robot finishes cleaning along the edge of the first obstacle, it continues to perform the first cleaning operation on other areas of the carpet according to the replanned first path. For example, the sweeping robot first cleans the area to the left of the first obstacle, then cleans the area above the first obstacle, and finally cleans the area to the right of the first obstacle.

[0131] By adopting this solution, the sweeping robot timely updates the first environment map and replans the first path during the first cleaning operation, thereby achieving the purpose of completing the first cleaning operation quickly and safely.

[0132] In an embodiment of the present application, before the sweeping robot performs the second cleaning operation, it plans a second path according to the second environment map. Afterwards, it moves backwards according to the second path to perform the second cleaning task. If the first obstacle appeared during the previous first cleaning operation, it is very likely that the first obstacle will continue to be encountered during the execution of the second cleaning operation. In addition to encountering the first obstacle, it is also possible to encounter a second obstacle, which is an obstacle that did not appear during the first cleaning operation, that is, an obstacle that is not marked in the second environment map. Below, these two situations are described in detail.

[0133] When the sweeping robot encounters a first obstacle while moving backward, it does not need to perform edge cleaning on the first obstacle, but moves forward according to the second environment map to bypass the first obstacle. After bypassing the first obstacle, it continues to move backward to continue to perform the second cleaning operation on the carpet area with the roller brush.

[0134] Please continue to refer to Figure 6After the sweeping robot completes the first cleaning operation, it moves backward according to the second environment map. When encountering the first obstacle, since the rear of the general sweeping robot is not provided with a collision sensor assembly, etc., in order to avoid a collision, the sweeping robot no longer moves backward, but moves forward, and bypasses the first obstacle under the guidance of the second environment map. After bypassing the first obstacle, the sweeping robot continues to move backward in the carpet area to continue to perform the second cleaning operation on the carpet area.

[0135] It is understandable that, since the sweeping robot has performed fine edge cleaning on the area around the first obstacle during the first cleaning operation on the carpet area, the obstacle can be directly bypassed during the second cleaning operation, and the problem of poor cleaning effect on the area around the first obstacle will not occur.

[0136] With this solution, when the sweeping robot encounters the first obstacle during the second cleaning operation, it directly bypasses the first obstacle, thereby ensuring the safety of the sweeping robot while improving the cleaning efficiency of the carpet area.

[0137] When the sweeping robot encounters the second obstacle while moving backward, it cannot directly bypass the second obstacle because the second obstacle is not marked in the second environment map. Therefore, the sweeping robot switches to the forward direction and moves forward to follow the edge of the second obstacle, that is, walks a circle along the boundary of the second obstacle, so as to record the boundary, position, etc. of the second obstacle. After completing the process of following the edge of the second obstacle, the sweeping robot updates the second environment map according to the boundary of the second obstacle to obtain the third environment map. Afterwards, the sweeping robot re-plans the second path according to the third environment map, and continues to move backward according to the re-planned second path, so as to continue to perform the second cleaning operation on the carpet area through the roller brush.

[0138] Please continue to refer to Figure 6 , it is assumed that after the sweeping robot completes the first cleaning operation, it plans a second path according to the second environment map, and encounters a new obstacle, namely the second obstacle, while traveling along the second path. Since the rear of the sweeping robot is not provided with a collision sensor component, etc., in order to avoid a collision, the sweeping robot no longer moves backwards, but moves forward and walks along the boundary of the second obstacle. Figure 6 Afterwards, the cleaning robot updates the second environment map to obtain a third environment map, replans the second path according to the third environment map, and continues to move backward according to the replanned second path to continue to perform the second cleaning operation on the carpet area.

[0139] Illustratively, in this embodiment, when the sweeping robot moves forward and faces the edge of the second obstacle, in addition to walking along the boundary of the second obstacle, it can also clean the edge of the second obstacle while moving around the second obstacle to clean the edge area of ​​the second obstacle.

[0140] By adopting this solution, the sweeping robot timely updates the second environment map and replans the second path during the second cleaning operation, thereby achieving the purpose of completing the second cleaning operation quickly and safely.

[0141] It should be noted that, in the embodiment of the present application, the first environment map, the second environment map and the third environment map are actually the same environment map. They are only named as different maps for the convenience of description because they are updated at different stages.

[0142] Optionally, in the above embodiment, when the second path corresponding to the second cleaning operation includes a target sub-path, the sweeping robot moves backwards according to the planned second path until it reaches the target sub-path, and moves forward along the target sub-path until it reaches the target obstacle. When the target obstacle is reached and the second cleaning operation is not completed, the sweeping robot continues to move backwards along the planned second path to continue to perform the second cleaning operation on the carpet area. The target obstacle is a linear obstacle, such as a wall, a wardrobe, a bedside, etc.

[0143] In an embodiment of the present application, the target sub-path is a path that guides the sweeping robot to reach the target obstacle, etc. during the second cleaning operation. During the process of the sweeping robot moving backward to perform the second cleaning operation, if the target sub-path appears on the second path, the sweeping robot moves forward after reaching the target sub-path. The target sub-path can be a part of the second path planned by the sweeping robot according to the second environment map, or it can be a part of the second path re-planned by the sweeping robot according to the third environment map. There can be only one target sub-path on the second path, or there can be multiple target sub-paths.

[0144] Figure 7 Schematic diagram of the target sub-path in the cleaning method provided in the embodiment of the present application. Figure 7 , one side of the carpet area is against the wall, and the thick black solid line in the figure shows the wall. The sweeping robot starts from the dotted line position in the lower left corner and moves from left to right and then backwards to perform the second cleaning. When reaching the target sub-path, the sweeping robot switches to the forward travel mode and moves forward until it reaches the wall. After that, the sweeping robot switches to the reverse mode and continues to move backwards to perform the second cleaning operation. Figure 7The dotted line path is the target subpath. It should be noted that the wall here can also be an obstacle. Since the front of the sweeping robot is equipped with a collision sensor component, a radar, etc., it can prevent the sweeping robot from colliding with target obstacles such as walls.

[0145] Figure 7 In the example above, if the target sub-path is relatively long, the second cleaning operation will not be effective because the robot vacuum cleaner moves forward on the target sub-path during the second cleaning operation. One improvement is to change the traversal direction, that is, to traverse from bottom to top to perform the second cleaning operation, so that the target sub-path will not appear on the second path. Another improvement is to move the robot vacuum cleaner backward on the target sub-path and switch to forward travel mode when it is about to reach the wall. That is, only when the robot vacuum cleaner moves backward on the target sub-path, the target sub-path will not appear on the second path. Figure 7 The target sub-path within the solid line frame moves forward, and the target sub-path outside the solid line frame moves backward to perform the second cleaning operation.

[0146] With this solution, the sweeping robot moves forward on the target sub-path during the second cleaning operation to ensure the safety of the sweeping robot.

[0147] Optionally, in the embodiment of the present application, the first cleaning operation includes the first edge cleaning and / or the first traversal cleaning, and the second cleaning operation includes the second edge cleaning and / or the second traversal cleaning. Accordingly, the first path includes the forward edge path and the forward traversal path, and the second path includes the reverse edge path and the reverse traversal path.

[0148] Fig. 8A is a schematic diagram of the process of the first cleaning operation in the cleaning method provided in an embodiment of the present application, Figure 8B It is a process schematic diagram of the second cleaning operation in the cleaning method provided in an embodiment of the present application.

[0149] Please refer to Fig. 8A and Figure 8B During the first edge cleaning and the first traversal cleaning, the sweeping robot moves forward, that is, moves in the forward direction. During the second edge cleaning and the second traversal cleaning, the sweeping robot moves backward, that is, moves in the reverse direction.

[0150] The first edge cleaning, the second edge cleaning, the first pass cleaning and the second pass cleaning are described in detail below.

[0151] Fig. 9 This is a flow chart of the first edge cleaning in the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0152] 901. Plan a forward path along the edge according to the first environment map.

[0153] The forward path along the edge is Fig. 8A Follow a clockwise path along the edge of the carpet area.

[0154] 902. Proceed forward according to the positive side path.

[0155] During the forward edge cleaning process, the robot vacuum cleaner moves forward to clean the carpet area. When the carpet area boundary is covered and cleaned, if it encounters a straight wall or a virtual straight line boundary, a reversible area is drawn in the environment map, so that the robot vacuum cleaner will not move backwards toward the wall, furniture, etc. when performing the second edge cleaning. When encountering an irregular first obstacle, the robot vacuum cleaner alternately performs the first and second edge cleanings, i.e., adopts the reverse motion. Figure 6 The first obstacle is cleaned along the edge in the manner shown. That is, Figure 6 The cleaning method shown is applicable to obstacles inside and on the border of the carpet area. At the same time, the first obstacle is updated in the environment map.

[0156] 903. Determine whether the first edge cleaning is completed. If the first edge cleaning is completed, execute step 904; if the first edge cleaning is not completed, return to step 902.

[0157] In the embodiment of the present application, if the forward edge path is not traversed completely, it means that the first edge cleaning is not completed.

[0158] 904. Update the first environment map to obtain a second environment map.

[0159] 905. Plan a reverse path along the edge according to the second environment map.

[0160] 906. Store the reverse edge path.

[0161] Fig.10 This is a flow chart of the second edge cleaning in the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0162] 1001. Obtain a reverse edge path.

[0163] The reverse path along the edge is Figure 8B Follow a counterclockwise path along the edge of the carpet area.

[0164] 1002. Move backward along the reverse edge path.

[0165] During the reverse edge cleaning process, the sweeping robot moves backward along the edge of the carpet area to complete the cleaning of the carpet area boundary.

[0166] 1003. Whether the first obstacle or the second obstacle is encountered. If the first obstacle is encountered, execute step 1004; if the second obstacle is encountered, execute step 1005; if no obstacle is encountered, execute step 1006.

[0167] 1004. Move forward to circumvent the first obstacle. After the first obstacle is circumvented, execute step 1006.

[0168] 1005. Move forward to follow the edge of the second obstacle. After following the edge of the second obstacle, execute step 1006.

[0169] 1006. Whether the second edge cleaning is completed. If the second edge cleaning is completed, the process ends. If the second edge cleaning is not completed, the process proceeds to step 1002.

[0170] In the embodiment of the present application, if the reverse edge path is not traversed, it means that the second edge cleaning is not completed.

[0171] Fig.11 This is a flowchart of the first traversal cleaning in the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0172] 1101. Obtain a cleanable area according to a first environment map.

[0173] Coffee tables, restricted areas, etc. often appear in carpet areas. The coffee tables and restricted areas are marked in the first environment map, and the sweeping robot determines the cleanable areas based on the first environment map.

[0174] 1102. Plan a forward traversal path according to the cleanable area.

[0175] 1103. Proceed forward according to the forward traversal path.

[0176] 1104. Whether the first obstacle is encountered. If the first obstacle is encountered, execute step 1105; if the second obstacle is not encountered, execute step 1103.

[0177] Exemplarily, during the first traversal cleaning process performed by the sweeping robot, on the one hand, full coverage of the cleanable area is completed, and on the other hand, the first environment map is updated to provide a safe traversable area for the subsequent second traversal cleaning.

[0178] 1105. Alternately perform the first motion and the second motion for edge cleaning of the first obstacle.

[0179] 1106. Update the first environment map according to the first obstacle to obtain a second environment map.

[0180] 1107. Replan the forward traversal path according to the second environment map.

[0181] 1108. Continue to perform the first traversal cleaning according to the re-planned forward traversal path.

[0182] 1109. Whether the first traversal cleaning is completed, if the first traversal cleaning is completed, then the process ends. If the first traversal cleaning is not completed, then step 1108 is executed.

[0183] Fig.12 This is a flow chart of the second traversal cleaning in the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0184] 1201. Obtain a safe area according to the second environment map.

[0185] 1202. Plan a reverse traversal path according to the security area.

[0186] 1203. Move backward according to the reverse traversal path.

[0187] 1204. Whether the first obstacle or the second obstacle is encountered. If the first obstacle is encountered, execute step 1205; if the second obstacle is encountered, execute step 1206; if no obstacle is encountered, execute step 1203.

[0188] 1205. Move forward to circumvent the first obstacle. After the first obstacle is circumvented, execute step 1203.

[0189] 1206. Move forward to follow the edge of the second obstacle. After following the edge of the second obstacle, execute step 1207.

[0190] 1207. Update the second environment map according to the second obstacle to obtain a third environment map.

[0191] 1208. Replan the reverse traversal path according to the third environment map.

[0192] 1209. Go backward according to the re-planned reverse traversal path to continue the second traversal cleaning.

[0193] 1210. Whether the second traversal cleaning is completed, if the second traversal cleaning is completed, then the process ends. If the second traversal cleaning is not completed, then the process goes to step 1209.

[0194] Optionally, in the above embodiment, during the forward and / or backward movement of the sweeping robot, when the distance to at least two boundaries traveled by the sweeping robot is less than a preset distance, the sweeping robot rotates on the spot by a preset angle.

[0195] Fig.13A This is a scene diagram of a sweeping robot rotating in place in the cleaning method provided in the embodiment of the present application. Fig.13A When the robot vacuum cleaner moves to the angle between two walls, the distance between the robot vacuum cleaner and the two walls is less than the preset distance, and the robot vacuum cleaner rotates in situ at the angle. By rotating in situ, the position of the roller brush can be changed, thereby improving the cleaning effect at the angle. The rotation mode includes but is not limited to clockwise rotation, counterclockwise rotation, etc.

[0196] Fig. 13B This is another scene diagram of the sweeping robot rotating in place in the cleaning method provided in the embodiment of the present application. Fig. 13B , the three walls form a narrow and long space, in which the sweeping robot performs the first cleaning operation by moving forward and performs the second cleaning operation by moving backward. When the sweeping robot is located at the innermost of the narrow and long space, the distance between the sweeping robot and the wall is less than the preset distance. At this time, the sweeping robot rotates in place, and the cleaning effect of the narrow and long space is improved by rotating.

[0197] With this solution, the sweeping robot rotates at a preset angle at a corner position, thereby achieving the purpose of improving the cleaning quality at the corner position.

[0198] Optionally, in the above embodiment, during the forward movement, when the distance between the sweeping robot and at least two obstacles is less than a preset distance, the sweeping robot rotates on the spot by a preset angle, and after the rotation is completed, the sweeping robot continues to move forward to perform the first cleaning operation on the carpet area.

[0199] Fig.14 This is a schematic diagram of a cleaning robot encountering multiple obstacles in the cleaning method provided in the embodiment of the present application. Fig.14 , there are multiple obstacles inside the carpet area, and when the sweeping robot moves in front of the carpet to perform the first cleaning operation, if the distance to at least two obstacles is less than a preset distance, the sweeping robot selectively rotates by a preset angle and then continues to perform the first cleaning operation. The rotation mode includes but is not limited to clockwise rotation, counterclockwise rotation, etc.

[0200] It is understandable that when a collision sensor assembly, radar, etc. is not installed on the rear of the sweeping robot, in order to prevent a collision during the reverse movement of the sweeping robot, the second cleaning operation may not be performed for scenes with multiple obstacles.

[0201] By adopting this solution, in a multi-obstacle scene, when the distance between the sweeping robot and at least two obstacles is relatively small, the sweeping robot performs in-situ rotation cleaning, thereby achieving the purpose of improving the cleaning quality of the multi-obstacle scene.

[0202] Optionally, in the above embodiment, when the sweeping robot performs in-situ rotation cleaning, it rotates in-situ by a preset angle, and the preset angle is greater than or equal to 360 degrees.

[0203] For example, when the preset angle is 360 degrees, it means that the sweeping robot rotates one circle in place and no uncleaned area is left. The larger the preset angle, the more circles it rotates, and the higher the cleaning effect.

[0204] By adopting this solution, the cleaning quality is improved by rotating at least one circle in place.

[0205] The embodiments of the present application do not limit the method of rotating in situ. In one method, the sweeping robot rotates clockwise at a preset angle. In another method, the sweeping robot rotates counterclockwise at a preset angle. In yet another method, the sweeping robot rotates forward and reverse alternately at a preset angle. When rotating alternately, the sweeping robot alternately performs counterclockwise rotation and clockwise rotation, and the angle of clockwise rotation and the angle of counterclockwise rotation have a difference. For example, rotate 60 degrees counterclockwise, and then rotate 30 degrees clockwise. Then rotate 60 degrees counterclockwise, and then rotate 30 degrees clockwise...

[0206] By adopting this solution, when rotating in situ, the preset angles are rotated alternately forward and reversely to achieve strong cleaning, thereby achieving the purpose of improving the cleaning quality of in situ rotating cleaning.

[0207] Optionally, the embodiment of the present application does not limit the direction of the head of the sweeping robot when performing the second cleaning operation. In one embodiment, the direction of the head of the sweeping robot when performing the first cleaning operation is the same as the direction of the head when performing the second cleaning operation. Fig. 8A and Figure 8B , assuming that the sweeping robot completes forward edge cleaning and reverse edge cleaning in sequence, and the starting points of the forward edge cleaning and the reverse edge cleaning are both the lower left corner, then during the forward edge cleaning and the reverse edge cleaning, the head orientation of the sweeping robot is the same, that is, after the sweeping robot completes the forward edge cleaning, it will not rotate 180 degrees to change the head orientation.

[0208] Similarly, the direction of the head of the sweeping robot is the same during the forward traversal cleaning and reverse traversal cleaning processes.

[0209] In another embodiment, the cleaning robot adjusts the head orientation before moving backward, so that the head orientation of the cleaning robot is opposite to the head orientation when the cleaning robot performs the first cleaning operation.

[0210] In this way, after the robot vacuum cleaner completes the first cleaning pass, before performing the second cleaning pass, it adjusts the head direction and continues to perform the second cleaning pass along the path of the first cleaning pass. Fig.15A and Fig. 15B .

[0211] Fig.15A is a schematic diagram of the first cleaning process in the cleaning method provided in the embodiment of the present application, Fig. 15B It is a schematic diagram of the second cleaning process in the cleaning method provided in an embodiment of the present application. Fig.15A In the figure, the vacuum cleaner robot starts from the upper left corner and moves forward to perform the first pass cleaning on the carpet area. Fig. 15B In the figure, the sweeping robot starts from the upper left corner and moves backward to perform a second traversal cleaning of the carpet area. Since the driving wheel and the roller brush have the same rotation direction on the forward traversal path, and the reverse traversal path is the same as the forward traversal path and the driving wheel and the roller brush have opposite rotation directions, it can ensure that the driving wheel of the sweeping robot rotates in the opposite direction to the roller brush during the second traversal cleaning, which increases the number of contacts between the roller brush and the carpet per unit time to a certain extent, that is, increases the number of beats, thereby achieving the purpose of improving the cleaning effect of the carpet area.

[0212] In addition, before the second cleaning pass, the sweeping robot adjusted the direction of its head, so that the head and tail of the sweeping robot changed. From the perspective of the carpet area, especially for long-haired carpets, the rotation direction of the roller brush during the first cleaning pass is opposite to that during the second cleaning pass, so that the sweeping robot can roll up the carpet hair from different directions during the two cleaning passes, thereby achieving a more thorough cleaning of the carpet area and improving the cleaning quality of long-haired carpets.

[0213] In the embodiment of the present application, the direction of the first cleaning operation is the main direction, and the direction of the second cleaning operation is the secondary direction. The embodiment of the present application does not limit the relationship between the main direction and the secondary direction.

[0214] In one embodiment, the main direction of the first cleaning pass and the secondary direction of the second cleaning pass are perpendicular to each other, so that the path of the first cleaning pass is perpendicular to the path of the second cleaning pass.

[0215] Please refer to Fig. 8A and Figure 8B During the first cleaning traversal, the robot moves forward and the forward traversal path is a horizontal path. During the second cleaning traversal, the robot moves backward and the reverse traversal path is a vertical path. The horizontal path is perpendicular to the vertical path, and the sum of the two cleaning traversals constitutes a tic-tac-toe traversal.

[0216] In another embodiment, the main direction of the first cleaning pass is the same as the secondary direction of the second cleaning pass, so that the path of the first cleaning pass is the same as the path of the second cleaning pass and the starting point is the same. Fig.15A and Fig. 15B , I will not go into details here.

[0217] In another embodiment, the path of the first cleaning pass is the same as the path of the second cleaning pass, and the starting point of the path of the second cleaning pass is the end point of the path of the first cleaning pass.

[0218] In this way, the main direction of the first traversal cleaning is opposite to the secondary direction of the second traversal cleaning, so that the path of the first traversal cleaning is the same as the path of the second traversal cleaning, and the starting point of the path of the second traversal cleaning is the end point of the path of the first traversal cleaning.

[0219] Fig.16A is a schematic diagram of the first cleaning process in the cleaning method provided in the embodiment of the present application, Fig. 16B It is a schematic diagram of the second cleaning process in the cleaning method provided in an embodiment of the present application. Fig.16A In the figure, the vacuum cleaner robot starts from the upper left corner and moves forward to perform the first pass cleaning on the carpet area. Fig. 16B In the figure, the sweeping robot starts to move backwards from the lower right corner to perform a second traversal cleaning of the carpet area. For short-haired carpets, before the second traversal cleaning, the sweeping robot does not need to adjust the head direction, nor does it need to move to the starting point of the forward traversal path. Instead, it takes the end point of the forward traversal path as the starting point and moves backwards along the forward traversal path in the opposite direction until it reaches the starting point of the forward traversal path. Obviously, the rotation direction of the driving wheel of the sweeping robot during the second traversal cleaning is opposite to that of the driving wheel of the sweeping robot during the first traversal cleaning, and the rotation direction of the roller brush of the sweeping robot during the second traversal cleaning is the same as that of the roller brush during the second traversal cleaning, which increases the number of contacts between the roller brush and the carpet per unit time to a certain extent, that is, increases the number of beats, thereby achieving the purpose of improving the cleaning effect of the carpet area.

[0220] With this solution, the sweeping robot selects a suitable traversal path according to the type of carpet area, such as long-pile carpet or short-pile carpet, thereby improving the cleaning quality of the carpet area and achieving the purpose of improving the cleaning efficiency of the carpet area.

[0221] Fig.17 This is a schematic diagram of the structure of a sweeping robot provided in an embodiment of the present application. Fig.17 As shown, the cleaning robot 1700 includes:

[0222] Processor 171 and memory 172;

[0223] The memory 172 stores computer instructions;

[0224] The processor 171 executes the computer instructions stored in the memory 172, so that the processor 171 executes the cleaning method implemented by the above sweeping robot.

[0225] The specific implementation process of the processor 171 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0226] Optionally, the cleaning robot 1700 further includes a communication component 173 , wherein the processor 171 , the memory 172 and the communication component 173 may be connected via a bus 174 .

[0227] An embodiment of the present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the cleaning method implemented by the sweeping robot as above.

[0228] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the cleaning method implemented by the sweeping robot as above is implemented.

[0229] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0230] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A carpet cleaning method, characterized in that: Applied to a sweeping robot, the sweeping robot has a roller brush and a driving wheel, and the method comprises: advancing to perform a first cleaning operation on the carpet area by the roller brush; traveling backward to perform a second cleaning operation on the carpet area by the roller brush; Wherein, during the forward movement, the rotation direction of the driving wheel is the same as the rotation direction of the roller brush, and during the backward movement, the rotation direction of the driving wheel is opposite to the rotation direction of the roller brush.

2. The method according to claim 1, characterized in that When the cleaning robot moves in the carpet area, the cleaning robot performs the first cleaning operation first and then performs the second cleaning operation in at least a partial period of time.

3. The method according to claim 2, characterized in that The backward movement to perform a second cleaning operation on the carpet area by the roller brush includes: During or after the first cleaning operation, updating the environment map; The method further comprises traveling backwards according to the updated environment map to perform a second cleaning operation on the carpet area by using the roller brush.

4. The method according to claim 1, characterized in that: Also includes: Before the reverse movement, the head direction of the cleaning robot is adjusted so that the head direction of the cleaning robot is opposite to the head direction when the cleaning robot performs the first cleaning operation.

5. The method according to claim 1, characterized in that The forward movement to perform a first cleaning operation on the carpet area by the roller brush includes: When encountering a first obstacle during the forward movement, alternately performing first movement and second movement cleaning along the edge; wherein the first movement refers to advancing and cleaning along the boundary of the first obstacle, and the second movement refers to moving backward and cleaning along the tangent of a point on the boundary of the first obstacle; After the first obstacle is cleaned along the edge, the brush continues to move forward to continue to perform the first cleaning operation on the carpet area through the roller brush.

6. The method according to claim 5, characterized in that After the first obstacle is cleaned along the edge, the first obstacle is continued to move forward to continue to perform the first cleaning operation on the carpet area by the roller brush, including: After cleaning the first obstacle along the edge, updating the first environment map according to the boundary of the first obstacle to obtain a second environment map, wherein the first environment map is a map created for the environment where the carpet area is located before the sweeping robot performs the first cleaning operation; replanning a first path according to the second environment map, where the first path is a path planned by the cleaning robot according to the first environment map and used to perform the first cleaning operation; The first cleaning operation is continued by moving forward according to the replanned first path to continue to perform the first cleaning operation on the carpet area by using the roller brush.

7. The method according to claim 6, characterized in that The backward movement to perform a second cleaning operation on the carpet area by the roller brush includes: When encountering the first obstacle during backward movement, moving forward according to the second environment map to bypass the first obstacle; After circumventing the first obstacle, the vehicle continues to move backward to continue performing a second cleaning operation on the carpet area through the roller brush.

8. The method according to claim 6, characterized in that The backward movement to perform a second cleaning operation on the carpet area by the roller brush includes: When encountering a second obstacle during the backward movement, the method advances forward to follow the edge of the second obstacle, wherein the second obstacle is an obstacle that does not appear in the second environment map; After the second obstacle is edged, the second environment map is updated according to the boundary of the second obstacle to obtain a third environment map; replanning a second path according to the third environment map, where the second path is a path planned by the cleaning robot according to the second environment map and used to perform the second cleaning operation; The vehicle continues to move backward according to the re-planned second path to continue to perform a second cleaning operation on the carpet area by using the roller brush.

9. The method according to claim 1, characterized in that: The backward movement to perform a second cleaning operation on the carpet area by the roller brush includes: When the second path corresponding to the second cleaning operation includes a target sub-path, traveling backwards according to the planned second path until reaching the target sub-path, wherein the target sub-path is used to guide the cleaning robot to reach the target obstacle; Moving forward along the target sub-path until reaching the target obstacle; When the target obstacle is reached and the second cleaning operation is not completed, the brush continues to move backward along the second path to continue to perform the second cleaning operation on the carpet area by the roller brush.

10. The method according to claim 1, characterized in that Also includes: During the forward movement and / or the backward movement, when the cleaning robot moves to a distance from at least two boundaries that is less than a preset distance, the cleaning robot rotates in situ by a preset angle.

11. The method according to claim 1, characterized in that: The forward movement to perform a first cleaning operation on the carpet area by the roller brush includes: When the cleaning robot moves to a point where the distances from at least two obstacles are less than a preset distance, the cleaning robot rotates in situ by a preset angle; After the rotation is completed, the roller brush continues to move forward to perform a first cleaning operation on the carpet area.

12. The method according to claim 10 or 11, characterized in that: The preset angle is greater than or equal to 360°.

13. The method according to claim 10 or 11, characterized in that: The sweeping robot rotates in situ by a preset angle including: The sweeping robot rotates forward and reverse alternately at a preset angle in situ.

14. The method according to any one of claims 1 to 11, characterized in that: The sweeping robot is provided with a receiving cavity for receiving the roller brush, the receiving cavity has a suction port, the suction port is used for allowing at least a portion of the roller brush to extend to contact the surface to be cleaned, the sweeping robot is also provided with an adjustment baffle and a driving mechanism, the driving mechanism is used to drive the adjustment baffle to move, and the method further includes: When the sweeping robot moves forward, the driving mechanism is controlled to drive the adjustment baffle to rise to increase the size of the suction port; and / or, When the cleaning robot moves backward, the driving mechanism is controlled to drive the adjusting baffle to descend to reduce the size of the suction port.

15. The method according to any one of claims 1 to 11, characterized in that: The first cleaning operation includes a first edge cleaning and a first traversal cleaning, and the second cleaning operation includes a second edge cleaning and a second traversal cleaning, wherein: The path of the first traversal cleaning is perpendicular to the path of the second traversal cleaning; or, The path of the first traversal cleaning is the same as the path of the second traversal cleaning and has the same starting point; or, The path of the first traversal cleaning is the same as the path of the second traversal cleaning, and the starting point of the path of the second traversal cleaning is the end point of the path of the first traversal cleaning.

16. A sweeping robot, characterized in that: include: body; A driving wheel, rotatably disposed on the body, for driving the sweeping robot to move forward; A roller brush is rotatably disposed on the body and is used to perform cleaning tasks; a control device, electrically connected to the driving wheel and the roller brush, for controlling the driving wheel and the roller brush to rotate in a first rotation direction when the sweeping robot performs a cleaning task in the carpet area, so that the sweeping robot moves forward to perform a first cleaning operation on the carpet area by the roller brush; and controlling the driving wheel to rotate in a second rotation direction and controlling the roller brush to rotate in the first rotation direction, so that the sweeping robot moves backward to perform a second cleaning operation on the carpet area by the roller brush; Wherein, the first rotation direction and the second rotation direction are opposite.

17. The sweeping robot according to claim 16, characterized in that: A radar is arranged at the rear of the fuselage, and the height of the detection range of the radar is lower than the height of the fuselage.

18. The sweeping robot according to claim 16, characterized in that: The sweeping robot is provided with a receiving cavity for receiving the roller brush, the receiving cavity having a suction port, the suction port being used for allowing at least a portion of the roller brush to extend out to contact the surface to be cleaned, and a scraping strip is provided at the rear side of the suction port along the forward direction of the sweeping robot, the free end of the scraping strip being used to prevent the garbage swept by the roller brush from leaking to the rear side of the scraping strip; The roller brush includes a roller body, and rubber strips and wool strips spirally arranged on the outer peripheral wall of the roller body along the length direction of the roller body, the spiral direction and spiral lead angle of the rubber strips and the wool strips are the same, and the rotation direction of the spiral arrangement of the rubber strips and the wool strips is opposite to the rotation direction of the roller brush during the first cleaning operation and the second cleaning operation.

19. A sweeping robot, comprising a body, a driving wheel and a roller brush, characterized in that: Also includes: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the method according to any one of claims 1 to 15.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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