Window cleaning machine, cleaning robot and control method of cleaning robot

Abstract

The invention discloses a window cleaning machine, a cleaning robot and a control method of the cleaning robot. The cleaning robot comprises a main body, a walking part arranged on the main body and a cleaning part arranged on the main body, and the control method of the cleaning robot comprises the steps that the walking part is controlled to run to drive the cleaning robot to walk on a to-be-cleaned surface, and the cleaning part is controlled to run to clean the to-be-cleaned surface; according to the running state of the walking component and / or the running state of the cleaning component, the type of the to-be-cleaned area where the cleaning robot is located is determined; and the cleaning mode of the cleaning robot is adjusted according to the type of the to-be-cleaned area. According to the cleaning robot, the cleaning mode of the cleaning robot can be automatically adjusted according to the operation state of the cleaning component and / or the walking component, and therefore the influence of the external environment on the cleaning efficiency and the cleaning effect of the cleaning robot can be reduced.

Description

Technical Field

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

[0002] A cleaning robot is an intelligent robot used to clean glass surfaces, floors, walls, and other surfaces to be cleaned. When cleaning a surface to be cleaned, a cleaning robot in the prior art usually moves and cleans the surface to be cleaned using a dual-wheel motion mode, one static and one dynamic, that is, one walking part is adsorbed on the surface to be cleaned, and the other walking part rotates and moves, so as to clean the surface to be cleaned by twisting and driving. This cleaning mode has low cleaning efficiency and long window cleaning time, and is prone to waste of electric energy, and is also prone to fall off the surface to be cleaned, because one walking part is always in a static state. Summary of the invention

[0003] The main purpose of the present invention is to propose a window cleaning machine, a cleaning robot and a control method for the cleaning robot, aiming to solve the technical problem in the related art that the cleaning efficiency of the cleaning robot is reduced due to the influence of the external environment.

[0004] To achieve the above object, the present invention provides a control method for a cleaning robot, the cleaning robot comprising a main body, a walking component arranged on the main body, and a cleaning component arranged on the main body, the control method comprising:

[0005] Controlling the walking component to drive the cleaning robot to walk on the surface to be cleaned, and controlling the cleaning component to operate so that the cleaning component cleans the surface to be cleaned;

[0006] Determining the type of the area to be cleaned where the cleaning robot is located according to the operating state of the walking component and / or the operating state of the cleaning component;

[0007] The cleaning mode of the cleaning robot is adjusted according to the type of the area to be cleaned.

[0008] As an implementation manner, determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes:

[0009] When the running speed of the walking component itself is less than the first preset speed, the type of the area to be cleaned is determined to be a first type of cleaning area.

[0010] As an implementation manner, determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes:

[0011] When the running speed of the walking component itself is greater than the second preset speed, the type of the area to be cleaned is determined to be a second type of cleaning area.

[0012] As an implementation manner, determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes:

[0013] When the displacement speed of the walking component is less than the first preset displacement speed, the type of the area to be cleaned is determined to be a third type of cleaning area.

[0014] As an implementation manner, determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes:

[0015] When the running speed of the walking component itself is greater than the second preset speed and the displacement speed of the walking component is less than the second preset displacement speed, it is determined that the type of the area to be cleaned is a fourth type of cleaning area.

[0016] As an implementation manner, determining the type of the area to be cleaned where the cleaning robot is located according to the operating state of the cleaning component includes:

[0017] When the running speed of the cleaning component itself is less than the third preset speed, the type of the area to be cleaned is determined to be a first type of cleaning area.

[0018] As an implementation manner, the method of adjusting the cleaning mode of the cleaning robot includes:

[0019] Adjusting the running speed of the walking component;

[0020] and / or, adjusting the operating speed of the cleaning component itself;

[0021] and / or, adjusting the force between the cleaning component and the surface to be cleaned;

[0022] And / or, adjusting the force between the walking component and the surface to be cleaned.

[0023] As an implementation manner, when the type of the area to be cleaned is a first type of cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes:

[0024] Adjusting the self-operating speed of the cleaning component to a first preset range to increase the self-operating speed of the cleaning component;

[0025] And / or, the action force between the cleaning component and the surface to be cleaned is adjusted to a first action force range to increase the action force between the cleaning component and the surface to be cleaned.

[0026] As an implementation manner, when the type of the area to be cleaned is a first type of cleaning area, the method of adjusting the cleaning mode of the cleaning robot further includes:

[0027] Adjust to increase the driving power of the traveling component.

[0028] As an implementation manner, when the type of the area to be cleaned is a second type cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes:

[0029] Adjusting the self-operating speed of the cleaning component to a second preset range to reduce the self-operating speed of the cleaning component;

[0030] And / or, the force between the cleaning component and the surface to be cleaned is adjusted to a second force range to reduce the force between the cleaning component and the surface to be cleaned.

[0031] As an implementation manner, when the type of the area to be cleaned is a third type cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes:

[0032] The self-operating speed of the walking component is adjusted to a third preset range to reduce the self-operating speed of the walking component.

[0033] As an embodiment, the cleaning robot further comprises a spraying device, wherein the spraying device is used to spray the cleaning liquid;

[0034] The control method further comprises:

[0035] According to the determined type of the area to be cleaned, the spraying amount of the cleaning liquid of the spraying device is adjusted.

[0036] A second object of the present invention is to provide a cleaning robot, the cleaning robot comprising:

[0037] main body;

[0038] A walking assembly, the walking assembly comprising a walking component, the walking component being installed at the bottom of the main body to drive the main body to move on the surface to be cleaned;

[0039] A cleaning assembly, the cleaning assembly comprising a cleaning component, the cleaning component being installed at the bottom of the main body for cleaning the surface to be cleaned;

[0040] A control device, which is installed on the main body and is used to control the operation of the walking component and the cleaning component;

[0041] Wherein, the control device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the steps of the control method of the cleaning robot as described above are implemented.

[0042] A third object of the present invention is to provide a window cleaning machine, comprising:

[0043] main body;

[0044] A walking assembly, wherein the walking assembly comprises a walking component, and the walking component is installed at the bottom of the main body to drive the main body to move on the surface to be cleaned; the walking component comprises at least one roller;

[0045] A cleaning assembly, wherein the cleaning assembly includes a cleaning component, which is installed at the bottom of the main body to clean the surface to be cleaned; the cleaning component moves relative to the main body, and the movement includes the cleaning component rotating relative to the main body, or the cleaning component reciprocating relative to the main body, or the cleaning component being stationary relative to the main body.

[0046] The window cleaning machine, control method for a cleaning robot and a cleaning robot provided by the present invention determine, during the cleaning process, the type of the area to be cleaned where the cleaning robot is located according to the operating status of the walking component and / or the operating status of the cleaning component; and adjust the cleaning mode of the cleaning robot according to the type of the area to be cleaned, so that the cleaning robot can automatically adjust the cleaning mode of the cleaning robot according to the operating status of the cleaning component and / or the walking component, thereby helping to reduce the impact of the external environment on the cleaning efficiency and cleaning effect of the cleaning robot, and further, while taking into account low power consumption, ensure that the cleaning robot has high cleaning efficiency and cleaning effect when cleaning surfaces to be cleaned with different degrees of dirtiness. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic flow chart of a control method for a cleaning robot provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of a flow chart of adjusting a cleaning mode of a cleaning robot provided by an embodiment of the present invention;

[0049] Figure 3 A three-dimensional schematic diagram of a cleaning robot provided by an embodiment of the present invention;

[0050] Figure 4 for Figure 3 Schematic diagram from top view;

[0051] Figure 5 for Figure 3 A schematic partial cross-sectional view of the main view;

[0052] Figure 6 for Figure 5 A local enlarged schematic diagram of the middle A;

[0053] Figure 7 An exploded schematic diagram of a cleaning robot provided by an embodiment of the present invention;

[0054] Figure 8 An exploded schematic diagram of a walking assembly and a lower shell assembly provided in an embodiment of the present invention;

[0055] Fig. 9 A three-dimensional schematic diagram of a walking assembly provided in an embodiment of the present invention;

[0056] Fig.10 An exploded schematic diagram of a cleaning assembly and a lower housing assembly provided in an embodiment of the present invention;

[0057] Fig.11 A schematic diagram of the decomposition of the adsorption component and the lower shell component provided in an embodiment of the present invention.

[0058] Description of Figure Numbers:

[0059] 10. Cleaning robot; 100. Main body; 110. Bottom shell assembly; 120. Cover assembly; 200. Walking assembly; 210. Walking part; 211. Roller; 220. First motor; 230. Gear reduction box; 300. Cleaning assembly; 310. Cleaning part; 311. Cleaning disc; 3111. First hollow inner hole; 312. Wiping part; 320. Second motor; 330. Second elastic part; 340. End gear rack; 350. Sliding gasket; 360. Driving gear; 400. Adsorption assembly; 410. Adsorption part; 411. Adsorption disc; 4111. Second hollow inner hole; 412. Adsorption fixing frame; 413. Floating cotton; 414. First spring; 420. First elastic part; 430. Negative pressure power source; 440. Inner cover.

[0060] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0061] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0064] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0065] like Figures 1 to 11 As shown, an embodiment of the present invention provides a cleaning robot 10 and a control method of the cleaning robot 10. The cleaning robot 10 is used to clean a surface to be cleaned. Specifically, the cleaning robot 10 includes a main body 100, a walking component 200 and a cleaning component 300, the walking component 200 includes a walking part 210, the cleaning component 300 includes a cleaning part 310, and the walking part 210 and the cleaning part 310 are both arranged on the main body 100. The walking part 210 is used to drive the main body 100 to move on the surface to be cleaned, and the cleaning part 310 is used to clean the surface to be cleaned. By setting the walking part 210 and the cleaning part 310, the movement of the cleaning robot 10 on the surface to be cleaned and the cleaning of the surface to be cleaned can be realized.

[0066] Reference Figures 1 to 4 As shown, as an embodiment, the control method of the cleaning robot 10 includes the following steps:

[0067] Step S1: Control the walking component 210 to drive the cleaning robot 10 to walk on the surface to be cleaned, and control the cleaning component 310 to operate so that the cleaning component 310 cleans the surface to be cleaned.

[0068] Step S2 : adjusting the cleaning mode of the cleaning robot 10 according to the operating state of the walking component 210 and / or the operating state of the cleaning component 310 .

[0069] Among them, step S1 mainly controls the operation of the cleaning robot 10. During the operation of the cleaning robot 10, both the walking component 210 and the cleaning component 310 can be operated, that is, the cleaning robot 10 operates to drive the cleaning robot to walk and drives the cleaning component 310 to move relative to the surface to be cleaned to clean the surface to be cleaned in a passive manner, and at the same time, the cleaning component 310 also operates to clean the surface to be cleaned in an active manner. Of course, in specific applications, when the cleaning robot 10 is in operation, one of the walking component 210 and the cleaning component 310 can be operated, and the other can be suspended. For example: during fixed-point cleaning, the cleaning component 310 operates to clean the surface to be cleaned in an active manner, and the walking component 210 can be temporarily operated; when the fixed-point movement does not require cleaning work, the walking component 210 operates, and the cleaning component 310 can be temporarily operated, and the cleaning component 310 cleans the surface to be cleaned in a passive manner. It should be noted that the cleaning component 310 cleans the surface to be cleaned in an active manner. Driven by the driving source, the cleaning component 310 itself moves relative to the main body 100, such as rotating relative to the main body 100 and reciprocating relative to the main body. When it is on the surface to be cleaned, it actively cleans the surface to be cleaned; the cleaning component 310 cleans the surface to be cleaned in a passive manner. The cleaning component 310 itself does not move relative to the main body 100, and cleans the surface to be cleaned under the drive of the main body 100.

[0070] The setting of step S2 enables the cleaning robot 10 to automatically adjust the cleaning mode of the cleaning robot 10 according to the operating state of the walking part 210 and / or the operating state of the cleaning part 310 during the cleaning of the surface to be cleaned. In specific applications, at least two cleaning modes can be set in advance in the cleaning robot 10. The cleaning mode of the cleaning robot 10 may include a normal cleaning mode, and at least one of a deep cleaning mode, a fast cleaning mode, an anti-slip cleaning mode, and a fixed-point cleaning mode. In this embodiment, the cleaning robot 10 can automatically adjust the cleaning mode of the cleaning robot 10 according to the operating state of the cleaning part 310 and / or the walking part 210, so as to reduce the influence of the external environment on the cleaning efficiency and cleaning effect of the cleaning robot 10, and then ensure that the cleaning robot 10 has a high cleaning efficiency and cleaning effect when cleaning surfaces to be cleaned with different degrees of dirtiness while taking into account low power consumption.

[0071] As an embodiment, the cleaning robot 10 automatically adjusts the cleaning mode of the cleaning robot 10 according to the operating state of the cleaning component 310 and / or the walking component 210, which may include at least one of the following situations:

[0072] When it is determined that the surface to be cleaned is relatively dirty according to the operating status of the cleaning component 310 and / or the moving component 210, it can automatically switch to the deep cleaning mode to ensure the cleanliness and cleaning efficiency;

[0073] When it is determined that the surface to be cleaned is relatively clean according to the operating status of the cleaning component 310 and / or the moving component 210, it can automatically switch to the fast cleaning mode to save energy;

[0074] When the cleaning robot 10 is determined to be slipping according to the operating state of the cleaning component 310 and / or the walking component 210, it can automatically switch to the anti-slip cleaning mode to help prevent the cleaning robot 10 from doing useless work;

[0075] When it is determined that the cleaning robot 10 has reached an edge according to the operating status of the cleaning component 310 and / or the walking component 210 , the cleaning robot 10 can automatically switch to the fixed-point cleaning mode to ensure the cleanliness of the edge position.

[0076] As an implementation manner, in the above step S2, adjusting the cleaning mode of the cleaning robot 10 according to the operating state of the walking component 210 and / or the operating state of the cleaning component 310 includes:

[0077] Step S21: determining the type of the area to be cleaned where the cleaning robot 10 is located according to the operating state of the walking component 210 and / or the operating state of the cleaning component 310;

[0078] Step S22: adjusting the cleaning mode of the cleaning robot 10 according to the type of the area to be cleaned.

[0079] In this embodiment, the cleaning robot 10 first determines the type of the area to be cleaned where the cleaning robot 10 is located according to the operating state of the walking component 210 and / or the operating state of the cleaning component 310; and then adjusts the cleaning mode of the cleaning robot 10 according to the type of the area to be cleaned. The cleaning robot 10 is preset with the type of the area to be cleaned, the corresponding relationship between the type of the area to be cleaned and the operating state of the walking component 210 and / or the operating state of the cleaning component 310, and the corresponding relationship between the type of the area to be cleaned and the cleaning mode of the cleaning robot 10. In this way, during the operation of the cleaning robot 10, the type of the area to be cleaned where the cleaning robot 10 is located can be automatically determined in real time according to the operating state of the walking component 210 and / or the operating state of the cleaning component 310; and the cleaning mode of the cleaning robot 10 can be automatically adjusted according to the type of the area to be cleaned.

[0080] Of course, in specific applications, as an alternative implementation scheme, the cleaning robot 10 may not preset the type of area to be cleaned, but directly set the correspondence between the cleaning mode of the cleaning robot 10 and the operating status of the walking part 210 and / or the operating status of the cleaning part 310. In this alternative implementation scheme, the cleaning robot 10 can directly adjust the cleaning mode of the cleaning robot 10 according to the operating status of the walking part 210 and / or the operating status of the cleaning part 310.

[0081] As an embodiment, the cleaning robot 10 is a window cleaning machine, and the surface to be cleaned is the surface of a window, such as a glass window surface. That is, the above control method can be applied to a window cleaning machine. When the window cleaning machine adopts the above control method, it can effectively solve the technical problem that the window cleaning machine is affected by the external environment, resulting in reduced cleaning efficiency and poor cleaning effect. Of course, in specific applications, the above control method is not limited to application to window cleaning machines, for example, it can also be used for cleaning robots 10 such as sweepers, wall cleaners, ceiling cleaners, or door cleaners. Correspondingly, the surface to be cleaned is not limited to the window surface, but can also be the ground, wall, ceiling, or door surface, etc.

[0082] As an embodiment, the above-mentioned control of the running of the walking component 210 includes: controlling the first motor 220 to drive the running component 210 to rotate; the above-mentioned control of the cleaning component 310 includes: controlling the second motor 320 to drive the cleaning component 310 to rotate; wherein the first motor 220 and the second motor 320 can operate independently of each other. The self-operating speed of the above-mentioned walking component 210 is the rotation speed of the walking component 210. The self-operating speed of the above-mentioned cleaning component 310 is the rotation speed of the cleaning component 310.

[0083] Specifically, refer to Figure 7 As shown, the walking component 200 includes a walking component 210 and a first motor 220, and the first motor 220 is connected to the walking component 210 in a transmission manner to drive the walking component 210 to rotate, so that the walking component 210 drives the main body 100 to move on the surface to be cleaned. The cleaning component 300 includes a cleaning component 310 and a second motor 320, and the second motor 320 is connected to the cleaning component 310 in a transmission manner to drive the cleaning component 310 to rotate, so that the cleaning component 310 cleans the surface to be cleaned. In this embodiment, the walking function module and the cleaning function module are set as two independent components, and the walking component 210 and the cleaning component 310 are driven to rotate by different motors, so that the walking component 210 and the cleaning component 310 can rotate independently and do not interfere with each other, so as to automatically switch the cleaning mode according to the working conditions of the surface to be cleaned at different time periods, thereby facilitating the improvement of the efficiency of cleaning the surface to be cleaned.

[0084] As an embodiment, the walking assembly 200 includes two walking parts 210 and two first motors 220. In this embodiment, the number of the walking parts 210 is two, and the number of the first motors 220 is two. Each second motor 320 is respectively used to drive a walking part 210 to rotate, that is, one second motor 320 is connected to one walking part 210 for driving the walking part 210 to rotate; another second motor 320 is connected to another walking part 210 for driving the walking part 210 to rotate.

[0085] As an implementation mode, the walking component 210 includes at least one roller 211. Of course, in a specific application, the walking component 210 may also adopt a walking disc arrangement solution.

[0086] As an embodiment, the cleaning assembly 300 includes two cleaning components 310 and one second motor 320, that is, there are two cleaning components 310 and one second motor 320. One second motor 320 can be used to drive the two cleaning components 310 to rotate simultaneously.

[0087] Reference Figure 5 and Figure 6 As shown, as an embodiment, the cleaning component 310 includes a cleaning plate 311 and a wiping component 312 mounted on the cleaning plate 311. The wiping component 312 can be a cleaning cloth or a brush made of different materials or other components that can be used to wipe the surface to be cleaned. The wiping component 312 is mainly used to improve the cleaning efficiency.

[0088] As an implementation manner, the wiping component 312 is a cleaning cloth, and the cleaning cloth can be installed on the cleaning plate 311 in different installation methods, such as a set method or a Velcro method.

[0089] As an implementation mode, the first motor 220 and the second motor 320 can both be infinitely speed-regulated. This is conducive to matching the rotation speed of the cleaning component 310 and the rotation speed of the walking component 210 according to the different degrees of dirtiness of the surface to be cleaned. While meeting the cleaning function requirements, it is also conducive to saving energy consumption and improving cleaning efficiency and cleaning effects.

[0090] As an implementation method, the speed of the rotational speed of the walking component 210 and the rotational speed of the cleaning component 310 can be matched by pulse width modulation.

[0091] As an embodiment, at least one of the first motor 220 and the second motor 320 is provided with a speed monitoring component (not shown). The above-mentioned operation state of the walking component 210 and / or the operation state of the cleaning component 310 includes: obtaining the operation state of the walking component 210 and / or the operation state of the cleaning component 310 according to the information fed back by the speed monitoring component. This embodiment can obtain the real-time rotation speed of the walking part 210 and / or the real-time rotation speed of the cleaning part 310 according to the information fed back by the speed monitoring part, and when the real-time rotation speed of the walking part 210 meets the first preset condition or the real-time rotation speed of the cleaning part 310 meets the second preset condition, control and adjust the rotation speed of the cleaning part 310 and / or adjust the rotation speed of the walking part 210, so that the cleaning robot 10 can automatically adjust the rotation speed of the cleaning part 310 and / or the walking part 210 according to the change of the rotation speed of the cleaning part 310 and / or the walking part 210, thereby helping to avoid the influence of the external environment on the cleaning efficiency and cleaning effect of the cleaning robot 10, and ensuring that the cleaning robot 10 has higher cleaning efficiency and cleaning effect when cleaning the surfaces to be cleaned with different degrees of dirtiness.

[0092] As an implementation mode, a first speed monitoring component is provided on the first motor 220. The above-mentioned operation state of the walking component 210 includes: obtaining the operation state of the walking component 210 according to the information fed back by the first speed monitoring component. The operation state of the walking component 210 includes the real-time rotation speed of the walking component 210.

[0093] As an embodiment, the first speed monitoring component is a first encoder provided on the first motor 220. In this embodiment, according to the different degrees of dirt encountered by the cleaning robot 10 during cleaning, the rotation speed of the cleaning component 310 and / or the rotation speed of the walking component 210 can be adjusted in real time through the signal fed back by the first encoder to improve the cleaning efficiency.

[0094] As an alternative embodiment of the first speed cleaning component 310, a second speed monitoring component is provided on the second motor 320. The above-mentioned operation state of the cleaning component 310 includes: obtaining the operation state of the cleaning component 310 according to the information fed back by the second speed monitoring component. The operation state of the cleaning component 310 includes the real-time rotation speed of the cleaning component 310.

[0095] As an embodiment, the second speed monitoring component is a second encoder provided on the second motor 320. In this embodiment, according to the different degrees of dirt encountered by the cleaning robot 10 during cleaning, the speed of the cleaning component 310 and / or the walking component 210 can be adjusted in real time through the signal fed back by the second encoder to improve the cleaning efficiency.

[0096] As an embodiment, the type of the area to be cleaned includes at least one of the first type of cleaning area, the second type of cleaning area, the third type of cleaning area, and the fourth type of cleaning area. The first type of cleaning area is an area with a relatively serious degree of dirtiness, that is, a relatively dirty area. The second type of cleaning area is an area with a relatively light degree of dirtiness, that is, a relatively clean area. The third type of cleaning area is the edge area of ​​the surface to be cleaned, and the edge area is relatively dirty, that is, the third type of cleaning area is also a relatively dirty area. The fourth type of cleaning area is a relatively slippery area, and the cleaning robot 10 is prone to slipping in this type of area.

[0097] As an embodiment, the type of the area to be cleaned also includes a fifth type of cleaning area, that is, the type of the area to be cleaned includes a fifth type of cleaning area, and includes at least one of the first type of cleaning area, the second type of cleaning area, the third type of cleaning area, and the fourth type of cleaning area. The fifth type of cleaning area is a cleaning area whose degree of dirtiness is within a normal preset range. The degree of dirtiness of the first type of cleaning area is more serious than that of the fifth type of cleaning area. The degree of dirtiness of the second type of cleaning area is lighter than that of the fifth type of cleaning area. The degree of dirtiness of the third type of cleaning area is more serious than that of the fifth type of cleaning area.

[0098] As an embodiment, the types of the areas to be cleaned include at least two types of cleaning areas among the first type of cleaning area, the second type of cleaning area, the third type of cleaning area, and the fourth type of cleaning area, and the cleaning robot 10 is configured with at least two different cleaning modes accordingly. In this embodiment, the cleaning robot 10 can automatically adjust the cleaning mode of the cleaning robot 10 according to at least two different types of cleaning areas.

[0099] As an embodiment, the types of the areas to be cleaned include at least three types of cleaning areas among the first type of cleaning area, the second type of cleaning area, the third type of cleaning area, and the fourth type of cleaning area, and the cleaning robot 10 is configured with at least two different cleaning modes accordingly. In this embodiment, the cleaning robot 10 can automatically adjust the cleaning mode of the cleaning robot 10 according to at least three different types of cleaning areas.

[0100] As an embodiment, the types of areas to be cleaned include a first type of cleaning area, a second type of cleaning area, a third type of cleaning area, and a fourth type of cleaning area, and the cleaning robot 10 is configured with at least four different cleaning modes accordingly. In this embodiment, the cleaning robot 10 can automatically adjust the cleaning mode of the cleaning robot 10 according to the first type of cleaning area, the second type of cleaning area, the third type of cleaning area, and the fourth type of cleaning area.

[0101] As an implementation manner, the types of areas to be cleaned include a first type of cleaning area, a second type of cleaning area, a third type of cleaning area, a fourth type of cleaning area, and a fifth type of cleaning area. The cleaning robot 10 is configured with five different cleaning modes accordingly.

[0102] As an embodiment, in the above step S21, the type of the area to be cleaned where the cleaning robot 10 is located is determined according to the operating status of the walking part 210, including: when the running speed of the walking part 210 itself is less than the first preset speed, the type of the area to be cleaned is determined to be a first type of cleaning area.

[0103] The first preset speed is a rotation speed range or a rotation speed point value of the walking component 210 pre-set in the cleaning robot 10, and the rotation speed range or the rotation speed point value is a preset working speed range or a preset working speed point value of the walking component 210 of the cleaning robot 10 in the normal cleaning mode. When the running speed of the walking component 210 itself is less than the first preset speed during the operation of the cleaning robot 10 in the normal cleaning mode, it indicates that the cleaning robot 10 walks to an area with a serious degree of dirt, that is, a first type of cleaning area.

[0104] In the above implementation scheme, whether the type of the area to be cleaned is the first type of cleaning area is mainly determined based on the self-operating speed of the walking component 210. The basis for the determination is that when the walking component 210 drives the cleaning robot 10 to walk from an area with normal dirtiness to an area with severe dirtiness, the friction coefficient between the walking component 210 and the surface to be cleaned will increase, thereby causing the friction resistance between the walking component 210 and the surface to be cleaned to increase. When the driving power of the walking component 210 remains unchanged, the self-operating speed of the walking component 210 will slow down, thereby causing the walking of the cleaning robot 10 to slow down. Therefore, when it is identified that the self-operating speed of the walking component 210 decreases and is less than the first preset speed, it means that the cleaning robot 10 has run to an area to be cleaned with a greater degree of dirtiness.

[0105] As an alternative implementation of the above-mentioned method for determining the first type of cleaning area, in the above-mentioned step S210, the type of the area to be cleaned where the cleaning robot 10 is located is determined according to the operating status of the cleaning component 310, including: when the cleaning component 310's own operating speed is less than the third preset speed, determining that the type of the area to be cleaned is the first type of cleaning area.

[0106] The third preset speed is a rotation speed range or a rotation speed point value pre-set in the cleaning robot 10, and the rotation speed range or the rotation speed point value is a preset working speed range or a preset working speed point value of the cleaning component 310 of the cleaning robot 10 in the normal cleaning mode. When the cleaning robot 10 is working in the normal cleaning mode, when the self-operating speed of the cleaning component 310 is less than the third preset speed, it indicates that the cleaning robot 10 walks to an area with a serious degree of dirt, that is, a first-class cleaning area.

[0107] In the above alternative implementation scheme, whether the type of the area to be cleaned is the first type of cleaning area is mainly determined based on the self-operating speed of the cleaning component 310. The basis for the determination is that when the walking component 210 drives the cleaning robot 10 to walk from an area with a normal degree of dirtiness to an area with a serious degree of dirtiness, the friction coefficient between the cleaning component 310 and the surface to be cleaned will increase, thereby causing the friction resistance between the cleaning component 310 and the surface to be cleaned to increase. When the driving power of the cleaning component 310 remains unchanged, the self-operating speed of the cleaning component 310 will slow down, thereby causing the walking of the cleaning robot 10 to slow down. Therefore, when it is identified that the self-operating speed of the cleaning component 310 decreases and is less than the third preset speed, it means that the cleaning robot 10 has run to an area to be cleaned with a greater degree of dirtiness.

[0108] As an embodiment, in the above step S21, the type of the area to be cleaned where the cleaning robot 10 is located is determined according to the operating status of the walking part 210, including: when the running speed of the walking part 210 itself is greater than the second preset speed, the type of the area to be cleaned is determined to be the second type of cleaning area.

[0109] The second preset speed is a rotation speed range or a rotation speed point value pre-set in the cleaning robot 10. The second preset speed may be the same as the first preset speed, or may be greater than the first preset speed. The second type of cleaning area is an area with a light degree of dirt, that is, a relatively clean area. When the cleaning robot 10 is working in the normal cleaning mode, when the self-operating speed of the walking component 210 is greater than the second preset speed, it indicates that the cleaning robot 10 has walked to a relatively clean area.

[0110] In a specific application, when the walking component 210 drives the cleaning robot 10 to walk to a relatively clean area, the friction coefficient between the walking component 210 and the surface to be cleaned will decrease, thereby causing the friction between the walking component 210 and the surface to be cleaned to decrease. When the driving power of the walking component 210 remains unchanged, the running speed of the walking component 210 itself will increase, thereby causing the cleaning robot 10 to walk faster. Therefore, when it is recognized that the running speed of the walking component 210 itself increases and is greater than the second preset speed, it means that the cleaning robot 10 has moved to a relatively clean area to be cleaned.

[0111] As an embodiment, in the above step S21, the type of the area to be cleaned where the cleaning robot 10 is located is determined according to the operating status of the walking part 210, including: when the displacement speed of the walking part 210 is less than the first preset displacement speed, the type of the area to be cleaned is determined to be a third type of cleaning area.

[0112] The first preset displacement speed is a moving speed range or moving speed point value pre-set in the cleaning robot 10, and the moving speed range or moving speed point value is a preset moving speed range or preset moving speed point value of the walking component 210 of the cleaning robot 10 in the normal cleaning mode. When the displacement speed of the walking component 210 is less than the first preset displacement speed during the operation of the cleaning robot 10 in the normal cleaning mode, it indicates that the cleaning robot 10 walks to the edge area.

[0113] As an embodiment, in the above step S21, the type of the area to be cleaned where the cleaning robot 10 is located is determined according to the operating status of the walking part 210, including: when the walking part 210's own operating speed is greater than the second preset speed and the displacement speed of the walking part 210 is less than the second preset displacement speed, determining that the type of the area to be cleaned is the fourth type of cleaning area.

[0114] The second preset displacement speed is a moving speed range or moving speed point value pre-set for the cleaning robot 10, and the second preset displacement speed is greater than or equal to the first preset displacement speed. When the cleaning robot 10 is working in the normal cleaning mode, when the running speed of the walking component 210 itself is greater than the second preset speed and the displacement speed of the walking component 210 is less than the second preset displacement speed, it indicates that the cleaning robot 10 is slipping in a relatively slippery area.

[0115] As an implementation manner, in the above step S2 or step S22, the manner of adjusting the cleaning mode of the cleaning robot 10 includes:

[0116] Adjust the running speed of the walking component 210;

[0117] and / or, adjusting the operating speed of the cleaning component 310 itself;

[0118] and / or, adjusting the force between the cleaning member 310 and the surface to be cleaned;

[0119] And / or, adjusting the force between the moving part 210 and the surface to be cleaned.

[0120] That is, the method of adjusting the cleaning mode of the cleaning robot 10 includes at least one of the following adjustment methods: adjusting the running speed of the walking component 210 itself; adjusting the running speed of the cleaning component 310 itself; adjusting the force between the cleaning component 310 and the surface to be cleaned; adjusting the force between the walking component 210 and the surface to be cleaned.

[0121] Adjusting the running speed of the walking unit 210 includes increasing the running speed of the walking unit 210 and decreasing the running speed of the walking unit 210. For example, when encountering a cleaning area that needs to improve cleaning efficiency, the running speed of the walking unit 210 can be increased; when encountering a cleaning area that needs fixed-point cleaning, the running speed of the walking unit 210 can be decreased or even stopped.

[0122] Adjusting the self-operation speed of the cleaning component 310 includes increasing the self-operation speed of the cleaning component 310 and decreasing the self-operation speed of the cleaning component 310. For example, when encountering a cleaning area that needs to improve cleaning efficiency and cleanliness, the self-operation speed of the cleaning component 310 can be increased; when encountering a relatively clean cleaning area, the self-operation speed of the cleaning component 310 can be decreased to save energy.

[0123] Adjusting the force between the cleaning component 310 and the surface to be cleaned includes increasing the force between the cleaning component 310 and the surface to be cleaned and reducing the force between the cleaning component 310 and the surface to be cleaned. For example, when encountering a cleaning area that needs to improve the cleanliness, the force between the cleaning component 310 and the surface to be cleaned can be increased; when encountering a cleaning area that needs to be relatively clean, the force between the cleaning component 310 and the surface to be cleaned can be reduced.

[0124] Adjusting the force between the walking component 210 and the surface to be cleaned includes increasing the force between the walking component 210 and the surface to be cleaned and reducing the force between the walking component 210 and the surface to be cleaned. For example, when encountering a relatively slippery cleaning area that causes the walking component 210 to slip, the force between the walking component 210 and the surface to be cleaned can be increased; when encountering a cleaning area that requires an increased moving speed, the force between the walking component 210 and the surface to be cleaned can be reduced.

[0125] As an implementation manner, when the type of the area to be cleaned is a first type of cleaning area, the manner of adjusting the cleaning mode of the cleaning robot 10 includes:

[0126] Adjusting the self-operating speed of the cleaning component 310 to a first preset range to increase the self-operating speed of the cleaning component 310;

[0127] And / or, the force between the cleaning member 310 and the surface to be cleaned is adjusted to be within the first force range to increase the force between the cleaning member 310 and the surface to be cleaned.

[0128] In this embodiment, when the type of the area to be cleaned is determined to be the first type of cleaning area, that is, an area with severe dirtiness, at least one of the following adjustment methods can be adopted: increasing the running speed of the cleaning component 310 itself; increasing the force between the cleaning component 310 and the surface to be cleaned.

[0129] Among them, increasing the running speed of the cleaning component 310 itself can increase the cleaning frequency of the cleaning component 310 on the surface to be cleaned, so that when the cleaning robot 10 walks for a certain period of time, the number of times the cleaning component 310 wipes the surface to be cleaned increases, thereby improving the cleaning effect of the cleaning robot 10.

[0130] Increasing the force between the cleaning component 310 and the surface to be cleaned can improve the cleaning force of the cleaning component 310 on the surface to be cleaned, so that the cleaning component 310 can complete the cleaning of the surface to be cleaned with fewer wiping times, thereby improving the cleaning effect of the cleaning robot 10.

[0131] As an embodiment, when the type of the area to be cleaned is the first type of cleaning area, the method of adjusting the cleaning mode of the cleaning robot 10 also includes: adjusting to increase the driving power of the walking component 210. Since the friction resistance of the walking component 210 increases in the area with serious dirtiness, the running speed of the walking component 210 itself will decrease. Therefore, this embodiment adjusts to increase the driving power of the walking component 210 to maintain a certain rotation speed of the walking component 210 to maintain the walking speed, thereby facilitating the cleaning effect and cleaning efficiency of the area with serious dirtiness.

[0132] As an embodiment, when the type of the area to be cleaned is the first type of cleaning area, the manner of adjusting the cleaning mode of the cleaning robot 10 includes: increasing the self-operating speed of the cleaning component 310 and increasing the driving power of the walking component 210. In this embodiment, for areas with serious dirtiness, the self-operating speed of the cleaning component 310 is increased to increase the cleaning ability of the cleaning robot 10; at the same time, the driving power of the walking component 210 is increased to maintain or increase the cleaning efficiency of the cleaning robot 10.

[0133] As an embodiment, when an encoder is provided on the first motor 220 of the walking component 200, the principle of adjusting the speed of the cleaning robot 10 according to the degree of dirtiness includes: the first motor 220 of the cleaning robot 10 drives the walking component 210 to rotate at a first preset speed V1 and a preset power P1, and the second motor 320 drives the cleaning component 310 to rotate at a second preset speed V2. When encountering a cleaning area with a serious degree of dirtiness, the friction between the walking component 210 and the surface to be cleaned increases. When the first motor 220 is driven at a constant power P, the rotation speed of the walking component 210 will slow down, thereby causing the walking component 210 to walk slower. At this time, the first encoder on the first motor 220 recognizes that the rotation speed of the walking component 210 decreases, indicating that the cleaning robot 10 runs to a surface to be cleaned with a large degree of dirtiness. At this time, it is necessary to increase the cleaning ability of the cleaning robot 10. At this time, the first encoder on the first motor 220 feeds back a signal to the mainboard chip (processor) of the cleaning robot 10, and increases the rotation speed of the cleaning component 310 to increase the number of times the cleaning component 310 wipes the surface to be cleaned per unit time, so as to improve the cleaning effect of the cleaning robot 10. At the same time, the power of the first motor 220 can be adjusted to keep the walking component 210 at a certain speed to maintain the walking speed at the first preset speed V1. In this embodiment, the degree of dirtiness of the surface to be cleaned can be identified by the rotation speed of the walking component 210, and the rotation speed of the cleaning component 310 is adjusted according to the degree of dirtiness to adapt to the surfaces to be cleaned with different degrees of dirtiness.

[0134] As an embodiment, when an encoder is provided on the second motor 320 of the cleaning component 300, the principle by which the cleaning robot 10 adjusts its speed according to the degree of dirtiness includes: when the cleaning robot 10 is placed on a dirty surface to be cleaned, the first motor 220 of the cleaning robot 10 drives the walking component 210 to rotate at a first preset speed V1, the second motor 320 drives the cleaning component 310 to rotate at a second preset speed V2, and the liquid spraying device of the cleaning robot 10 sprays cleaning liquid. As the cleaning time increases, the dust on the surface of the cleaning cloth of the cleaning component 310 combines with water to change the surface of the cleaning cloth or increase the degree of dirtiness of the surface to be cleaned (sticky stains), which increases the friction resistance between the cleaning cloth and the surface to be cleaned, thereby reducing the rotation speed of the cleaning component 310. When it is reduced to a certain amount less than the second preset speed V2, the encoder on the second motor 320 feeds back the signal to the main board chip, and the main board chip adjusts the speed of the second motor 320 to the third preset speed V3 through PWM (pulse width modulation), wherein the third preset speed V3 is greater than the second preset speed V2; at the same time, the rotation speed of the walking component 210 is adjusted to the fourth preset speed V4, wherein the fourth preset speed V4 is less than the first preset speed V1, to improve the cleaning efficiency. After the cleaning robot 10 walks at this speed and speed for a certain period of time, it executes the next step according to the actual cleaning situation. By analogy, when the cleaning robot 10 encounters different dirty environments in the middle of the surface to be cleaned, the mainboard chip adjusts the speed of the cleaning component 310 and / or the speed of the walking component 210 according to the speed change signal fed back by the encoder on the second motor 320.

[0135] As an implementation manner, when the type of the area to be cleaned is the second type of cleaning area, the manner of adjusting the cleaning mode of the cleaning robot 10 includes:

[0136] Adjusting the self-operating speed of the cleaning component 310 to a second preset range to reduce the self-operating speed of the cleaning component 310;

[0137] And / or, the force between the cleaning member 310 and the surface to be cleaned is adjusted to a second force range to reduce the force between the cleaning member 310 and the surface to be cleaned.

[0138] In this embodiment, when the type of the area to be cleaned is determined to be the second type of cleaning area, that is, a relatively clean area, at least one of the following adjustment methods can be adopted: reducing the running speed of the cleaning component 310 itself; reducing the force between the cleaning component 310 and the surface to be cleaned.

[0139] Among them, reducing the operating speed of the cleaning component 310 itself can reduce the power consumption of the cleaning component 310, thereby facilitating energy saving.

[0140] Reducing the force between the cleaning component 310 and the surface to be cleaned can also reduce the power consumption of the cleaning component 310, thereby also being beneficial to energy saving. In addition, it can also help reduce the friction between the cleaning component 310 and the surface to be cleaned.

[0141] As an embodiment, when the type of the area to be cleaned is the third type of cleaning area, the way to adjust the cleaning mode of the cleaning robot 10 includes: adjusting the self-operating speed of the walking component 210 to the third preset range to reduce the self-operating speed of the walking component 210. Since the edge area of ​​the surface to be cleaned (such as the border area, the wall area, etc.) is relatively dirty, if the normal cleaning mode is used for cleaning, it is easy to cause the undesirable phenomenon that the edge area is not cleaned cleanly. In order to reduce this undesirable phenomenon, in this embodiment, when it is determined that the type of the area to be cleaned is the edge area, the self-operating speed of the walking component 210 is reduced to increase the cleaning time of the cleaning component 310 at the edge area, thereby ensuring the cleanliness of the edge area.

[0142] As an embodiment, the above-mentioned adjustment of the self-operation speed of the walking component 210 to the third preset range includes: adjusting the self-operation speed of the walking component 210 to zero within the preset time period. In this embodiment, when the cleaning robot 10 walks to the edge area, the walking component 210 is controlled to suspend operation so that the cleaning component 310 continues to clean at the edge area for a period of time, so that the cleaning component 310 can be kept in the edge area to achieve fixed-point cleaning, thereby ensuring the cleanliness of the edge area. The degree of dirtiness of the surface to be cleaned at the edge is relatively serious, so if it is cleaned in the normal cleaning mode, the edge position is easy to be not cleaned cleanly. In this embodiment, the fixed-point cleaning mode is used to clean the surface to be cleaned at the edge, which is conducive to improving the cleanliness of the edge cleaning. In this embodiment, since the cleaning component 310 and the walking component 210 are driven to rotate separately by different motors, it is conducive to realizing the function of fixed-point cleaning by controlling different motors, that is, the first motor 220 used to drive the walking component 210 to rotate is controlled to be suspended, and the second motor 320 used to drive the cleaning component 310 to rotate is controlled to keep running. If the cleaning component 310 and the walking component 210 are driven to rotate by the same motor, when the cleaning robot 10 moves to the edge position, the cleaning robot 10 cannot clean the surface to be cleaned within the time period of staying at the edge position, that is, fixed-point cleaning cannot be achieved.

[0143] As an embodiment, the cleaning robot 10 also includes an edge detector (not shown). The above control method also includes the following steps: determining whether the type of the area to be cleaned is a third type cleaning area based on the information fed back by the edge detector. The edge detector enhances the edge recognition function of the cleaning robot 10 and facilitates the deep cleaning function of the edge attachment surface to be cleaned. When the cleaning robot 10 identifies the edge (such as a glass frame) through the edge detector, the walking part 210 is controlled to stop rotating, so that the cleaning part 310 continues to clean at the edge for a period of time, so that the cleaning robot 10 can maintain a fixed point cleaning at the edge position, and maintain this state for a certain period of time before executing the next step.

[0144] As an implementation method, the edge detector is a micro switch. Of course, in a specific application, as an alternative implementation method, the edge detector can also be other detectors, such as an optical detection device.

[0145] As an embodiment, when the type of the area to be cleaned is a fourth type of cleaning area, the method of adjusting the cleaning mode of the cleaning robot 10 includes: adjusting the force between the walking component 210 and the surface to be cleaned to a third force range to increase the force between the walking component 210 and the surface to be cleaned.

[0146] In this embodiment, when the type of the area to be cleaned is determined to be the fourth type of cleaning area, that is, the area where the cleaning robot 10 slips, the method of increasing the force between the walking component 210 and the surface to be cleaned is adopted to increase the friction between the walking component 210 and the surface to be cleaned, so that the walking component 210 can drive the cleaning robot 10 to move along a preset trajectory on the surface to be cleaned, thereby helping to ensure the cleaning efficiency and cleaning effect of the cleaning robot 10.

[0147] As an embodiment, the cleaning robot 10 further includes a spraying device (not shown), which is used to spray a cleaning liquid. The spraying device can be configured to spray the cleaning liquid toward the surface to be cleaned, or can be configured to spray the cleaning liquid toward other components of the cleaning robot 10, such as spraying the cleaning liquid toward the cleaning component 310, so that the cleaning liquid is wiped onto the surface to be cleaned by the cleaning component 310, so that the cleaning liquid is used to improve the cleanliness of the cleaning robot 10 on the surface to be cleaned.

[0148] As an embodiment, the control method further includes: adjusting the amount of cleaning liquid sprayed by the spraying device according to the determined type of the area to be cleaned. For example, when cleaning an area with a serious degree of dirtiness, the amount of cleaning liquid sprayed can be increased to ensure the cleaning effect; when cleaning an area with a light degree of dirtiness, the amount of cleaning liquid sprayed can be reduced to avoid wasting the cleaning liquid.

[0149] Reference Figures 4 to 7As shown, as an embodiment, the cleaning robot 10 also includes an adsorption component 400, and the adsorption component 400 includes an adsorption component 410 disposed on the main body 100 and a negative pressure power source 430 connected to the adsorption component 410. The above control method also includes: controlling the negative pressure power source 430 to provide negative pressure for the adsorption component 410, so that the adsorption component 410 adsorbs the surface to be cleaned. In this embodiment, the cleaning robot 10 is also adsorbed on the surface to be cleaned by negative pressure, which is conducive to ensuring the stability of the cleaning robot 10 when running on the surface to be cleaned; especially when the surface to be cleaned is window glass, the adsorption effect of the adsorption component 410 can be more conducive to ensuring the stability of the cleaning robot 10 when placed and walking on the surface to be cleaned.

[0150] As an embodiment, the cleaning component 310 is connected to the main body 100 in a manner that it can rotate relative to the main body 100, and the adsorption component 410 is connected to the main body 100 in a manner that it is stationary relative to the main body 100. In this embodiment, the cleaning component 310 and the adsorption component 410 are separately arranged, so that the cleaning component 310 and the adsorption component 410 do not interfere with each other, and the adsorption component 410 does not rotate with the cleaning component 310. It is relatively integrated with the cleaning component 310 and the adsorption component 410, which solves the operation abnormality (slipping, walking difficulty, increased adaptation negative pressure, etc.) caused by the integrated arrangement of the cleaning component 310 and the adsorption component 410, and at the same time solves the influence of the rag on the cleaning component 310 on the adsorption of the adsorption component 410 or the influence on the walking of the whole machine.

[0151] Reference Figure 6 and Figure 7 As shown, as an embodiment, the adsorption component 410 can be floatably mounted on the bottom of the main body 100 through the first elastic component 420. The bottom of the main body 100 is specifically the part of the main body 100 that is closest to the surface to be cleaned when the cleaning robot 10 is placed on the surface to be cleaned. In this embodiment, the adsorption component 410 is mounted on the bottom of the main body 100 in a floating manner, so that when the cleaning robot 10 is placed on the surface to be cleaned, the distance from the adsorption component 410 to the bottom of the main body 100 can be adaptively floated and adjusted.

[0152] Reference Figure 6 As shown, as an embodiment, the first elastic component 420 includes at least one of a first spring 414 and a floating cotton 413 .

[0153] As an embodiment, the cleaning component 310 can be floatably mounted on the bottom of the main body 100 through the second elastic component 330. In this embodiment, the cleaning component 310 is floatably mounted on the bottom of the main body 100, so that when the cleaning robot 10 is placed on the surface to be cleaned, the distance from the cleaning component 310 to the bottom of the main body 100 can be adaptively adjusted in a floating manner.

[0154] As an embodiment, when the first elastic component 420 is in a natural state and the second elastic component 330 is in a natural state, the distance from the bottom of the adsorption component 410 to the bottom of the main body 100 is greater than the distance from the bottom of the cleaning component 310 to the bottom of the main body 100. In this embodiment, the distance from the bottom of the adsorption component 410 to the bottom of the main body 100 is greater than the distance from the bottom of the cleaning component 310 to the bottom of the main body 100, so that when the cleaning robot 10 is placed on the surface to be cleaned, the adsorption component 410 first contacts the surface to be cleaned, and after the first elastic component 420 is compressed, the cleaning component 310 contacts the surface to be cleaned. The elastic force generated by the compression of the first elastic component 420 can keep the adsorption component 410 pressed against the surface to be cleaned.

[0155] As an embodiment, when the first elastic component 420 is in a natural state and the second elastic component 330 is in a natural state, the distance from the bottom of the cleaning component 310 to the bottom of the main body 100 is greater than the distance from the bottom of the walking component 210 to the bottom of the main body 100. In this embodiment, when the first elastic component 420 is in a natural state and the second elastic component 330 is in a natural state, the distance from the bottom of the adsorption component 410 to the bottom of the main body 100 is greater than the distance from the bottom of the cleaning component 310 to the bottom of the main body 100, and the distance from the bottom of the cleaning component 310 to the bottom of the main body 100 is greater than the distance from the bottom of the walking component 210 to the bottom of the main body 100, that is, the bottoms of the adsorption component 410, the cleaning component 310 and the walking component 210 have the largest distance to the bottom of the main body 100, followed by the cleaning component 310, and the smallest distance is the walking component 210.

[0156] In a specific application, when the cleaning robot 10 is placed on the surface to be cleaned and started, the adsorption component 410 first contacts the surface to be cleaned, and generates an adsorption force under the action of the negative pressure power source 430, so that the cleaning robot 10 is adsorbed on the surface to be cleaned; at the same time, the cleaning component 310 contacts the surface to be cleaned to form a cleaning surface; finally, the walking component 210 is compressed and deformed due to the first elastic component 420 and the second elastic component 330, so that the distance between the adsorption component 410 and the bottom of the main body 100 and the distance between the cleaning component 310 and the bottom of the main body 100 are reduced, so that the bottom of the adsorption component 410, the bottom of the cleaning component 310, and the bottom of the walking component 210 are on the same plane, and then the bottom of the adsorption component 410, the bottom of the cleaning component 310, and the bottom of the walking component 210 are in contact with the surface to be cleaned at the same time. The elastic force generated by the compression of the first elastic component 420 and the second elastic component 330 can keep the adsorption component 410 and the cleaning component 310 pressed against the surface to be cleaned.

[0157] Reference Figures 3 to 11As shown, an embodiment of the present invention further provides a cleaning robot 10, which includes a main body 100, a walking component 200, a cleaning component 300 and a control device (not shown). The walking component 200 includes a walking component 210, which is installed at the bottom of the main body 100 to drive the main body 100 to move on the surface to be cleaned; the cleaning component 300 includes a cleaning component 310, which is installed at the bottom of the main body 100 to clean the surface to be cleaned; the control device is installed on the main body 100 to control the operation of the walking component 210 and the cleaning component 310.

[0158] As an embodiment, the control device includes a memory and a processor, and a computer program is stored in the memory. When the computer program is executed by the processor, the steps of the control method of the cleaning robot 10 are implemented. The cleaning robot 10 provided in this embodiment adopts the above-mentioned control method. Therefore, during the cleaning process, the cleaning robot 10 can automatically adjust the cleaning mode of the cleaning robot 10 according to the operating status of the cleaning component 310 and / or the walking component 210, thereby helping to reduce the impact of the external environment on the cleaning efficiency and cleaning effect of the cleaning robot 10, and further, while taking into account low power consumption, it can ensure that the cleaning robot 10 has high cleaning efficiency and cleaning effect when cleaning surfaces to be cleaned with different degrees of dirtiness.

[0159] As an embodiment, the cleaning robot 10 further includes an adsorption assembly 400, which includes an adsorption component 410, which is installed at the bottom of the main body 100 to adsorb the main body 100 to the surface to be cleaned. The adsorption component 410 can be adsorbed to the surface to be cleaned by negative pressure.

[0160] As an embodiment, the cleaning component 310 is connected to the main body 100 in a rotatable manner relative to the main body 100 of the cleaning robot 10, and the adsorption component 410 is connected to the main body 100 in a stationary manner relative to the main body 100. The adsorption component 410 is fixedly arranged, and the cleaning component 310 is rotatably arranged.

[0161] As an embodiment, the cleaning component 310 is provided with a first hollow inner hole 3111 along its axial direction, and the adsorption component 410 is at least partially provided in the first hollow inner hole 3111. The adsorption component 410 is provided with a second hollow inner hole 4111 along its axial direction, and the walking component 210 is at least partially provided in the second hollow inner hole 4111. In this embodiment, the walking component 200, the adsorption component 400, and the cleaning component 300 are designed separately, so that they do not affect each other but complement each other. The adsorption component 410 is always stationary relative to the surface to be cleaned, the walking component 210 is located in the middle of the adsorption component 410, and the cleaning component 310 is located at the outermost side. In this way, the adsorption component 410 and the cleaning component 310 can play a double-layer protection role for the walking component 210.

[0162] As an embodiment, the walking component 200 also includes a first motor 220, which is transmission-connected to the walking component 210 to drive the walking component 210 to rotate; the cleaning component 300 also includes a second motor 320, which is transmission-connected to the cleaning component 310 to drive the cleaning component 310 to rotate; wherein the first motor 220 and the second motor 320 can operate independently of each other.

[0163] As an embodiment, the walking component 200 includes two first motors 220 and two walking components 210, each first motor 220 is respectively connected to a walking component 210, and the cleaning component 300 includes a second motor 320 and two cleaning components 310, and a second motor 320 is respectively connected to the two cleaning components 310.

[0164] As an embodiment, the main body 100 includes a bottom shell assembly 110 and a cover assembly 120. The negative pressure power source 430 and the first motor 220 are assembled in the space formed by the bottom shell assembly 110 and the cover assembly 120, and relevant fluid channels are arranged inside the main body 100. The cleaning assembly 300 is connected to the bottom shell assembly 110 through the end face gear frame 340, and the two groups of cleaning assemblies 300 are connected to a second motor 320 through gears to form a cleaning assembly 300. The adsorption assembly 400 is connected to the bottom shell assembly 110 through the adsorption component 410, and the adsorption assembly 400 is fixedly arranged and does not rotate with the cleaning component 310; the adsorption component 410 serves to adsorb and fix the end face gear frame 340.

[0165] As an implementation manner, the adsorption assembly 400 further includes a first elastic component 420 , and the adsorption component 410 can be floatably mounted on the bottom of the main body 100 through the first elastic component 420 .

[0166] As an embodiment, the cleaning assembly 300 further includes a second elastic member 330, and the cleaning member 310 is floatably mounted on the bottom of the main body 100 through the second elastic member 330. The second elastic member 330 may include a second spring.

[0167] As an embodiment, when the first elastic component 420 is in a natural state and the second elastic component 330 is in a natural state, the distance h2 from the bottom of the adsorption component 410 to the bottom of the main body 100 is greater than the distance h3 from the bottom of the cleaning component 310 to the bottom of the main body 100, and the distance h3 from the bottom of the cleaning component 310 to the bottom of the main body 100 is greater than the distance h1 from the bottom of the walking component 210 to the bottom of the main body 100.

[0168] As an embodiment, the cleaning assembly 300 also includes an end face gear frame 340, a sliding gasket 350, a second motor 320 and a driving gear 360. The end face gear frame 340 is installed at the bottom shell assembly 110 through an adsorption fixing frame 412 and the sliding gasket 350. The cleaning component 310 is connected to the end face gear frame 340, and a guide column is fixed on the end face. The cleaning component 310 is elastically connected to the end face gear frame 340 through a spring (i.e., the second elastic component 330) and a guide column to form a floating structure. The output shafts on both sides of the second motor 320 are each connected to a driving gear 360, which is respectively meshed with the end face gear frames 340 on both sides to drive the cleaning component 310 to rotate.

[0169] As an implementation manner, the cleaning component 310 includes a cleaning disk 311 and a wiping component 312 mounted on the cleaning disk 311. The wiping component 312 can be a cleaning cloth or a brush made of different materials or other components that can be used to wipe the surface to be cleaned.

[0170] As an implementation manner, the wiping component 312 is a cleaning cloth, and the cleaning cloth can be installed on the cleaning plate 311 in different installation methods, such as a set method or a Velcro method.

[0171] As an embodiment, the travel assembly 200 includes a first motor 220, a gear reduction box 230 and a travel component 210. The first motor 220 is connected to the travel component 210 through the gear reduction box 230. The travel component 210 is installed at the bottom shell assembly 110, and is located between the adsorption component 410 and the cleaning component 310.

[0172] As an implementation manner, the walking component 210 includes at least one roller 211 .

[0173] As an embodiment, the cleaning robot 10 includes two walking assemblies 200, each of which includes a first motor 220, a gear reduction box 230 and a walking component 210, and each walking component 210 includes two rollers 211. Of course, in specific applications, the number of the walking assembly 200 and its components is not limited thereto.

[0174] As an embodiment, the adsorption component 400 includes a negative pressure power source 430, an adsorption component 410 and an inner cover 440. The negative pressure power source 430 includes a fan, which is installed on the inner cover 440. The adsorption component 410 is connected to the bottom shell component 110 through the end face gear rack 340. At this time, the adsorption component 410, the bottom shell component 110, and the inner cover 440 are surrounded to form a negative pressure cavity, and under the action of the fan, negative pressure is formed, so that the adsorption component 410 is adsorbed on the surface to be cleaned.

[0175] As an implementation manner, the adsorption component 410 includes an adsorption fixing frame 412 and an adsorption plate 411 . The adsorption fixing frame 412 is connected to the bottom shell assembly 110 via fastening screws, and the adsorption plate 411 is connected to the adsorption fixing frame 412 .

[0176] As an implementation manner, the adsorption assembly 400 further includes a first elastic component 420 , and the first elastic component 420 is connected between the adsorption fixing frame 412 and the adsorption plate 411 .

[0177] As an implementation manner, the first elastic component 420 includes at least one of a first spring 414 and a floating cotton 413. The floating cotton 413 may be foam.

[0178] As an embodiment, the adsorption fixing frame 412 is connected to the bottom shell assembly 110 by fastening screws. The adsorption plate 411 is connected to the adsorption fixing frame 412 through the second elastic component 330 to form a first floating structure. The walking component 210 is fixedly connected to the bottom shell assembly 110, and there is a first distance h1 between the walking component 210 and the bottom surface of the bottom shell assembly 110. The cleaning component 310 is connected to the end gear rack 340 through a guide column and a first elastic component 420 to form a second floating structure. When the cleaning robot 10 is in a free horizontal state (the first elastic component 420 and the second elastic component 330 are both in a natural state), there is a second distance h2 between the adsorption component 410 and the bottom surface of the bottom shell assembly 110, and there is a third distance h3 between the cleaning component 310 and the bottom surface of the bottom shell assembly 110. At this time, the distance relationship between the cleaning component 310, the walking component 210 and the bottom surface of the bottom shell assembly 110 is h2>h3>h1. When the cleaning robot 10 is started, the adsorption component 410 first contacts the surface to be cleaned, and forms a negative pressure cavity with the bottom shell assembly 110 and the inner cover body 440. Suction is generated under the action of the fan, so that the cleaning robot 10 is adsorbed onto the surface to be cleaned. At the same time, the cleaning component 310 also contacts the surface to be cleaned to form a cleaning surface. Finally, due to the compression deformation of the first elastic component 420 and the second elastic component 330, the walking component 210 reduces the distance between the second distance h2 and the second distance h3, so that the bottom of the adsorption component 410, the bottom of the cleaning component 310 and the bottom of the walking component 210 are on the same plane and contact the surface to be cleaned at the same time.

[0179] As an embodiment, the cleaning robot 10 is a window cleaning machine, that is, the cleaning machine is a robot for cleaning windows, and the cleaning disk 311 of the cleaning robot 10 is roughly circular. This embodiment realizes the modular design of the three functional modules of the window cleaning machine, namely, cleaning, adsorption and walking, improves the assembly efficiency of the cleaning robot 10 and reduces the subsequent maintenance cost. The three functional modules are interconnected but do not affect each other, and by changing the walking mode and separating the cleaning component 300, the total power consumption of the whole machine is reduced, the stability of the cleaning robot 10 during operation is guaranteed, and the cleaning mode can be automatically switched according to the glass working conditions at different time periods, thereby improving the efficiency of glass cleaning. In addition, when this embodiment realizes the function of double-wheel rotary wiping of the circular window cleaning machine, it avoids the abnormal operation of the cleaning robot 10 (such as slipping, difficulty in walking, increased adaptation negative pressure, etc.) caused by the integration of the walking component 210 and the cleaning component 310, and the integration of the cleaning component 310 and the adsorption component 410, and solves the influence of the cleaning rag on adsorption and the influence on the walking of the whole machine.

[0180] The embodiment of the present invention further provides a cleaning robot 10, which includes a main body 100, a walking component 200, a cleaning component 300 and an adsorption component 400. The walking component 200 includes a walking component 210, which is installed at the bottom of the main body 100 to drive the main body 100 to move on the surface to be cleaned; the cleaning component 300 includes a cleaning component 310, which is installed at the bottom of the main body 100 to clean the surface to be cleaned; the adsorption component 400 includes an adsorption component 410, which is installed at the bottom of the main body 100 to adsorb the main body 100 to the surface to be cleaned; wherein the cleaning component 310 is connected to the main body 100 in a manner that it can rotate relative to the main body 100 of the cleaning robot 10, and the adsorption component 410 is connected to the main body 100 in a manner that it is stationary relative to the main body 100. This embodiment realizes the separated modular design of the three functional modules of cleaning, adsorption and walking. The three functional modules are interconnected but do not affect each other. Moreover, by changing the walking mode and separating the cleaning component 300, the total power consumption of the whole machine is reduced, and the stability of the cleaning robot 10 during operation is ensured. At the same time, the cleaning mode can be automatically switched according to the glass working conditions at different time periods, thereby improving the efficiency of glass cleaning. In this embodiment, the other parts of the cleaning robot 10 can refer to the above description and will not be described in detail here.

[0181] The embodiment of the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the cleaning robot 10 are implemented.

[0182] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A control method for a cleaning robot, the cleaning robot comprising a main body, a walking component arranged on the main body, and a cleaning component arranged on the main body, characterized in that: The control method comprises: Controlling the walking component to drive the cleaning robot to walk on the surface to be cleaned, and controlling the cleaning component to operate so that the cleaning component cleans the surface to be cleaned; Determining the type of the area to be cleaned where the cleaning robot is located according to the operating state of the walking component and / or the operating state of the cleaning component; The cleaning mode of the cleaning robot is adjusted according to the type of the area to be cleaned.

2. The control method of the cleaning robot according to claim 1, characterized in that: Determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes: When the running speed of the walking component itself is less than the first preset speed, the type of the area to be cleaned is determined to be a first type of cleaning area.

3. The control method of the cleaning robot according to claim 1, characterized in that: Determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes: When the running speed of the walking component itself is greater than the second preset speed, the type of the area to be cleaned is determined to be a second type of cleaning area.

4. The control method of the cleaning robot according to claim 1, characterized in that: Determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes: When the displacement speed of the walking component is less than the first preset displacement speed, it is determined that the type of the area to be cleaned is a third type of cleaning area.

5. The control method of the cleaning robot according to claim 1, characterized in that: Determining the type of the area to be cleaned where the cleaning robot is located according to the running state of the walking component includes: When the running speed of the walking component itself is greater than the second preset speed and the displacement speed of the walking component is less than the second preset displacement speed, it is determined that the type of the area to be cleaned is a fourth type of cleaning area.

6. The control method of the cleaning robot according to claim 1, characterized in that: The step of determining the type of the area to be cleaned where the cleaning robot is located according to the operating state of the cleaning component comprises: When the running speed of the cleaning component itself is less than the third preset speed, the type of the area to be cleaned is determined to be a first type of cleaning area.

7. The control method of the cleaning robot according to any one of claims 1 to 6, characterized in that: The method of adjusting the cleaning mode of the cleaning robot includes: Adjusting the running speed of the walking component; and / or, adjusting the operating speed of the cleaning component itself; and / or, adjusting the force between the cleaning component and the surface to be cleaned; And / or, adjusting the force between the walking component and the surface to be cleaned.

8. The control method of the cleaning robot according to claim 7, characterized in that: When the type of the area to be cleaned is a first type of cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes: Adjusting the self-operating speed of the cleaning component to a first preset range to increase the self-operating speed of the cleaning component; And / or, the action force between the cleaning component and the surface to be cleaned is adjusted to a first action force range to increase the action force between the cleaning component and the surface to be cleaned.

9. The control method of the cleaning robot according to claim 8, characterized in that: When the type of the area to be cleaned is a first type of cleaning area, the method of adjusting the cleaning mode of the cleaning robot further includes: Adjust to increase the driving power of the traveling component.

10. The control method of the cleaning robot according to claim 7, characterized in that: When the type of the area to be cleaned is a second type cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes: Adjusting the self-operating speed of the cleaning component to a second preset range to reduce the self-operating speed of the cleaning component; And / or, the force between the cleaning component and the surface to be cleaned is adjusted to a second force range to reduce the force between the cleaning component and the surface to be cleaned.

11. The control method of the cleaning robot according to claim 7, characterized in that: When the type of the area to be cleaned is a third type cleaning area, the manner of adjusting the cleaning mode of the cleaning robot includes: The self-operating speed of the walking component is adjusted to a third preset range to reduce the self-operating speed of the walking component.

12. The control method of the cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning robot further comprises a spraying device, wherein the spraying device is used to spray the cleaning liquid; The control method further comprises: According to the determined type of the area to be cleaned, the spraying amount of the cleaning liquid of the spraying device is adjusted.

13. A cleaning robot, characterized in that: include: main body; A walking assembly, the walking assembly comprising a walking component, the walking component being installed at the bottom of the main body to drive the main body to move on the surface to be cleaned; A cleaning assembly, the cleaning assembly comprising a cleaning component, the cleaning component being installed at the bottom of the main body for cleaning the surface to be cleaned; A control device, which is installed on the main body and is used to control the operation of the walking component and the cleaning component; Wherein, the control device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the steps of the control method of the cleaning robot as described in any one of claims 1 to 12 are implemented.

14. A window cleaning machine, characterized in that: include: main body; A walking assembly, the walking assembly comprising a walking component, the walking component being installed at the bottom of the main body to drive the main body to move on the surface to be cleaned; The walking member comprises at least one roller; A cleaning assembly, the cleaning assembly comprising a cleaning component, the cleaning component being installed at the bottom of the main body for cleaning the surface to be cleaned; The cleaning component moves relative to the main body, and the movement includes the cleaning component rotating relative to the main body, or the cleaning component reciprocating relative to the main body, or the cleaning component being stationary relative to the main body.

15. The window cleaning machine according to claim 14, characterized in that: When the cleaning component rotates relative to the main body, the traveling component rotates independently of the cleaning component.

16. The window cleaning machine according to claim 14, characterized in that: The cleaning component is provided with a first hollow inner hole, and the moving component is at least partially penetrated through the first hollow inner hole.

17. The window cleaning machine according to claim 14, characterized in that: The walking assembly includes two walking parts, and the cleaning assembly includes two cleaning parts.

18. The window cleaning machine according to claim 15, characterized in that: The walking component further includes a first motor, which is transmission-connected to the walking component to drive the walking component to rotate; the cleaning component further includes a second motor, which is transmission-connected to the cleaning component to drive the cleaning component to rotate; The walking component and the cleaning component are driven to rotate by different motors respectively, so that the walking component and the cleaning component can rotate independently.

19. The window cleaning machine according to claim 16, characterized in that: It also includes an adsorption assembly, the adsorption assembly includes an adsorption component, the adsorption component is arranged on the main body, and the adsorption component is at least partially penetrated through the first hollow inner hole; The adsorption component is provided with a second hollow inner hole, and the walking component is at least partially penetrated through the second hollow inner hole.

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