Motion control method and cleaning system

Abstract

The invention discloses a motion control method and a cleaning system, the method is applied to a sweeping robot, and the sweeping robot comprises a sweeping and suction port, a sweeping cover arranged on the outer periphery of the sweeping and suction port and a sweeping and scraping part which is arranged at one end of the sweeping and suction port and can be turned over. The dust collection charging device comprises a base, a dust collection opening formed in the base and a dust collection opening sealing piece arranged on the periphery of the dust collection opening. The method comprises the steps that the sweeping and scraping part advances to a first set position of a base, and at the moment, the matching relation at the first set position is configured in the mode that the sweeping and scraping part overturns under the action of a dust collection opening sealing part and overturns to the position above the dust collection opening sealing part so that a sweeping cover can be jacked up; the sweeping piece continuously moves forwards to a second set position of the base, and at the moment, the matching relation at the second set position is configured that the sweeping piece is located in the dust collecting opening; at the moment, the matching relation at the first set position is configured that the sweeping cover is correspondingly connected with the dust collecting opening sealing piece, and the sweeping and scraping piece is located in the dust collecting opening. The dust collection effect can be improved.

Description

Technical Field

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

[0002] In the automatic dust collection scheme of the related art, when the sweeping robot is on the charging pile, the suction port of the sweeping robot and the dust collection port of the charging pile are sometimes not sealed due to structural or movement direction reasons, causing dust leakage during dust collection. Summary of the invention

[0003] The technical problem to be solved by the present invention is that, in view of at least one defect of the related technology mentioned in the above background technology: no seal is formed between the sweeping and suction port of the sweeping robot and the dust collecting port of the dust collecting and charging device due to the structure, resulting in dust leakage during dust collection, and a motion control method and a cleaning system are provided.

[0004] The technical solution adopted by the present invention to solve the technical problem is: construct a motion control method, which is applied to a sweeping robot, the sweeping robot comprises a sweeping and suction port, a sweeping cover arranged at the outer periphery of the sweeping and suction port, and a sweeping and scraping member arranged at one end of the sweeping and suction port and capable of being turned over;

[0005] The dust collecting and charging device comprises a base, a dust collecting port arranged on the base, and a dust collecting port sealing member arranged on the outer periphery of the dust collecting port;

[0006] The method comprises the following steps:

[0007] Advance to the first setting position on the base of the dust collecting and charging device, at which time the matching relationship at the first setting position is configured so that the sweeping member flips over under the action of the dust collecting port seal and flips over to the top of the dust collecting port seal to lift the sweeping cover;

[0008] Continue to move forward to the second set position on the base of the dust collecting and charging device, at which time the matching relationship at the second set position is configured so that the sweeping member is located in the dust collecting port;

[0009] Retreat to the first set position on the base of the dust collecting and charging device. At this time, the matching relationship at the first set position is configured so that the sweeping cover is correspondingly connected to the dust collecting port sealing member, and the sweeping member is located in the dust collecting port.

[0010] In some embodiments, the method further comprises:

[0011] When receiving the recharging signal emitted by the dust collecting and charging device or judging that the power is lower than the threshold, it moves in the direction of the dust collecting and charging device and aligns with the dust collecting and charging device.

[0012] In some embodiments, advancing to a first set position on a base of the dust collecting and charging device includes:

[0013] By detecting that the dust collecting and charging device starts charging, it is confirmed that the dust collecting and charging device advances to the first set position on the base;

[0014] And / or, by establishing communication with the dust collecting and charging device, confirming to advance to a first set position on the base of the dust collecting and charging device.

[0015] In some embodiments, continuing to move to the second set position on the base of the dust collection and charging device includes at least one of the following three methods:

[0016] By calculating the forward time reaching the time setting value, it is confirmed to continue to move forward to the second set position on the base of the dust collecting and charging device;

[0017] When the forward distance reaches the set distance value, it is confirmed to continue to move forward to the second set position on the base of the dust collecting and charging device;

[0018] The sweeping robot also includes a protective member, which confirms that the protective member is in contact with the dust collecting and charging device to continue moving forward to a second set position on the base of the dust collecting and charging device by detecting that the protective member is in contact with the dust collecting and charging device.

[0019] In some embodiments, the distance setting value is the distance obtained by adding the length of the sweeping cover exposed when the sweeping member is in the flipped state to the preset margin length.

[0020] In some embodiments, retreating to a first set position on a base of the dust collecting and charging device includes:

[0021] By calculating the retreat time reaching the set time value, it is confirmed to retreat to the first set position on the base of the dust collection and charging device;

[0022] And / or, by calculating the retreat distance reaching the set distance value, it is confirmed to retreat to the first set position on the base of the dust collecting and charging device.

[0023] In some embodiments, the sweeping robot further includes moving components located on both sides, and the dust collecting and charging device further includes tracks located on both sides of the base;

[0024] The first setting position is the low point of the track, and the second setting position is the high point of the track;

[0025] Retreating to a first setting position on the base of the dust collecting and charging device includes:

[0026] By releasing the moving components on both sides, the vehicle can slide back along the track from the high point of the track to the low point of the track using gravity.

[0027] In some embodiments, the track has a structure with high ends and a low middle.

[0028] In some embodiments, the track surface from the middle to both ends of the track is an inclined surface or a curved surface.

[0029] In some embodiments, an anti-slip structure is provided on the track surface of the track.

[0030] In some embodiments, the sweeping robot further comprises a collection container connected to the sweeping and suction port, and the dust collecting and charging device further comprises a dust collecting fan, an integrated channel connecting the inlet end of the dust collecting fan and the dust collecting port, and a dust collecting container located at the outlet end of the dust collecting fan;

[0031] The device moves back to a first set position on the base of the dust collecting and charging device, and then further comprises:

[0032] A work instruction is sent to the dust collecting charging device, and the work instruction is used to drive the dust collecting fan to suck the dust in the collection container into the dust collecting container through the integrated channel and the sweeping suction port.

[0033] The present invention also constructs a cleaning system, including a sweeping robot and a dust collecting and charging device, wherein the sweeping robot is used to implement any of the motion control methods described above.

[0034] By implementing the present invention, the following beneficial effects are achieved:

[0035] The motion control method of the present invention can solve the problem that the sweeping and scraping member does not enter the dust collection port and the sweep cover is lifted up so that no seal is formed between the sweeping and suction port and the dust collection port, thereby improving the dust collection effect. In addition, since no other structures such as auxiliary structures or supporting structures are added, the improved motion control method can reduce production costs and material costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0037] Figure 1 A flow chart of an embodiment of a motion control method of the present invention is shown;

[0038] Figure 2 The overall structure diagram of an embodiment of the sweeping robot of the present invention is shown;

[0039] Figure 3 A bottom structure diagram of an embodiment of the sweeping robot of the present invention is shown;

[0040] Figure 4 The overall structure diagram of an embodiment of the dust collecting and charging device of the present invention is shown;

[0041] Figure 5 A structural diagram showing an embodiment of the present invention in which the sweeping robot moves forward to a first position on the base of the dust collecting and charging device;

[0042] Figure 6 Shows Figure 5 A partial enlarged view of

[0043] Figure 7 A cross-sectional view of an embodiment of the present invention showing a sweeping robot retreating to a first position on a base of a dust collecting and charging device;

[0044] Figure 8 Shows Figure 7 A partial enlarged view of . DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0046] It should be noted that the flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0047] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or dust collection circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0048] Some embodiments of the present invention disclose a motion control method, which is applied to Figure 2 and Figure 3 The sweeping robot 1 shown in the figure comprises a sweeping and suction port 11, a sweeping cover 12 arranged at the outer periphery of the sweeping and suction port 11, and a reversible sweeping and scraping member 13 arranged at one end of the sweeping and suction port 11. Specifically, the sweeping and suction port 11 is located at the bottom of the sweeping robot 1, and the sweeping and scraping member 13 is a sweeping and scraping bar. The sweeping and scraping bar here is only an example and is not intended to limit the present application. It can also be other.

[0049] like Figure 4 The dust collecting and charging device 2 shown includes a base 21, a dust collecting port 22 provided on the base 21, and a dust collecting port sealing member 23 provided on the outer periphery of the dust collecting port 22. Specifically, the base 21 is a seat body extending outward, and the dust collecting port sealing member 23 is a dust collecting port sealing ring, and corresponds to the shape of the sweeping cover 12, and the two can form a seal after being connected. The dust collecting port sealing ring here is only an example and is not intended to limit the present application, and can also be other.

[0050] like Figure 1 As shown, the method comprises the following steps:

[0051] Move forward in the direction of the dust collecting and charging device 2, as shown in FIG. Figure 5 and Figure 6 As shown, the first setting position 241 on the base 21 of the dust collecting and charging device 2 is advanced. At this time, the matching relationship at the first setting position 241 is configured so that the sweeping member 13 is turned over under the action of the dust collecting port seal 23 and turned over to the top of the dust collecting port seal 23 to lift the sweeping cover 12;

[0052] Continue to move forward to the second setting position 242 on the base 21 of the dust collecting and charging device 2. At this time, the matching relationship at the second setting position 242 is configured so that the sweeping member 13 is located in the dust collecting port 22. It can be understood that there is a distance between the second setting position 242 and the first setting position 241.

[0053] like Figure 7 and Figure 8 As shown, it retreats to the first set position 241 on the base 21 of the dust collecting and charging device 2. At this time, the matching relationship at the first set position 241 is configured so that the sweeping cover 12 is correspondingly connected with the dust collecting port sealing member 23, that is, a seal is formed, and the sweeping member 13 is located in the dust collecting port 22.

[0054] The motion control method of this embodiment can solve the problem that the sweeping member 13 does not enter the dust collecting port 22 and the sweeping cover 12 is lifted up so that no seal is formed between the sweeping and suction port 11 and the dust collecting port 22, thereby improving the dust collection effect. In addition, since no other structures such as auxiliary structures or supporting structures are added, the improved motion control method can reduce production costs and material costs.

[0055] In some embodiments, the process of advancing to the first setting position 241 on the base 21 of the dust collecting and charging device 2 further includes:

[0056] When receiving the recharging signal emitted by the dust collecting and charging device 2 or judging that the power is lower than the threshold, the sweeping robot 1 moves in the direction of the dust collecting and charging device 2 and aligns with the dust collecting and charging device 2 so that the sweeping robot 1 is facing the dust collecting and charging device 2. Then the sweeping robot 1 can move in a straight line in the direction of the dust collecting and charging device 2.

[0057] In some embodiments, advancing to the first set position 241 on the base 21 of the dust collecting and charging device 2 includes:

[0058] By detecting that charging with the dust collection and charging device 2 starts, it is confirmed that the robot 1 advances to the first set position 241 on the base 21 of the dust collection and charging device 2. Specifically, the cleaning robot 1 also includes a charging terminal, and the dust collection and charging device 2 also includes a charging spring 28. When it is detected that the charging terminal contacts the charging spring 28 and charging starts, it can be confirmed that the cleaning robot 1 advances to the first set position 241 on the base 21 of the dust collection and charging device 2.

[0059] And / or, in some other embodiments, advancing to the first set position 241 on the base 21 of the dust collecting and charging device 2 includes:

[0060] By establishing communication with the dust collecting and charging device 2, it is confirmed to advance to the first set position 241 on the base 21 of the dust collecting and charging device 2. Specifically, the sweeping robot 1 also includes a low-power infrared emitting unit, and the dust collecting and charging device 2 also includes an infrared receiving unit. The low power is 10mA to 100mA well known in the art. The range of infrared light waves emitted by the low-power infrared emitting unit is shorter. Only when the sweeping robot 1 reaches the first set position 241, the infrared receiving unit can receive the infrared light waves, so that the sweeping robot 1 and the dust collecting and charging device 2 establish infrared to-tube communication. The infrared to-tube communication here is only an example and is not a limitation of the present application. It can also be other.

[0061] In some embodiments, continuing to move to the second set position 242 on the base 21 of the dust collecting and charging device 2 includes at least one of the following three methods. It can be understood that at least one can be one, two or three. When at least two methods are included, at least two methods must meet the requirements:

[0062] The first method: by calculating the forward time and reaching the time setting value, it is confirmed to continue to move forward to the second set position 242 on the base 21 of the dust collection and charging device 2. Specifically, the time setting value is calculated according to the forward speed of the sweeping robot 1 and the distance between the first set position 241 and the second set position 242, for example, 2 seconds. When the sweeping robot 1 starts to move forward from the first set position 241 and the calculated forward time reaches 2 seconds, it can be confirmed that the sweeping robot 1 continues to move forward to the second set position 242 on the base 21 of the dust collection and charging device 2. The 2 seconds here is only an example and is not a limitation of this application. It can also be other.

[0063] The second method is to confirm that the robot 1 continues to move forward to the second set position 242 on the base 21 of the dust collecting and charging device 2 by calculating the forward distance and reaching the distance setting value. For example, the distance setting value is 0.3m. When the robot 1 starts to move forward from the first set position 241 and the calculated forward distance reaches 0.3m, it can be confirmed that the robot 1 continues to move forward to the second set position 242 on the base 21 of the dust collecting and charging device 2. The 0.3m here is only an example and is not intended to limit the present application. It can also be other.

[0064] The distance setting value is the distance obtained by adding the length of the sweeping member 13 exposed from the sweeping cover 12 in the flipped state to the preset margin length. It should be noted that the sweeping member 13 flips around the axis, and its axial direction is perpendicular to the advancing direction.

[0065] The third type: the sweeping robot 1 also includes a protective member, and the contact between the protective member and the dust collecting and charging device 2 is detected to confirm that the sweeping robot 1 continues to move forward to the second set position 242 on the base 21 of the dust collecting and charging device 2. Specifically, the length of the protrusion of the protective member relative to the main body of the sweeping robot 1 is set to be the distance between the first set position 241 and the second set position 242, so when the contact between the protective member and the dust collecting and charging device 2 is detected, it can be confirmed that the sweeping robot 1 continues to move forward to the second set position 242 on the base 21 of the dust collecting and charging device 2.

[0066] In some embodiments, retreating to the first set position 241 on the base 21 of the dust collecting and charging device 2 includes at least one of the following three methods. It can be understood that at least one can be one, two or three. When at least two methods are included, at least two methods must meet the requirements:

[0067] The first method is to confirm the retreat to the first set position 241 on the base 21 of the dust collecting and charging device 2 by calculating the retreat time to reach the time setting value. For example, the time setting value is 2 seconds, when the sweeping robot 1 retreats from the second set position 242 and the calculated retreat time reaches 2 seconds, it can be confirmed that the retreat has reached the first set position 241 on the base 21 of the dust collecting and charging device 2.

[0068] The second method is to confirm the retreat to the first set position 241 on the base 21 of the dust collecting and charging device 2 by calculating the retreat distance and reaching the distance setting value. For example, the distance setting value is 0.3m, and when the sweeping robot 1 retreats from the second set position 242 and the calculated retreat distance reaches 0.3m, it can be confirmed that the sweeping robot 1 retreats to the first set position 241 on the base 21 of the dust collecting and charging device 2.

[0069] The third type: Figure 3 As shown, the sweeping robot 1 further includes moving components 14 located on both sides. For example, the moving components 14 are moving wheels. The moving wheels here are only examples and are not intended to limit the present application. Other types of moving wheels may also be used.

[0070] like Figure 4 As shown, the dust collecting and charging device 2 also includes tracks 24 provided on both sides of the base 21. In some embodiments, the track surface of the track 24 is provided with an anti-skid structure, such as a ribbed position or a convex point, to prevent the sweeping robot from slipping. The first setting position 241 is the low point of the track 24, and the second setting position 242 is the high point of the track 24. For example, the track 24 is a structure with high ends and low middle, and the track surface from the middle to the two ends of the track 24 is an inclined surface or a curved surface.

[0071] Accordingly, by releasing the moving assemblies 14 on both sides, the vehicle 10 slides backward along the track 24 at the high point of the track 24 to the low point of the track 24 by utilizing gravity.

[0072] It is understandable that sometimes the sweeping robot 1 will tilt on the base 21, that is, there is an angle between the moving direction of the moving component 14 and the direction of the track 24. When the sweeping robot 1 is at a high point, the moving components 14 on both sides may not be on the same horizontal line. However, by releasing the moving components 14 on both sides and using gravity to slide back along the track 24 at the high point of the track 24 to the low point of the track 24, the sweeping robot 1 can be calibrated on the first set position 241 of the track 24.

[0073] In some embodiments, Figure 7 and Figure 8 As shown, the sweeping robot 1 further includes a collection container 15 connected to the sweeping and suction port 11 . The sweeping robot 1 can temporarily collect dust and garbage in the collection container 15 through the sweeping and suction port 11 during sweeping and suction operation.

[0074] The dust collecting and charging device 2 further includes a dust collecting fan 25 , an integrated channel 26 connecting the inlet end of the dust collecting fan 25 and the dust collecting port 22 , and a dust collecting container 27 located at the outlet end of the dust collecting fan 25 .

[0075] Retreating to the first setting position 241 on the base 21 of the dust collecting and charging device 2, and then further comprising:

[0076] A work instruction is sent to the dust collecting and charging device 2 , and the work instruction is used to drive the dust collecting fan 25 to suck the dust in the collection container 15 into the dust collecting container 27 through the integrated channel 26 and the sweeping and suction port 11 .

[0077] Some embodiments of the present invention further disclose a cleaning system, including a sweeping robot 1 and a dust collecting and charging device 2. The sweeping robot 1 is used to implement the motion control method described in any of the above embodiments, which will not be described in detail herein.

[0078] By implementing the present invention, the following beneficial effects are achieved:

[0079] When the sweeping robot 1 of the present invention advances to the first set position 241 on the base 21 of the dust collecting and charging device 2, the sweeping member 13 will flip over under the action of the dust collecting port seal 23, and flip over to the top of the dust collecting port seal 23 to lift up the sweeping cover 12, and then when the sweeping robot 1 continues to advance to the second set position 242 on the base 21 of the dust collecting and charging device 2, the sweeping member 13 will be located in the dust collecting port 22, and finally when the sweeping robot 1 retreats to the first set position 241 on the base 21 of the dust collecting and charging device 2, the sweeping cover 12 will be correspondingly connected with the dust collecting port seal 23, and the sweeping member 13 is located in the dust collecting port 22. The motion control method can solve the problem that the sweeping member 13 does not enter the dust collecting port 22, and the sweeping cover 12 is lifted up so that no seal is formed between the sweeping suction port 11 and the dust collecting port 22, thereby improving the dust collection effect. In addition, since other structures such as auxiliary structures or supporting structures are not added, the production cost and material cost can be reduced through the improved motion control method.

[0080] It is understandable that the above embodiments only express some implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present invention, the above embodiments or technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention, that is, the embodiments described in "some embodiments" can be freely combined with any of the above and below embodiments. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope of the claims of the present invention.

Claims

1. A motion control method, applied to a sweeping robot (1), characterized in that: The sweeping robot (1) comprises a sweeping and suction port (11), a sweeping cover (12) arranged at the outer periphery of the sweeping and suction port (11), and a sweeping and scraping member (13) arranged at one end of the sweeping and suction port (11) and capable of being turned over; The dust collecting and charging device (2) comprises a base (21), a dust collecting port (22) arranged on the base (21), and a dust collecting port sealing member (23) arranged on the outer periphery of the dust collecting port (22); The method comprises the following steps: Advancing to a first set position (241) on the base (21) of the dust collecting and charging device (2), at which time the matching relationship at the first set position (241) is configured such that the sweeping member (13) is turned over under the action of the dust collecting port seal (23) and turned over to the top of the dust collecting port seal (23) to lift up the sweeping cover (12); Continue to move forward to the second setting position (242) on the base (21) of the dust collecting and charging device (2), at which time the matching relationship at the second setting position (242) is configured so that the sweeping member (13) is located in the dust collecting port (22); Retreat to the first set position (241) on the base (21) of the dust collecting and charging device (2), at which time the matching relationship at the first set position (241) is configured such that the sweeping cover (12) and the dust collecting port sealing member (23) are correspondingly connected, and the sweeping member (13) is located in the dust collecting port (22).

2. The motion control method according to claim 1, characterized in that: The method further comprises: advancing to a first setting position (241) on a base (21) of a dust collecting and charging device (2), wherein: When receiving a recharging signal emitted by the dust collecting and charging device (2) or determining that the power level is lower than a threshold value, the device moves in the direction of the dust collecting and charging device (2) and aligns with the dust collecting and charging device (2).

3. The motion control method according to claim 1, characterized in that: Advancing to a first setting position (241) on a base (21) of a dust collecting and charging device (2), comprising: By detecting that the dust collecting and charging device (2) starts charging, it is confirmed that the device advances to a first set position (241) on the base (21) of the dust collecting and charging device (2); And / or, by establishing communication with the dust collecting and charging device (2), confirming the advance to the first set position (241) on the base (21) of the dust collecting and charging device (2).

4. The motion control method according to claim 1, characterized in that: Continuing to move to the second set position (242) on the base (21) of the dust collecting and charging device (2) includes at least one of the following three methods: By calculating the forward time and reaching the time setting value, it is confirmed to continue to move forward to the second set position (242) on the base (21) of the dust collecting and charging device (2); When the forward distance reaches the set distance value, it is confirmed to continue to advance to the second set position (242) on the base (21) of the dust collecting and charging device (2); The sweeping robot (1) further comprises a protective member, which confirms that the robot continues to move forward to a second set position (242) on the base (21) of the dust collecting and charging device (2) by detecting that the protective member is in contact with the dust collecting and charging device (2).

5. The motion control method according to claim 4, characterized in that: The distance setting value is the distance obtained by adding the length of the sweeping cover (12) exposed by the sweeping member (13) in the flipped state to the preset margin length.

6. The motion control method according to claim 1, characterized in that: Retreating to a first set position (241) on a base (21) of a dust collecting and charging device (2), comprising: By calculating when the retreat time reaches the set time value, it is confirmed that the dust collecting and charging device (2) retreats to the first set position (241) on the base (21); And / or, by calculating when the retreat distance reaches the set distance value, it is confirmed that the device retreats to the first set position (241) on the base (21) of the dust collecting and charging device (2).

7. The motion control method according to claim 1 or 6, characterized in that: The sweeping robot (1) further comprises moving components (14) located on both sides, and the dust collecting and charging device (2) further comprises tracks (24) arranged on both sides of the base (21); The first setting position (241) is the low point of the track (24), and the second setting position (242) is the high point of the track (24); Retreating to a first set position (241) on a base (21) of a dust collecting and charging device (2), comprising: By releasing the moving components (14) on both sides, the vehicle slides backward along the track (24) at the high point of the track (24) to the low point of the track (24) by utilizing gravity.

8. The motion control method according to claim 7, characterized in that: The track (24) has a structure with high ends and low middle.

9. The motion control method according to claim 8, characterized in that: The track surface from the middle to the two ends of the track (24) is an inclined surface or a curved surface.

10. The motion control method according to claim 7, characterized in that: An anti-skid structure is provided on the track surface of the track (24).

11. The motion control method according to claim 1, characterized in that: The sweeping robot (1) further comprises a collection container (15) connected to the sweeping and suction port (11), and the dust collecting and charging device (2) further comprises a dust collecting fan (25), an integrated channel (26) connecting the inlet end of the dust collecting fan (25) and the dust collecting port (22), and a dust collecting container (27) located at the outlet end of the dust collecting fan (25); Retreating to a first set position (241) on the base (21) of the dust collecting and charging device (2), and then further comprising: A work instruction is sent to the dust collecting and charging device (2), and the work instruction is used to drive the dust collecting fan (25) to suck the dust in the collection container (15) into the dust collecting container (27) through the integrated channel (26) and the sweeping and suction port (11).

12. A cleaning system, comprising a sweeping robot (1) and a dust collecting and charging device (2), characterized in that: The sweeping robot (1) is used to implement the motion control method described in any one of claims 1 to 11.

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