Cleaning robot and side brush control method thereof

Abstract

The embodiment of the invention discloses a cleaning robot and a side brush control method thereof.The cleaning robot comprises a bottom shell which is provided with a guide piece, the guide piece protrudes to form a containing cavity, and a side brush device is installed on the bottom shell and comprises a driving assembly and a brush arm assembly; the driving assembly is used for driving the brush arm assembly to rotate around a rotating shaft of the side brush device in the first direction or the second direction. When the brush arm assembly rotates in the first direction, the brush arm assembly can act on the cleaning face; when the brush arm assembly rotates in the second direction, at least part of the brush arm assembly is contained in the containing cavity. Due to the fact that the bottom shell is provided with the protruding guide piece and forms the containing cavity with the bottom shell, the brush arm assembly can be contained in the containing cavity, then the brush arm assembly of the side brush can be hidden, and the situation that the cleaning effect of the cleaning robot is affected due to secondary pollution of the side brush is avoided.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a cleaning robot and a side brush control method thereof. Background Art

[0002] A side brush is usually set on a sweeping robot to increase the cleaning area of ​​the sweeping robot, but the presence of the side brush will also affect the cleaning effect of the sweeping robot. For example, when encountering water stains on the ground during work, the water stains will stick to the side brush, and it is easy to cause secondary pollution to the ground when the side brush works again; or when the user only starts the mopping mode of the sweeping robot, the side brush will contact the ground and cause pollution; and when the sweeping robot is on the carpet, the side brush is easy to lift up the edge of the carpet and get stuck, and it will also pollute the carpet. Summary of the invention

[0003] Based on this, the present invention provides a cleaning robot and a side brush control method thereof, which can solve the technical problems that the side brush of the existing cleaning robot may get stuck and cause secondary pollution, thereby affecting the cleaning effect.

[0004] In a first aspect, the cleaning robot provided by the present invention comprises:

[0005] A bottom shell, wherein the bottom shell is provided with a guide piece, and the guide piece protrudes from the bottom shell to form a receiving cavity;

[0006] A side brush device is installed on the bottom shell, and the side brush device includes a driving assembly and a brush arm assembly, and the driving assembly is used to drive the brush arm assembly to rotate around the rotating axis of the side brush device in a first direction or a second direction;

[0007] When the brush arm assembly rotates along the first direction, the brush arm assembly can act on the cleaning surface; when the brush arm assembly rotates along the second direction, the brush arm assembly on the side brush device interferes with the raised guide sheet and is at least partially received in the receiving cavity.

[0008] The bottom shell of the above-mentioned cleaning robot has a raised guide piece, which can form a receiving cavity with the bottom shell. When the driving component drives the brush arm assembly of the side brush to rotate along the first direction, the brush arm assembly can act on the cleaning surface. When the driving component drives the brush arm assembly to rotate along the second direction, the brush arm assembly can interfere with the raised guide piece and be received in the receiving cavity, so that the brush arm assembly of the side brush can be hidden, avoiding secondary contamination of the side brush and affecting the cleaning effect of the cleaning robot.

[0009] In a second aspect, the present invention further provides a cleaning robot, comprising:

[0010] A bottom shell, wherein the bottom shell is provided with a guide piece, and the guide piece and the bottom shell form a receiving channel;

[0011] A side brush device is installed on the bottom shell, and the side brush device includes a driving assembly and a brush arm assembly, and the driving assembly is used to drive the brush arm assembly to rotate around the rotation axis of the side brush device, and stop the brush arm assembly from rotating around the rotation axis of the side brush device;

[0012] When the brush arm assembly rotates, the brush arm assembly can act on the cleaning surface through the receiving channel formed by the guide piece and the bottom shell; when the brush arm assembly stops rotating, the brush arm assembly can be received in the receiving channel formed by the guide piece and the bottom shell.

[0013] The above-mentioned cleaning robot has a guide piece on the bottom shell which can form a receiving channel with the bottom shell. When the driving assembly drives the brush arm assembly of the side brush to rotate, the brush arm assembly can act on the cleaning surface. When the brush arm assembly stops rotating, the brush arm assembly can be parked in the receiving channel, and then the brush arm assembly of the side brush can be hidden, thereby avoiding secondary contamination of the side brush and affecting the cleaning effect of the cleaning robot.

[0014] In a third aspect, a side brush control method is also provided, comprising:

[0015] Control the driving assembly to drive the brush arm assembly to rotate in a first direction around the rotating axis of the side brush device, so that the brush arm assembly acts on the cleaning surface;

[0016] If the monitoring detects that the side brush device stops rotating triggering condition, the driving assembly is controlled to drive the brush arm assembly to rotate in the second direction around the rotating axis of the side brush device, so that the brush arm assembly interferes with the raised guide sheet and is at least partially received in the receiving cavity.

[0017] In a fourth aspect, a side brush control method is also provided, comprising:

[0018] The control driving assembly drives the brush arm assembly to rotate around the rotating axis of the side brush device, and the brush arm assembly can act on the cleaning surface through the receiving channel formed by the guide piece and the bottom shell;

[0019] If it is monitored that the side brush stop triggering condition is met, the driving assembly is controlled to stop the brush arm assembly from rotating, so that the brush arm assembly stops in the receiving channel formed by the guide piece and the bottom shell.

[0020] The cleaning robot to which the above-mentioned side brush control method is applied has a guide plate on the bottom shell, which can form a receiving channel with the bottom shell. The brush arm assembly on the side brush device can be received in the receiving channel, and then the brush arm assembly can be hidden, thereby avoiding secondary contamination of the side brush and affecting the cleaning effect of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of the three-dimensional structure of a first cleaning robot provided by an embodiment of the present invention;

[0023] Figure 2 The embodiment of the present invention provides Figure 1 a first bottom view of the cleaning robot shown;

[0024] Figure 3 The embodiment of the present invention provides Figure 1 a second bottom view of the cleaning robot;

[0025] Figure 4 A first bottom view of a second cleaning robot provided by an embodiment of the present invention;

[0026] Figure 5 A second bottom view of the second cleaning robot provided by an embodiment of the present invention;

[0027] Figure 6 A first bottom view of a third cleaning robot provided by an embodiment of the present invention;

[0028] Figure 7 The embodiment of the present invention provides Figure 4 Figure 5 A schematic diagram of the three-dimensional structure of the cleaning robot shown;

[0029] Figure 8 A basic structural block diagram of a cleaning robot provided in an embodiment of the present invention.

[0030] DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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 the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In this application, unless otherwise clearly specified and limited, the terms "initial", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0039] See also Figures 1 to 4 The present embodiment provides a cleaning robot 10, which includes a bottom shell 100 and a side brush device 200, and the side brush device 200 is installed on the bottom shell 100. The side brush device 200 includes a brush arm assembly 220 and a driving assembly 210, and the driving assembly 210 is used to drive the brush arm assembly 220 to rotate around the rotation axis of the side brush device 200 in a first direction or a second direction, the first direction is opposite to the second direction, and usually the first direction and the second direction can be clockwise or counterclockwise.

[0040] The bottom shell 100 of the cleaning robot 10 provided in this embodiment is provided with a guide piece 110 protruding from the bottom shell 100. Figures 4 to 7 , the first side (a) of the guide piece 110 is at the smallest distance from the bottom shell 100 (it may not contact the bottom shell, and in some cases the first side (a) of the guide piece 110 may contact the bottom shell), and the second side (b) of the guide piece 110 protrudes from the bottom shell 100 and is at the largest distance from the bottom shell 100, resulting in the guide piece 110 and the bottom shell 100 being arranged non-parallel, that is, the surface where the guide piece 110 is located and the surface where the bottom shell 100 is located are two intersecting surfaces, and the guide piece 110 is arranged obliquely to the bottom shell 100 and forms a receiving cavity between the guide piece 110 and the bottom shell 100, and the receiving cavity is used to receive the brush arm assembly 220 on the side brush device 200. It can be understood that the guide piece 110 is inclined to the bottom shell 100, the second side of the guide piece is higher than the first side, the first side of the guide piece may contact the bottom shell, or the first side of the guide piece is at a certain distance from the bottom shell, and the second side is higher than the first side so that the guide piece is inclined to the bottom shell.

[0041] Please see Figures 4 to 7When the brush arm assembly 220 rotates along the first direction (clockwise), the brush arm assembly 220 can turn from the first side (a) of the guide piece 110 to the second side (b). At this time, the brush arm assembly 220 will not enter the receiving cavity formed by the guide piece 110 and the bottom shell 100, but can act on the cleaning surface normally; when the brush arm assembly 220 rotates along the second direction (counterclockwise), the brush arm assembly 220 on the side brush device 200 turns from the second side (b) of the guide piece 110 to the first side (a) of the guide piece 110. Since the first side (b) of the guide piece 110 protrudes from the bottom shell 100, the brush arm assembly will enter the receiving cavity formed by the guide piece 110 and the bottom shell 100. At this time, the driving assembly 210 stops rotating, and the brush arm assembly 220 will be at least partially received in the receiving cavity, thereby realizing the hiding of the side brush, avoiding the side brush from contacting the cleaning surface and affecting the cleaning effect of the cleaning robot 10. Of course, the part on the brush arm assembly 220 here can be a brush, or the brush and part of the brush colloid can be accommodated in the accommodation cavity.

[0042] Assuming that H1 represents the height of the bottom shell, H2 represents the vertical height between the brush colloid and the lowest point of the guide plate, H3 represents the height of the lowest point on the inner side of the guide plate, and H4 represents the height of the lowest point on the outer side of the guide plate, then: H1>H2>H3>H4>0.

[0043] Please see Figures 1 to 3 In some other examples, the bottom shell 100 of the cleaning robot 10 has an opening, through which one can enter the other side of the bottom shell (the inside of the cleaning robot main body), and the guide piece 110 protrudes from the bottom shell 100 and covers at least part of the opening of the bottom shell 100. At this time, the lowest side of the guide piece 110 protrudes from the bottom shell 100, and the highest side of the guide piece 110 is connected to the bottom shell 100 and is integrally formed with the bottom shell 100, and the lowest side of the guide piece 110 and the opening on the bottom shell 100 form a receiving cavity. Similarly, when the brush arm assembly 220 rotates along the first direction, the brush arm assembly 220 can turn from the highest side of the guide piece 110 (the side connected to the bottom shell 100) to the lowest side. At this time, the brush arm assembly 220 will not enter the receiving cavity formed by the guide piece 110 and the bottom shell 100, but can act normally on the cleaning surface; when the brush arm assembly 220 rotates along the second direction, the brush arm assembly 220 on the side brush device 200 turns from the lowest side to the highest side and will enter the opening (receiving cavity) of the guide piece 110. When the driving assembly 210 stops, the brush arm assembly 220 will be at least partially received in the receiving cavity, thereby realizing the hiding of the side brush, avoiding the side brush from contacting the cleaning surface and affecting the cleaning effect of the cleaning robot 10.

[0044] Of course, in order to prevent the brush arm assembly 220 from carrying dirt into the inside of the main unit, a dirt blocking member or a filter member may be provided at the opening position inside the main unit.

[0045] Figures 1 to 3 The guide piece shown is integrally formed with the bottom shell of the cleaning robot. Figures 4 to 7 The guide piece shown is not integrally formed with the bottom shell of the cleaning robot. For the latter guide piece that is not integrally formed with the bottom shell, the first side of the guide piece 110 and the bottom shell 100 can be fixed by screws or adhesive. Figures 4 to 7 The fan shape shown can also be in the shape of a triangle, circle, rectangle, etc., and can also be a hollow structure of the shapes mentioned above. In addition, the guide plate can also be in an "L" shape, and the two end points of the "L" are respectively fixed on the bottom shell, and the right-angle position of the "L" is the farthest away from the bottom shell and is the lowest point, and forms a receiving cavity with the bottom shell.

[0046] It is understood that the brush arm assembly 220 on the side brush device 200 includes a brush colloid 221 and a brush 222. The lowest point of the brush colloid 221 is higher than the lowest point (lowest side) of the guide plate 110. Figures 1 to 3 When the brush arm assembly 220 rotates along the second direction (counterclockwise), the brush 222 interferes with the raised guide piece 110 and is at least partially received in the receiving cavity, thereby hiding the side brush and preventing the side brush from contacting the cleaning surface and affecting the cleaning effect of the cleaning robot 10. The interference between the brush 222 and the raised guide piece 110 specifically refers to the brush 222 or the brush colloid 221 being deformed after hitting the guide piece 110 and entering the receiving cavity.

[0047] In order to detect whether the brush arm assembly 220 on the side brush device 200 enters the receiving cavity, the cleaning robot 10 in this embodiment further includes a Hall element 310 and an induction magnet 320. Figure 3 , the side brush device 200 also includes a side brush housing 230, the brush arm assembly 220 is disposed in the side brush housing 230, the Hall element 310 on the cleaning machine is disposed at a position near the side brush housing 230 on the bottom housing 100, and the induction magnet 320 (a) is disposed on the side brush housing 230. After the rotation of the brush arm assembly 220 stops, the position of the brush arm assembly 220 and whether the brush arm assembly 220 enters the receiving cavity can be determined by whether the induction magnet 320 (a) on the side brush housing 230 is opposite to the Hall element 310 on the bottom housing 100 (generating a detection signal). In some other examples, the brush arm assembly 220 includes a brush colloid 221 and a brush 222, and the induction magnet 320 (b) is embedded in the brush colloid 221. Similarly, the position of the brush arm assembly 220 and whether the brush arm assembly 220 enters the receiving cavity can be determined by whether the 320 (b) on the brush colloid 221 is opposite to the Hall element 310 on the bottom housing 100 (generating a detection signal). certainly, Figure 3The structures of setting the induction magnet 320 (a) on the side brush housing 230 and the induction magnet 320 (b) embedded in the brush colloid 221 are shown, while in some other examples the induction magnet 320 can be only set on the side brush housing 230 or only embedded in the brush colloid 221.

[0048] Please see Figure 7 In some examples, the guide sheet 110 has comb teeth on one side facing the receiving cavity, and the comb teeth can clean the garbage on the brush 222. In other examples, such as Figure 6 The guide piece 110 is a hollow structure, which can effectively reduce the amount of garbage remaining in the guide groove. Of course, the guide piece 110 can be a hollow structure, and the side facing the receiving cavity also has comb teeth.

[0049] The embodiment of the present invention further provides a side brush control method, which can be applied to the cleaning robot 10 described above. Figures 1 to 3 The side brush device 200 of the cleaning robot 10 includes a brush arm assembly 220 and a driving assembly 210. The driving assembly 210 is used to drive the brush arm assembly 220 to rotate around the rotation axis of the side brush device 200 in a first direction or a second direction. The first direction is opposite to the second direction. Usually, the first direction and the second direction can be clockwise or counterclockwise. The side brush control method includes:

[0050] The control driving assembly 210 drives the brush arm assembly 220 to rotate along the first direction around the rotation axis of the side brush device 200. At this time, the brush arm assembly 220 can act on the cleaning surface. If it is monitored that the trigger condition for the side brush device 200 to stop is met, the control driving assembly 210 drives the brush arm assembly 220 to rotate along the second direction around the rotation axis of the side brush device 200, so that the brush arm assembly 220 interferes with the raised guide sheet 110 and is at least partially received in the receiving cavity.

[0051] The trigger conditions for the side brush device 200 to stop include: the cleaning robot 10 starts the single mopping mode (only mopping is performed and the side brush stops working), the cleaning robot 10 is about to go onto the carpet, the cleaning robot 10 triggers obstacle crossing, and the AI ​​vision on the cleaning robot 10 recognizes that there are water stains in front and the side brush needs to be hidden.

[0052] Whether the side brush device 200 is monitored and received in the receiving chamber can be determined by whether a detection signal is generated between the Hall element 310 and the induction magnet 320 on the cleaning robot 10. The Hall element 310 can be set on the bottom shell 100 near the side brush housing 230, and the induction magnet 320 can be set on the side brush housing 230 or embedded in the brush colloid 221. When the driving component 210 drives the side brush housing 230 and the brush arm component 220 provided on the side brush housing 230 to rotate, the side brush housing 230 or the brush colloid 221 with the induction magnet 320 can cause the Hall element 310 provided on the bottom shell 100 to generate a detection signal. Through the detection signal, it can be known whether the side brush housing 230 or the brush colloid 221 has reached the preset position and is received in the receiving chamber.

[0053] Please see Figures 5 to 7 The embodiment of the present invention further provides a cleaning robot 10, which includes a side brush device 200 installed on a bottom shell 100, and the side brush device 200 includes a driving assembly 210 and a brush arm assembly 220, and the driving assembly 210 is used to drive the brush arm assembly 220 to rotate around the rotation axis of the side brush device 200, and stop the brush arm assembly 220 from rotating around the rotation axis of the side brush device 200. In addition, a guide piece 110 is provided on the bottom shell 100 of the cleaning robot 10, and the guide piece 110 and the bottom shell 100 form a receiving channel. When the brush arm assembly 220 of the cleaning robot 10 rotates, the brush arm assembly 220 can act on the cleaning surface through the receiving channel formed by the guide piece 110 and the bottom shell 100, and at this time, the brush arm assembly 220 can work normally, and the guide piece 110 does not affect the operation of the brush arm assembly 220. After the brush arm assembly 220 stops rotating, the brush arm assembly 220 can be received in the receiving channel formed by the guide piece 110 and the bottom shell 100.

[0054] The difference between a receiving cavity and a receiving channel lies in whether the brush arm assembly can continue to rotate out of the receiving position along the first direction after entering the receiving position (receiving cavity or receiving channel) along the first direction. It is understandable that if it is a receiving cavity, the brush arm assembly cannot continue to rotate out of the receiving cavity along the first direction after entering along the first direction; if it is a receiving channel, the brush arm assembly can rotate out of the receiving channel after entering along the first direction and continuing to rotate along the first direction.

[0055] In some examples, the guide piece 110 has comb teeth on one side facing the receiving channel, and the comb teeth can clean the garbage on the brush 222. In other examples, the guide piece 110 is a hollow structure, which can effectively reduce the amount of garbage remaining in the guide groove. Of course, the guide piece 110 can be a hollow structure, and the side facing the receiving channel also has comb teeth.

[0056] The shape of the guide plate Figures 4 to 7The fan shape shown can also be in the shape of a triangle, circle, rectangle, etc., and can also be a hollow structure of the shapes mentioned above. In addition, the guide plate can also be in an "L" shape, and the two end points of the "L" are respectively fixed on the bottom shell. The right-angle position of the "L" is the farthest away from the bottom shell and is the lowest point, and forms a receiving channel with the bottom shell.

[0057] In order to detect whether the brush arm assembly 220 on the side brush device 200 enters the receiving channel, the cleaning robot 10 in this embodiment also includes a Hall element 310 and an induction magnet 320, and the side brush device 200 also includes a side brush shell 230. The brush arm assembly 220 is arranged in the side brush shell 230. The Hall element 310 on the cleaning machine is arranged at a position close to the side brush shell 230 on the bottom shell 100. At this time, the induction magnet 320 is arranged on the side brush shell 230. After the rotation of the brush arm assembly 220 stops, the position of the brush arm assembly 220 and whether the brush arm assembly 220 enters the receiving channel can be judged by whether the induction magnet 320 on the side brush shell 230 is relative to the Hall element 310 on the bottom shell 100 (generating a detection signal). In some other examples, the brush arm assembly 220 includes a brush body 221 and a brush 222, and the induction magnet 320 is embedded in the brush body 221. Similarly, the position of the brush arm assembly 220 and whether the brush arm assembly 220 enters the receiving channel can be determined by whether the induction magnet 320 on the brush body 221 is relative to the Hall element 310 on the bottom shell 100 (generating a detection signal).

[0058] The embodiment of the present invention also provides a side brush control method, which can be applied to Figures 5 to 7 The cleaning robot 10 shown in the figure comprises a side brush device 200 mounted on a bottom shell 100, the side brush device 200 comprises a driving assembly 210 and a brush arm assembly 220, the driving assembly 210 is used to drive the brush arm assembly 220 to rotate around the rotation axis of the side brush device 200, and stop the brush arm assembly 220 from rotating around the rotation axis of the side brush device 200. In addition, a guide piece 110 is provided on the bottom shell 100 of the cleaning robot 10, and the guide piece 110 and the bottom shell 100 form a receiving channel. The side brush control method of the cleaning robot 10 comprises:

[0059] The control driving assembly 210 drives the brush arm assembly 220 to rotate around the rotation axis of the side brush device 200. The brush arm assembly 220 can act on the cleaning surface through the receiving channel formed by the guide piece 110 and the bottom shell 100. If it is monitored that the side brush stop trigger condition is met, the control driving assembly 210 stops the rotation of the brush arm assembly 220, so that the brush arm assembly 220 stops in the receiving channel formed by the guide piece 110 and the bottom shell 100.

[0060] The trigger conditions for the side brush device 200 to stop include: the cleaning robot 10 starts the single mopping mode (only mopping is performed and the side brush stops working), the cleaning robot 10 is about to go onto the carpet, the cleaning robot 10 triggers obstacle crossing, and the AI ​​vision on the cleaning robot 10 recognizes that there are water stains in front and the side brush needs to be hidden.

[0061] Similarly, to monitor whether the side brush device is accommodated in the accommodating chamber, it can be determined by whether a detection signal is generated between the Hall element and the induction magnet on the cleaning robot. The Hall element can be set on the bottom shell near the side brush shell, and the induction magnet can be set on the side brush shell or embedded in the brush colloid. When the driving component drives the side brush shell and the brush arm component installed on the side brush shell to rotate, the side brush shell or the brush colloid with the induction magnet can make the Hall element arranged on the bottom shell generate a detection signal. Through the detection signal, it can be known whether the side brush shell or the brush colloid has reached the preset position and is accommodated in the accommodating chamber.

[0062] The present invention also provides a cleaning robot, which includes a memory and a processor connected by a communication bus, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program stored in the memory, it implements the various steps of the side brush control method introduced in any one of the above embodiments.

[0063] Please refer to Figure 8 , Figure 8 The basic structural block diagram of a cleaning robot is shown, and the cleaning robot includes a processor, a non-volatile storage medium, a memory, and a network interface connected by a system bus. Among them, the non-volatile storage medium of the cleaning robot stores an operating system, a database, and a computer-readable instruction, and a control information sequence may be stored in the database. When the computer-readable instruction is executed by the processor, the processor can implement the side brush control method described above. The processor of the cleaning robot is used to provide computing and control capabilities to support the operation of the entire cleaning robot. The memory of the cleaning robot may store computer-readable instructions, and when the computer-readable instruction is executed by the processor, the processor can execute the side brush control method described above. The network interface of the cleaning robot is used to connect and communicate with the cleaning robot. It can be understood by those skilled in the art that the structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the cleaning robot to which the scheme of the present application is applied. The specific cleaning robot may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0064] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the various steps of the side brush control method described in any of the above embodiments.

[0065] This embodiment also provides a computer program that can be distributed on a computer-readable medium and executed by a computing device to implement at least one step of the side brush control method introduced above; and in some cases, at least one of the steps shown or described can be executed in an order different from that described in the above embodiment.

[0066] This embodiment further provides a computer program product, including a computer readable device, on which the computer program shown above is stored. In this embodiment, the computer readable device may include the computer readable storage medium shown above.

[0067] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0068] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: A bottom shell, wherein the bottom shell has a guide piece, and the guide piece protrudes from the bottom shell to form a receiving cavity; A side brush device is mounted on the bottom shell, the side brush device comprises a driving assembly and a brush arm assembly, the driving assembly is used to drive the brush arm assembly to rotate along a first direction or a second direction around a rotating axis of the side brush device; Wherein, when the brush arm assembly rotates along a first direction, the brush arm assembly can act on the cleaning surface; when the brush arm assembly rotates along a second direction, at least a portion of the brush arm assembly on the side brush device is received in the receiving cavity.

2. The cleaning robot according to claim 1, characterized in that: The guide piece is arranged obliquely to the bottom shell, a first side of the guide piece is fixed to the bottom shell, and a second side of the guide piece protrudes from the bottom shell; Alternatively, the guide piece is integrally formed with the bottom shell, the bottom shell has an opening, and the guide piece protrudes from the bottom shell and covers at least a portion of the opening.

3. The cleaning robot according to claim 1 or 2, characterized in that: The brush arm assembly comprises a brush colloid and a brush, wherein the lowest point of the brush colloid is higher than the lowest point of the guide plate; When the brush arm assembly rotates along the second direction, the brush of the brush arm assembly interferes with the protruding guide piece and is at least partially received in the receiving cavity.

4. The cleaning robot according to claim 1 or 2, characterized in that: The side brush device also includes a side brush housing, the brush arm assembly is penetrated by the side brush housing, and the brush arm assembly includes a brush colloid and a brush; The cleaning robot further comprises a Hall element and an induction magnet. The Hall element is arranged at a position of the bottom shell close to the side brush housing, and the induction magnet is arranged on the side brush housing or embedded in the brush colloid.

5. The cleaning robot according to claim 1 or 2, characterized in that: The guide sheet has comb teeth on one side facing the receiving cavity; And / or, the guide plate is a hollow structure.

6. A cleaning robot, characterized in that: The cleaning robot comprises: A bottom shell, wherein the bottom shell has a guide piece, and the guide piece and the bottom shell form a receiving channel; A side brush device is mounted on the bottom shell, the side brush device comprises a driving assembly and a brush arm assembly, the driving assembly is used to drive the brush arm assembly to rotate around the rotation axis of the side brush device, and stop the brush arm assembly from rotating around the rotation axis of the side brush device; Wherein, when the brush arm assembly rotates, the brush arm assembly can act on the cleaning surface through the receiving channel formed by the guide piece and the bottom shell; when the brush arm assembly stops rotating, the brush arm assembly can be received in the receiving channel formed by the guide piece and the bottom shell.

7. The cleaning robot according to claim 6, characterized in that: The side brush device also includes a side brush housing, the brush arm assembly is penetrated by the side brush housing, and the brush arm assembly includes a brush colloid and a brush; The cleaning robot further comprises a Hall element and an induction magnet. The Hall element is arranged at a position of the bottom shell close to the side brush housing, and the induction magnet is arranged on the side brush housing or embedded in the brush colloid.

8. The cleaning robot according to claim 6 or 7, characterized in that: The guide piece has comb teeth on one side facing the receiving channel; And / or, the guide plate is a hollow structure.

9. A side brush control method of a cleaning robot as claimed in claims 1 to 5, characterized in that: The side brush control method comprises: Controlling the driving assembly to drive the brush arm assembly to rotate in a first direction around the rotation axis of the side brush device, the brush arm assembly acting on the cleaning surface; If it is monitored that the side brush device stops rotating triggering condition, the driving assembly is controlled to drive the brush arm assembly to rotate along the second direction around the rotating axis of the side brush device, so that at least a part of the brush arm assembly is accommodated in the accommodating cavity.

10. A side brush control method of a cleaning robot as claimed in claims 6 to 8, characterized in that: The side brush control method comprises: The control driving assembly drives the brush arm assembly to rotate around the rotating axis of the side brush device, and the brush arm assembly can act on the cleaning surface through the receiving channel formed by the guide piece and the bottom shell; If it is monitored that the side brush stop triggering condition is met, the driving assembly is controlled to stop the brush arm assembly from rotating, so that the brush arm assembly stops in the receiving channel formed by the guide piece and the bottom shell.

Images