Cleaning method of cleaning robot

Abstract

The invention belongs to the technical field of cleaning robots, and particularly relates to a cleaning method of a cleaning robot, and the method comprises the steps: when a shielding part of the cleaning robot executes a cleaning task on an operation surface in a laying state, the cleaning robot is hijacked, and the hijacked time is from a first preset time to a second preset time; the shielding piece is controlled to be in a lowering state, the hijacked state is that the cleaning robot is moved away from the operation face, and the lowering state is that the shielding piece is located at the first position; the cleaning robot stops being hijacked and continues to execute the cleaning task, and when the operation face is the carpet area, the shielding piece is kept in the downward state to clean the carpet area; when the operation surface is a non-carpet area, the shielding piece is located at a target position to clean the non-carpet area, and the target position is a second position or a third position; the ventilation area of the shielding piece in the first position is smaller than that of the shielding piece in the second position or the third position.

Description

Technical Field

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

[0002] Cleaning robots are a powerful assistant for cleaning in many places. There are rich categories, including sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers and other types. Some cleaning robots also have the dual functions of sweeping and washing the floor, and are increasingly widely used in home environments. When performing sweeping or mopping tasks, cleaning robots usually strictly follow the preset cleaning paths to complete floor cleaning tasks in an orderly and efficient manner. However, in the actual process of cleaning the floor, cleaning robots may sometimes be "hijacked", such as being moved away from their original position, forcibly dragged, or trapped in a certain area. These situations will cause them to be unable to perform the intended cleaning tasks normally. Once these hijacking situations disappear, the cleaning robot will face the problem of losing its position or status. If it continues to perform cleaning tasks according to the position or status before being "hijacked", it is very likely that it will not be consistent with the actual situation of the floor being cleaned, and the expected cleaning effect cannot be achieved. It may even cause secondary pollution due to misoperation, thereby affecting the overall cleaning efficiency. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a cleaning method for a cleaning robot, which is used to solve the technical problem in the prior art that the cleaning robot is hijacked and cannot normally perform cleaning tasks that meet the user's intentions.

[0004] To achieve the above purpose and other related purposes, the technical solution of the present invention is as follows: An embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to be in a lowered state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, and the lowered state means that the shielding member is in a first position; The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member remains in a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0005] When the cleaning robot is walking, it usually walks to an area with many obstacles. At this time, it needs to be manually moved away from the area and moved to a new location. After the cleaning robot of the present invention is hijacked, that is, moved away from the operating surface, in order to prevent the shielding member from being damaged due to frequent lowering and retracting, the shielding member of the present invention does not perform the retracting or lowering action. Between the first preset time and the second preset time, that is, when the cleaning robot is hijacked and the hijacking time is within the time threshold range, the shielding member is still in the lowering state and does not switch to the retracted state, so as to minimize the number of retracting and releasing times, avoid affecting the service life of the shielding member due to frequent retracting and releasing, and in addition, it can also avoid the risk of users' hands being pinched or accidentally injured due to multiple retracting and releasing of the shielding member.

[0006] After the cleaning robot is hijacked, it continues to perform cleaning tasks and adjusts the position of the shield according to the material of the operating surface. For areas where the operating surface is carpeted, deep cleaning is required to meet the cleaning requirements. The shield remains in the lowered state, which helps to enhance the cleaning power of the roller brush assembly on the operating surface. For areas where the operating surface is not carpeted, such as floors or tiles, the shield can be adjusted to the target position according to the degree of dirtiness to assist the roller brush assembly in cleaning and vacuuming.

[0007] Optionally, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0008] In this way, the first preset time is set as the minimum time threshold, and the second preset time is set as the maximum time threshold to avoid the cleaning robot being instantly lifted off the ground due to misoperation, causing it to be judged as a hijacking state and execute hijacking instructions, affecting normal cleaning tasks.

[0009] Optionally, when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0010] In this way, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0011] Optionally, when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0012] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0013] Optionally, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0014] In this way, for non-carpet areas, the target position of the shielding member is different, which can provide appropriate suction and cleaning effect according to different cleaning surface types. By using appropriate suction in different non-carpet areas, the cleaning effect of non-carpet areas can be improved. According to the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0015] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot leaves the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0016] In this way, after the cleaning robot of the present invention is hijacked, in order to prevent the state of the shielding member from being different from the material of the current ground when it is put on the ground to resume the cleaning task again, causing pollution, the shielding member needs to be retracted first, and then after landing, it is determined whether to put down the shielding member or retract the shielding member according to the material of the ground when landing. The present invention provides a time threshold from the first preset time to the second preset time, that is, the cleaning robot will not retract the shielding member immediately after being hijacked, but will wait until the time threshold is met before performing the retracting action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member is also likely to increase the risk of the user's hand being pinched. The retracting instruction is executed only after the preset time threshold is met, which can avoid the above defects to the greatest extent. In addition, the retracting of the shielding member can prevent the cleaning robot from being trapped or stuck on the uneven ground when it is placed on the ground in a difficult environment, and can also prevent water stains caused by being placed in a humid environment, which affects the subsequent cleaning and wets the carpet.

[0017] Optionally, the first preset time is in the range of 1s-2s, and the second preset time is in the range of 4s-6s.

[0018] In this way, the first preset time is set as the minimum time threshold, and the second preset time is set as the maximum time threshold to avoid the cleaning robot being instantly lifted off the ground due to misoperation, causing it to be judged as a hijacking state and execute hijacking instructions, affecting normal cleaning tasks.

[0019] Optionally, when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0020] In this way, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0021] Optionally, when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0022] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0023] Optionally, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0024] In this way, for non-carpet areas, the target position of the shielding member is different, which can provide appropriate suction and cleaning effect according to different cleaning surface types. By using appropriate suction in different non-carpet areas, the cleaning effect of non-carpet areas can be improved. According to the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0025] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in a retracted state; The cleaning robot continues to perform the cleaning task, and when the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0026] In this way, after the cleaning robot of the present invention is hijacked, the hijacking time is greater than the second preset time. In order to prevent the shielding from being knocked off course by human hands touching the shielding during the long-term removal process, the shielding is retracted during the hijacking process. When it is put on the ground to resume the cleaning task, in order to avoid contamination caused by the state of the shielding being different from the material of the current ground, it is necessary to keep the shielding in the retracted state, and then determine whether to put down or retract the shielding according to the material of the ground. The present invention provides a time threshold of the second preset time, that is, the cleaning robot will not retract the shielding immediately after being hijacked, but will wait until the time threshold is met before executing the retracting action, so as to avoid the frequent retraction and release of the shielding affecting the service life of the shielding. In addition, the multiple retraction and release of the shielding is also likely to increase the risk of the user's hand being pinched. The retraction instruction is executed after the time threshold is greater than the second preset time threshold, which can avoid the above defects to the greatest extent. In addition, the retracted shielding piece can prevent the cleaning robot from being trapped or stuck on uneven ground when placed in a difficult environment on the ground. It can also avoid water stains caused by being placed in a humid environment, which may affect the subsequent cleaning and wet the carpet.

[0027] Optionally, the second preset time is 6s-10s.

[0028] In this way, a second preset time is set, and the second preset time has a minimum time threshold to avoid the cleaning robot being lifted off the ground due to misoperation, causing it to be judged as a hijacking state and execute a hijacking command, affecting the normal cleaning task.

[0029] Optionally, when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0030] In this way, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0031] Optionally, when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0032] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0033] Optionally, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0034] In this way, for non-carpet areas, the target position of the shielding member is different, which can provide appropriate suction and cleaning effect according to different cleaning surface types. By using appropriate suction in different non-carpet areas, the cleaning effect of non-carpet areas can be improved. According to the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0035] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, and when the cleaning robot performs a dust collection task, the shielding member is switched from the retracted state to the lowered state; Alternatively, when the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to remain in the lowered state so that the cleaning robot performs the dust collection task; Among them, the hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0036] In this way, after the cleaning robot of the present invention is hijacked, here hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. In order to ensure that the state of the shielding member is in the lowered state when the cleaning base station in the cleaning robot performs the dust collection task, the shielding member of the cleaning robot can be switched from the lowered state to the retracted state, and then when the dust collection task is performed, the shielding member can be switched from the retracted state to the lowered state to facilitate the dust collection operation; or, the shielding member of the cleaning robot can be kept in the lowered state to facilitate the direct dust collection task, thereby reducing the state switching frequency of the shielding member and improving work efficiency.

[0037] Optionally, when the shielding member is in the first position, it covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0038] In this way, the shielding member has a first position and a second position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist in the cleaning of the roller brush assembly. It is suitable for cleaning ordinary dirt and dust, and is also suitable for cleaning robots to perform dust collection tasks at cleaning base stations.

[0039] Optionally, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0040] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0041] Optionally, when the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state.

[0042] In this way, when the cleaning robot is hijacked, the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. In order to avoid the risk of pinching the user's hands due to the rotation of the roller brush assembly during transportation, the roller brush assembly is switched from a rotating state to a stopped state, thereby ensuring the user's transportation safety. At the same time, it can also reduce the operating power consumption of the cleaning robot.

[0043] Optionally, when the cleaning robot performs a dust collection task, the roller brush assembly switches from a stopped state to a rotating state.

[0044] In this way, when the cleaning robot performs the dust collection task, the roller brush assembly needs to be in a rotating state to ensure that the dust and dirt cleaned by the roller brush assembly can be completely collected into the dust bag of the cleaning base station. Therefore, the roller brush assembly needs to be switched from a stopped state to a rotating state to cooperate with the dust collection operation.

[0045] Optionally, when the cleaning robot performs a dust collection task, the rotation state of the roller brush assembly is forward rotation, reverse rotation, or alternating forward rotation and reverse rotation at a preset alternating frequency.

[0046] In this way, when the cleaning robot performs a dust collection task, the dust collection effect of the roller brush assembly can be improved by causing the roller brush assembly to rotate forward, reverse, or rotate forward and reverse alternately at a preset alternating frequency.

[0047] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than a preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than a preset dragging time; the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in a retracted state; The cleaning robot continues to perform the cleaning task, and when the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0048] In this way, when the cleaning robot determines that it has been hijacked, that is, the cleaning robot is dragged on the ground, the driving wheel may not leave the ground or may be slightly lifted, which is considered to be a dragging situation. The cleaning robot will not retract the shielding member immediately, but will wait until the time threshold or distance threshold is met before performing the retracting action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member may also easily increase the risk of the user's hand being pinched. The retraction instruction is executed after the preset dragging time threshold or dragging distance threshold is met. While avoiding the above defects to the greatest extent, by retracting the shielding member, it can also prevent the shielding member from being stained with water during the dragging process of the cleaning robot (the cleaning robot may drag out the carpet), thereby affecting the cleaning effect of the subsequent roller brush assembly.

[0049] Optionally, the preset dragging distance is 1m-2m; or, the preset dragging duration is 1s-10s.

[0050] In this way, the preset dragging duration has a minimum time threshold or the preset dragging distance has a minimum distance threshold, which prevents the cleaning robot from being dragged for a short time or a short distance due to misoperation, causing it to be judged as a hijacking state and execute a hijacking command, affecting normal cleaning tasks; and also prevents the shielding member from being quickly retracted after being dragged for a short time or a short distance, which will increase the failure rate of the shielding member and affect the service life of the shielding member.

[0051] Optionally, when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0052] In this way, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0053] Optionally, when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0054] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0055] Optionally, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0056] In this way, for non-carpet areas, the target position of the shielding member is different, which can provide appropriate suction and cleaning effect according to different cleaning surface types. By using appropriate suction in different non-carpet areas, the cleaning effect of non-carpet areas can be improved. According to the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0057] Optionally, when the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface.

[0058] In this way, when the cleaning robot is hijacked, in order to prevent the cleaning robot from being dragged out of the carpet and getting stained with water, the roller brush assembly may also be stained with water, affecting the subsequent cleaning effect. Therefore, when the covering member is retracted, the roller brush assembly must also be lifted to ensure that the roller brush assembly is protected from dirt during the dragging process.

[0059] Optionally, when the cleaning robot continues to perform the cleaning task, the roller brush assembly descends from the second roller brush position away from the operating surface to the first roller brush position close to the operating surface.

[0060] In this way, when the cleaning robot continues to perform the cleaning task, the roller brush assembly descends from the second roller brush position to the first roller brush position, thereby performing the cleaning operation of the roller brush assembly.

[0061] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot stays at the original position for a time greater than a third preset time under the action of an external force, the lowered state means that the shielding member is in a first position, and the retracted state means that the shielding member is in a second position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

[0062] In this way, when the cleaning robot is hijacked, hijacked here means that the cleaning robot is trapped in place for a long time due to external force. The cleaning robot will not retract the shielding member immediately, but will wait until the third preset time threshold is met before executing the retraction action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member also easily increases the risk of the user's hand being pinched. The retraction instruction is executed after the preset time threshold is met, which can avoid the above defects to the greatest extent. Moreover, the cleaning robot will retract the shielding member after the cleaning robot meets more than the third preset time, which is conducive to the subsequent cleaning robot to escape, and avoids the interference between the shielding member and the surrounding environment and increases the escape resistance.

[0063] Optionally, the third preset time is 8s-20s.

[0064] In this way, the third preset time has a minimum time threshold, which can prevent the cleaning robot from being stuck due to misoperation, causing it to be judged as a hijacked state and execute a hijacking command, affecting normal cleaning tasks. It can also prevent the cleaning robot from being quickly retracted after being stuck for a short time, which will increase the failure rate of the shielding member and affect the service life of the shielding member.

[0065] Optionally, when the shielding member is in the first position, it covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0066] In this way, the shielding member has a first position and a second position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist in the cleaning of the roller brush assembly. It is suitable for cleaning ordinary dirt and dust, and is also suitable for cleaning robots to perform dust collection tasks at cleaning base stations.

[0067] Optionally, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with a first cleaning surface corresponding to the carpet area.

[0068] In this way, the shielding member is in the first position, which enables the shielding member to contact the first cleaning surface of the carpet area. The shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0069] Optionally, when the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, and the roller brush assembly rotates alternately forward and reverse at a preset alternating frequency.

[0070] In this way, when the cleaning robot is hijacked, here hijacking means that the cleaning robot is trapped in the same place for a long time due to external force, the roller brush assembly is lifted from the first roller brush position to the second roller brush position, thereby facilitating the cleaning robot to escape; and, through the rotation of the roller brush assembly, and the roller brush assembly rotates alternately in forward and reverse directions at a preset alternating frequency, it is helpful for the roller brush assembly to discharge foreign matter, so as to solve the problem of the roller brush assembly being stuck due to foreign matter, thereby facilitating the cleaning robot to escape.

[0071] Optionally, when the cleaning robot is hijacked, the chassis of the cleaning robot is lifted from a first chassis position close to the operating surface to a second chassis position away from the operating surface.

[0072] In this way, when the cleaning robot is hijacked, hijacked here means that the cleaning robot is trapped in the same place for a long time due to external force. In order to prevent the foreign objects discharged by the roller brush assembly from being dragged by the chassis, causing interference that makes it difficult for the cleaning robot to escape, the chassis needs to be lifted from the first chassis position to the second chassis position, so that the foreign objects discharged by the roller brush assembly will not be dragged with the chassis, making it easier for the cleaning robot to escape.

[0073] Optionally, the second chassis position includes a first chassis working position and a second chassis working position. When the first type of fluff exists on the operating surface, the chassis of the cleaning robot is in the first chassis working position; and / or, When the second type of fluff exists on the operating surface, the chassis of the cleaning robot is in the second chassis working position; The length of the first type of fluff is shorter than the length of the second type of fluff, and the working position of the first chassis is lower than the working position of the second chassis.

[0074] In this way, the chassis lifting height of the cleaning robot is different according to the different lengths of fluff in the carpet area on the operating surface, thereby ensuring that the chassis lifting height meets the requirements, which is conducive to the cleaning robot getting out of trouble, avoiding excessive power consumption, and increasing the use time of the cleaning robot.

[0075] Optionally, when the cleaning robot is hijacked, the driving wheels of the cleaning robot keep rotating within a preset escape time range to escape the hijacked state.

[0076] Thus, when the cleaning robot is hijacked, in order to ensure that the cleaning robot can escape smoothly, the driving wheel always keeps rotating within the preset escape time range, thereby relying on the rotation of the driving wheel to assist in escaping.

[0077] Optionally, when the cleaning robot fails to escape from the hijacked state within a preset escape time range, the driving wheels of the cleaning robot stop rotating after a fourth preset time, and the cleaning robot issues an alarm.

[0078] In this way, when the cleaning robot fails to escape successfully within the preset escape time range, after the set fourth preset time threshold, in order to avoid power consumption of the cleaning robot, the driving wheels of the cleaning robot stop rotating and alert the user through an alarm.

[0079] Optionally, the fourth preset time is 8 s-15 s.

[0080] In this way, by setting the fourth preset time threshold, it is beneficial for the cleaning robot to be in the process of repeatedly escaping from trouble for a long time, thereby reducing unnecessary power consumption of the cleaning robot and reducing noise.

[0081] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state means that the shielding member is in a first position, and the retracted state means that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

[0082] In this way, after the cleaning robot of the present invention is hijacked, that is, the cleaning robot is summoned to move from the original position to the designated position to perform a temporary cleaning task, and the summoning includes but is not limited to voice summoning and box-selecting summoning on the cleaning map. The cleaning robot controls the shielding member to switch from the lowered state to the retracted state to prevent the shielding member from being stuck or stained with water during the movement of the cleaning robot, and can facilitate the cleaning robot to quickly move from the original position to the designated position to respond to customer needs as soon as possible.

[0083] Optionally, when the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, or the roller brush assembly is switched from a rotating state to a stopped state.

[0084] In this way, when the cleaning robot is hijacked, in order to prevent the roller brush assembly of the cleaning robot from getting stuck or stained with water during the movement of the cleaning robot, thereby affecting the subsequent cleaning effect, it is necessary to lift the roller brush assembly or stop the roller brush assembly when the covering part is retracted to ensure that the roller brush assembly is protected from dirt during the dragging process and to improve the rapid response efficiency of the cleaning robot.

[0085] An embodiment of the present invention further provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to be in a lowered state, wherein the operating surface is a carpet area, and the hijacking is that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state is that the shielding member is in a first position, and the retracted state is that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in the lowered state.

[0086] In this way, after the cleaning robot of the present invention is hijacked, that is, the cleaning robot is summoned to move from the original position to the designated position to perform a temporary cleaning task, the summoning includes but is not limited to voice summoning and frame-selecting summoning on the cleaning map. The cleaning robot controls the shielding member to be in a lowered state, so that the cleaning robot can respond to the summoning instruction to move from the original position to the designated position while also cleaning the area passed by the moving path.

[0087] Optionally, when the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on an operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in the lowered state also includes: controlling the roller brush assembly to be in a rotating state.

[0088] In this way, by controlling the roller brush assembly to be in a rotating state, when the cleaning robot moves from an original position to a specified position, the roller brush assembly can be rotated in coordination with the lowering of the shielding member to efficiently clean the area passed by the moving path.

[0089] Optionally, when the covering member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, when the cleaning robot is hijacked, controlling the covering member to be in the lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the covering member to switch from the lowered state to the retracted state.

[0090] In this way, when the cleaning robot walks out of the carpet area, the shielding member is switched from the lowered state to the retracted state, so as to reduce power consumption and improve the efficiency of the cleaning robot's rapid movement.

[0091] Optionally, when the covering member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, when the cleaning robot is hijacked, controlling the covering member to be in the lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state. In this way, when the cleaning robot walks out of the carpet area, the cleaning robot switches the roller brush assembly from a rotating state to a stopped state to reduce power consumption and improve the efficiency of the cleaning robot's rapid movement.

[0092] As described above, the cleaning method of the cleaning robot of the present invention has the following beneficial effects: By adjusting the state of the covering piece according to the hijacking situation of the cleaning robot, the frequent retraction and deployment of the covering piece can be prevented from affecting its service life and avoiding the risk of users' hands being pinched; the covering piece can be prevented from getting stuck or stained with water due to unclear ground material status; and the position of the covering piece can be subsequently adjusted according to the ground material, so that the cleaning robot can still adjust the position of the covering piece after being hijacked to normally perform cleaning tasks that meet the user's intentions. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 is a flow chart of a cleaning method of a cleaning robot according to an embodiment of the present invention; Figure 2 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 3 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 4 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 5 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 6 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 7 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention; Figure 8 The figure is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention. DETAILED DESCRIPTION

[0094] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0095] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0096] The present application provides a control method for a cleaning robot, without making any specific limitation on the structure of the cleaning robot. For example, the cleaning robot may be a floor washing robot, a mopping robot, a sweeping robot, a sweeping and mopping robot, etc.

[0097] The cleaning robot may include a robot device, which has a control unit, a drive unit, etc. The control unit may control the drive unit to realize the automatic movement of the robot. A cleaning component may be installed on the robot device, and the control unit may control the operation of the cleaning component. The cleaning component may include a wet cleaning component and a dry cleaning component. The wet cleaning component includes a rag component. It can be understood that the rag component should be understood in a broad sense and may include a flat rag, a roller brush rag, etc. The dry cleaning component may include a roller brush component, a side brush component, etc. to clean and collect dry garbage on the ground. For example, a dry cleaning component may be used to clean a carpet-like ground; a dry cleaning component + a wet cleaning component may be used to clean a floor or a tile-like ground.

[0098] The robot device also has various types of sensor components. The control unit controls the cleaning robot to perform corresponding actions according to the data detected by the sensor components, and can control the cleaning robot to move forward, backward, turn, etc. The sensor components include but are not limited to position sensors, collision sensors, attitude sensors, drop sensors, etc. The position sensor can obtain the position coordinates of the cleaning robot in a timely manner and decide to execute the cleaning instructions according to the position coordinates. The collision sensor can give the collision force data of the cleaning robot to control whether the cleaning robot avoids obstacles. The attitude sensor can monitor the attitude of the cleaning robot and send attitude parameters such as normal, tilt, tilt angle, tilt time, etc. to the control unit. The attitude sensor can be a gyroscope, accelerometer, etc. The drop sensor can monitor whether the cleaning robot is in a suspended state to determine whether there is a possibility of falling in front.

[0099] Please combine Figure 1 As shown, an embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S11: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to be in a lowered state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, and the lowered state means that the shielding member is in a first position; S12: The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member remains in a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0100] It can be understood that the shielding member in the present invention is in a lowered state and should be understood in a broad sense, relative to the shielding member in a retracted state, wherein the shielding member in a retracted state can be understood as a state in which the shielding member is actively or passively raised. When the cleaning robot performs a cleaning task, especially for areas that require deep cleaning, such as carpet areas, it is often necessary to cooperate with the shielding member to partially block the ventilation channel between the dust suction chamber and the operating surface, thereby increasing the negative pressure and enhancing the adsorption and cleaning strength of the roller brush assembly on garbage.

[0101] When the cleaning robot performs the cleaning task, it performs cleaning according to the preset cleaning route. For step S11, the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked under the action of external force. The hijacking means that the cleaning robot is completely moved away from the operating surface, that is, the cleaning robot is not in contact with the operating surface. The judgment of the hijacking state is obtained through the above sensors or other conventional sensors, which will not be repeated here. Once the cleaning robot senses that it has left the ground, it can count through the internal timer. When the time in the hijacked state is between the first preset time and the second preset time, it is determined to be a short-term hijacking, and the shielding member of the cleaning robot is still in the lowered state.

[0102] When the cleaning robot determines that it is hijacked and the hijacking time is between the first preset time and the second preset time, it will not retract the shielding member, so as to minimize the number of times of retraction and release, and avoid frequent retraction and release of the shielding member to affect the service life of the shielding member. In addition, it can also avoid the risk of users' hands being pinched due to multiple retraction and release of the shielding member. At the same time, it can also prevent the roller brush assembly from accidentally unfolding or the dust suction chamber from being exposed during transportation, and avoid internal parts from being damaged or dust from flowing back.

[0103] For step S12: the cleaning robot ends being hijacked, it is often necessary to judge through the aforementioned sensor component. When the sensor component determines that the cleaning robot changes from an off-the-ground state to a grounded state within a preset time, it is considered that the hijacking event ends.

[0104] After the cleaning robot is hijacked, it continues to perform the cleaning task and executes corresponding instructions according to the material of the operating surface. When the operating surface is a carpet area, the shielding member remains in a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The judgment of the material of the operating surface can be understood in combination with relevant technologies, for example, it can be analyzed and judged by image sensors, optical sensors, etc., and there is no limitation on this. It can be understood that for the operating surface of the carpet area, deep cleaning is often required to meet the cleaning needs. The shielding member remains in a lowered state, and the negative pressure strength of the dust suction chamber can be enhanced by partially blocking the ventilation channel, thereby facilitating the cleaning force of the roller brush assembly on the operating surface, and effectively solving the problem of extracting stubborn dust in the deep gaps of the carpet; for the operating surface of the non-carpet area, such as hard surfaces such as floors or tiles, the shielding member can be adjusted to the target position according to the degree of dirtiness, and the suction distribution is dynamically adjusted to assist the roller brush assembly in cleaning and dust collection. Therefore, in order to make the cleaning robot execute the correct cleaning instruction after being hijacked, the state of the shielding member must be controlled according to the material of the operating surface at the current position.

[0105] Exemplarily, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0106] The first preset time may be any value between 1s and 2s, such as 1.5s, 1.8s, 2s, etc. The second preset time may be any value between 4s and 6s, such as 4s, 4.5s, 5s, etc. The first preset time is set as the minimum time threshold, and the second preset time is set as the maximum time threshold to prevent the cleaning robot from being instantly lifted off the ground due to misoperation, causing it to be judged as a hijacked state and execute a hijacking command, affecting normal cleaning tasks.

[0107] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0108] Among them, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position (minimum ventilation area), the shielding member covers most of the ventilation channel, enhances the negative pressure strength of the dust suction chamber, and makes the airflow more concentrated, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position (maximum ventilation area), the shielding member is in a retracted state, and the ventilation channel is almost fully open, reducing wind resistance and allowing the airflow to cover a wider area, which is suitable for cleaning ordinary dirt and dust, and large particles of debris; when the shielding member is in the third position (medium ventilation area), its ventilation area is between the ventilation areas of the first position and the second position, partially blocking the ventilation channel, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, which is suitable for cleaning dirt between ordinary dirt and deep dirt, as well as small particles.

[0109] Preferably, when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. When the shielding member is in the first position, the shielding member can contact the first cleaning surface of the carpet area. The shielding member directly in contact with the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when processing complex surfaces such as carpets.

[0110] For step S12, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0111] Specifically, for non-carpet areas, the target position of the shielding member is adjusted according to the type of cleaning surface. The degree of pollution described here can be understood as pollution in a broad sense, that is, the distribution area, distribution quantity, adhesion degree, etc. of the dirt. For the first type of dirt, the pollution degree is relatively light and the particle size is relatively large. The shielding member is adjusted to the second position for cleaning; for the second type of dirt, the pollution degree is more serious and the particle size is relatively small. The shielding member is adjusted to the third position to reduce the ventilation area, so that the suction force of the roller brush assembly is more concentrated, thereby effectively increasing the adsorption capacity of stubborn dirt. It is worth mentioning that the ventilation area of ​​the shielding member at the third position is between the ventilation areas of the first position and the second position, that is, for non-carpet areas such as floors or tiles, even if there is dirt on the surface, the cleaning suction force is less than the cleaning suction force of the carpet area. By adjusting the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0112] In the embodiment of the present invention, when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on the operating surface, once it is hijacked and leaves the operating surface and the hijacking time is between the first preset time and the second preset time, the shielding member is controlled to maintain the lowered state to avoid frequent retraction and release of the shielding member, which affects the service life of the shielding member, and multiple retraction and release also easily increase the risk of users' hands being pinched. When the cleaning robot stops being hijacked and continues to perform the cleaning task, the shielding member is maintained in the lowered state or adjusted to the target position according to the material of the operating surface to adapt to the material of the current operating surface.

[0113] Please combine Figure 2As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S21: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot leaves the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; S22: The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0114] When the cleaning robot performs the cleaning task, it performs cleaning according to the preset cleaning route. For step S21, the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by external force. The hijacking means that the cleaning robot is completely moved away from the operating surface, that is, the cleaning robot is not in contact with the operating surface. The judgment of the hijacking state is obtained through the above sensors or other conventional sensors, which will not be repeated here. Once the cleaning robot senses that it has left the ground, it can count through the internal timer. When the time in the hijacked state is between the first preset time and the second preset time, it is determined to be a short-term hijacking, and the shielding member of the cleaning robot is switched from the lowered state to the retracted state.

[0115] When the cleaning robot determines that it has been hijacked, it will not retract the shielding member immediately, but will wait until the hijacked state is satisfied for a period of time between the first preset time and the second preset time before performing the retracting action, so as to avoid frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, it can also avoid the risk of the user's hand being pinched due to multiple retraction and release of the shielding member. In addition, the retracted shielding member can prevent the cleaning robot from being trapped or stuck on uneven ground when it is placed in a difficult environment on the ground, and can also prevent water stains from being contaminated by being placed in a humid environment, which may affect the subsequent cleaning and wet the carpet.

[0116] For step S22: the cleaning robot ends being hijacked, it is often necessary to judge through the aforementioned sensor component. When the sensor component determines that the cleaning robot changes from an off-the-ground state to a grounded state within a preset time, it is considered that the hijacking event ends.

[0117] After the cleaning robot is hijacked, it continues to perform the cleaning task and executes corresponding instructions according to the material of the operating surface. When the operating surface is a carpet area, the shielding member is switched from the retracted state to the lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in the target position to clean the non-carpet area, and the target position is the second position or the third position. It can be understood that for the carpet area of ​​the operating surface, deep cleaning is often required to meet the cleaning needs. The shielding member remains in the lowered state, and the ventilation area is reduced to enhance the suction force, thereby facilitating the cleaning force of the roller brush assembly on the operating surface and ensuring that deep dust is effectively removed; for the non-carpet area of ​​the operating surface, such as the floor or tile, the shielding member can be adjusted to the target position according to the degree of dirtiness to assist the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after the hijacking is completed, the state of the shielding member must be controlled according to the material of the operating surface at the current position. By adjusting the position of the shielding member in real time, the cleaning effect is prevented from being reduced due to changes in the ground material. Switch to high suction mode (first position) only when necessary (such as carpet cleaning), and use the second / third position for non-carpet areas to reduce wind resistance and overall energy consumption.

[0118] Exemplarily, the first preset time is in the range of 1s-2s, and the second preset time is in the range of 4s-6s.

[0119] The first preset time may be any value between 1s and 2s, such as 1.3s, 1.5s, 2s, etc. The second preset time may be any value between 4s and 6s, such as 4s, 4.5s, 5s, etc. The first preset time is set as the minimum time threshold, and the second preset time is set as the maximum time threshold to prevent the cleaning robot from being instantly lifted off the ground due to misoperation, causing it to be judged as a hijacked state and execute a hijacking command, affecting normal cleaning tasks.

[0120] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0121] Among them, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0122] Preferably, when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. When the shielding member is in the first position, the shielding member can contact the first cleaning surface of the carpet area. The shielding member directly in contact with the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when processing complex surfaces such as carpets.

[0123] For step S22, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0124] Specifically, for non-carpet areas, the target position of the shielding member is adjusted according to the type of cleaning surface. The degree of pollution described here can be understood as pollution in a broad sense, that is, the distribution area, distribution quantity, adhesion degree, etc. of the dirt. For the first type of dirt, the pollution degree is relatively light and the particle size is relatively large. The shielding member is adjusted to the second position for cleaning; for the second type of dirt, the pollution degree is more serious and the particle size is relatively small. The shielding member is adjusted to the third position to reduce the ventilation area, so that the suction force of the roller brush assembly is more concentrated, thereby effectively increasing the adsorption capacity of stubborn dirt. It is worth mentioning that the ventilation area of ​​the shielding member at the third position is between the ventilation areas of the first position and the second position, that is, for non-carpet areas such as floors or tiles, even if there is dirt on the surface, the cleaning suction force is less than the cleaning suction force of the carpet area. By adjusting the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0125] In an embodiment of the present invention, when the shielding member of the cleaning robot is performing a cleaning task on the operating surface in a lowered state, once it is hijacked and leaves the operating surface and the hijacking time is between the first preset time and the second preset time, the shielding member switches from the lowered state to the retracted state to avoid the shielding member getting stuck or stained with water due to unclear ground material conditions when it is put back on the ground (for example, the shielding member is trapped when placed in a difficult environment or is stuck on an uneven ground, resulting in subsequent movement of the shielding member; or, for example, the shielding member is stained with water when placed in a humid environment, resulting in the carpet being wet during subsequent cleaning). When the cleaning robot stops being hijacked and continues to perform the cleaning task, the shielding member is lowered or adjusted to the target position according to the material of the operating surface to adapt to the material of the current operating surface.

[0126] Please combine Figure 3 As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S31: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; S32: the cleaning robot stops being hijacked, and the shielding member remains in the retracted state; S33: The cleaning robot continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0127] When the cleaning robot performs the cleaning task, it performs cleaning according to the preset cleaning route. For step S31, the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by external force. The hijacking means that the cleaning robot is completely moved away from the operating surface, that is, the cleaning robot is not in contact with the operating surface. The judgment of the hijacking state is obtained through the above sensors or other conventional sensors, which will not be repeated here. Once the cleaning robot senses that it has left the ground, it can count through the internal timer. When the time in the hijacked state is greater than the second preset time, it is determined to be a long-term hijacking, and the shielding member of the cleaning robot is switched from the lowered state to the retracted state.

[0128] When the cleaning robot determines that it has been hijacked, it will not retract the shielding member immediately, but will wait until the hijacked state has been satisfied for a time greater than a second preset time before performing the retracting action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, it can also avoid the risk of the user's hand being pinched due to the multiple retraction and release of the shielding member. In addition, the retracted shielding member can prevent the shielding member from being damaged by collision or friction during the long-term transportation of the cleaning robot; it is also conducive to quickly balancing the internal and external air pressure, avoiding dust backflow and long-term idling and power consumption; the retracted shielding member can also prevent the shielding member from being trapped or stuck on the uneven ground when the cleaning robot is placed in a difficult environment on the ground, and avoid water stains due to being placed in a humid environment, which will affect the subsequent cleaning and wet the carpet.

[0129] For step S32: the cleaning robot ends being hijacked, it is often necessary to judge through the aforementioned sensor component. When the sensor component determines that the cleaning robot changes from an off-the-ground state to a grounded state within a preset time, it is considered that the hijacking event ends.

[0130] After the cleaning robot is no longer hijacked, the shielding piece remains in the retracted state, that is, when the cleaning robot lands, the shielding piece is retracted regardless of the material of the ground, so as to avoid the shielding piece being stuck (preventing the shielding piece from being stuck due to uneven ground or obstacles) or being stained with water due to unclear ground material status.

[0131] For step S33: the cleaning robot continues to perform the cleaning task and executes corresponding instructions according to the material of the operating surface. When the operating surface is a carpet area, the shielding member switches from the retracted state to the lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in the target position to clean the non-carpet area, and the target position is the second position or the third position. It can be understood that for the carpet area where the operating surface is a carpet, deep cleaning is often required to meet the cleaning needs. The shielding member remains in the lowered state, and the ventilation area is reduced to enhance the suction force, thereby facilitating the cleaning force of the roller brush assembly on the operating surface and solving the problem that deep dust in the carpet is difficult to extract; for the non-carpet area where the operating surface is a floor or tile, the shielding member can be adjusted to the target position according to the degree of dirtiness to assist the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the state of the shielding member must be controlled according to the material of the operating surface at the current position.

[0132] Exemplarily, the second preset time is 6s-10s.

[0133] The second preset time has a minimum time threshold, for example, set to any value between 6s-10s, which can be 6s, 7s, 8.3s, 9s, 9.6s, 10s, etc. This prevents the cleaning robot from being lifted off the ground due to misoperation, causing it to be judged as a hijacking state and execute a hijacking command, affecting normal cleaning tasks.

[0134] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0135] Among them, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0136] Preferably, when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. When the shielding member is in the first position, the shielding member can contact the first cleaning surface of the carpet area. The shielding member directly in contact with the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when processing complex surfaces such as carpets.

[0137] For step S33, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0138] Specifically, for non-carpet areas, the target position of the shielding member is adjusted according to the type of cleaning surface. The degree of pollution described here can be understood as pollution in a broad sense, that is, the distribution area, distribution quantity, adhesion degree, etc. of the dirt. For the first type of dirt, the pollution degree is relatively light and the particle size is relatively large. The shielding member is adjusted to the second position for cleaning; for the second type of dirt, the pollution degree is more serious and the particle size is relatively small. The shielding member is adjusted to the third position to reduce the ventilation area, so that the suction force of the roller brush assembly is more concentrated, thereby effectively increasing the adsorption capacity of stubborn dirt. It is worth mentioning that the ventilation area of ​​the shielding member at the third position is between the ventilation areas of the first position and the second position, that is, for non-carpet areas such as floors or tiles, even if there is dirt on the surface, the cleaning suction force is less than the cleaning suction force of the carpet area. By adjusting the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0139] In an embodiment of the present invention, when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, once it is hijacked and leaves the operating surface and the hijacking time is greater than a second preset time, the shielding member switches from the lowered state to the retracted state to prevent the user from touching the shielding member and causing it to deviate from its position during the long-term transportation of the cleaning robot, and also to prevent the shielding member from getting stuck or stained with water due to unclear ground material conditions when it is put back on the ground (to avoid the shielding member being trapped in a difficult environment on the ground or getting stuck on an uneven ground, or to avoid the shielding member being stained with water due to being placed in a humid environment, causing the carpet to get wet during subsequent cleaning). When the cleaning robot stops being hijacked and continues to perform the cleaning task, the shielding member is lowered or adjusted to the target position according to the material of the operating surface to adapt to the material of the current operating surface.

[0140] Please combine Figure 4 As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S41: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state; the hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging, and when the cleaning robot performs a dust collection task, the shielding member is switched from the retracted state to the lowered state; Wherein, the lowered state is when the shielding member is in the first position, the retracted state is when the shielding member is in the second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; or, S42: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to remain in the lowered state so that the cleaning robot performs a dust collection task; Wherein, the lowered state is that the shielding member is in the first position, and the retracted state is that the shielding member is in the second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0141] When the cleaning robot is performing a cleaning task, it cleans according to a preset cleaning route. For step S41, the shielding member of the cleaning robot remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by an external force. The hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. The judgment of the hijacking state is obtained through the above sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it is being transferred to the cleaning base station, the shielding member switches from the lowered state to the retracted state to protect the shielding member and avoid mechanical interference between the shielding member and the charging contacts or dust collection port of the base station, thereby ensuring the reliability of charging docking. Keeping the shielding member in the retracted state during charging can reduce air duct resistance and standby power consumption, thereby facilitating the cleaning robot to perform other tasks besides dust collection tasks at the cleaning base station. When the cleaning robot needs to perform dust collection tasks, the shielding member is lowered (to the first position) to perform efficient dust collection operations, thereby reducing the ventilation area, enhancing the negative pressure strength of the dust collection air duct, and improving the efficiency of transferring dust from the dust box of the cleaning robot to the dust bag of the cleaning base station. In addition, dust overflow during the dust collection process is prevented to maintain the cleanliness of the cleaning base station.

[0142] For step S42: the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked under the action of external force. The hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. The judgment of the hijacking state is obtained through the above sensors or other conventional sensors, which will not be repeated here. Once the cleaning robot senses that it has been transferred to the cleaning base station, the shielding member remains in the lowered state so that the subsequent dust collection task can be carried out directly, thereby eliminating the state switching step of the shielding member, avoiding mechanical wear caused by frequent state switching, reducing the risk of dust collection interruption caused by mechanism action failure, eliminating the motor drive energy consumption required for state switching, and improving work efficiency. The cleaning robot can start dust collection operations immediately after being moved to the cleaning base station, which is particularly suitable for scenes where quick cleaning is urgently needed.

[0143] It should be noted that when the shielding member is in the first position, it covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0144] Among them, the shielding member has a first position and a second position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area. It is also suitable for the cleaning robot to perform dust collection tasks in the cleaning base station. By reducing the ventilation area, the negative pressure intensity of the dust collection air duct is enhanced, and a more closed air duct system is formed during the dust collection process. The efficiency of transferring dust from the dust box to the dust bag is improved, and dust overflow during the dust collection process is prevented; when the shielding member is in the second position, the shielding member is in a retracted state, which is suitable for cleaning ordinary dirt and dust.

[0145] Preferably, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. When the shielding member is in the first position, the shielding member can contact the first cleaning surface of the carpet area, and the shielding member directly contacting the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0146] It is understandable that when the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state. Specifically, when the cleaning robot is hijacked, in order to avoid the risk of pinching the user's hand due to the rotation of the roller brush assembly during transportation, the roller brush assembly switches from a rotating state to a stopped state, thereby ensuring the safety of the user in the process of transporting the cleaning robot to the cleaning base station, and at the same time, it can also reduce the operating power consumption of the cleaning robot.

[0147] It is understandable that when the cleaning robot performs dust collection tasks, the roller brush assembly switches from a stopped state to a rotating state. Specifically, when the cleaning robot performs dust collection tasks, the roller brush assembly is in a rotating state, and the rotation of the roller brush assembly can peel off the stubborn dust attached to the inner wall of the dust box and the filter screen, and the roller brush assembly rotates to break up the agglomerated dust (such as dust that has become lumpy due to moisture), thereby preventing large particles from blocking the dust collection channel and reducing the need for manual cleaning; the rotating roller brush assembly can form a vortex in the dust collection chamber, making the airflow distribution more uniform; and when the roller brush assembly rotates, the bristles can clean the air duct inlet area to prevent airflow attenuation caused by hair entanglement.

[0148] Exemplarily, when the cleaning robot performs a dust collection task, the rotation state of the roller brush assembly is forward, reverse, or forward and reverse rotation at a preset alternating frequency. Specifically, when rotating forward, the roller brush transports the dust toward the dust collection port, improving the recovery efficiency of large-particle garbage (such as cat litter, food residues), and is suitable for conventional dust / particulate dust collection. Reverse rotation produces a mechanical force opposite to that during cleaning, effectively shaking off the agglomerated dust (moisture adhesion), fiber garbage (carpet fluff, pet hair) or sticky substances (sugar stains, soil) stuck in the gap of the roller brush. When reversing, the dust accumulated at the root of the bristles is thrown out forcefully, and the roller brush can be deeply cleaned in conjunction with the dust collection airflow; reversing changes the direction of hair winding, and alternating forward and reverse rotation can avoid one-way winding from being too tight and prevent hair winding. In this way, when the cleaning robot performs a dust collection task, the dust collection effect of the roller brush assembly can be improved by rotating the roller brush assembly forward, reverse, or forward and reverse rotation at a preset alternating frequency.

[0149] In an embodiment of the present invention, when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, once it is hijacked from the operating surface and transferred to the cleaning base station for charging, the shielding member is switched from the lowered state to the retracted state, and the shielding member is lowered when the dust collection task is performed, so that the cleaning robot can protect the shielding member when performing other non-dust collection tasks at the cleaning base station; or, when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, once it is hijacked from the operating surface and transferred to the cleaning base station for charging, the shielding member remains in the lowered state so as to directly perform the dust collection task, thereby reducing the state switching frequency of the shielding member and improving work efficiency.

[0150] Please combine Figure 5 As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S51: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than a preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than a preset dragging time; the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; S52: the cleaning robot stops being hijacked, and the shielding element remains in the retracted state; S53: The cleaning robot continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

[0151] When the cleaning robot performs the cleaning task, it performs cleaning according to the preset cleaning route. For step S51, the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by an external force. The hijacking means that the cleaning robot is dragged from the first position to the second position. The judgment of the hijacking state is obtained by the above sensors or other conventional sensors, which will not be repeated here. Once the cleaning robot senses that it is being dragged, it can count through the internal timer and record the position through the position sensor. When the hijacked time is greater than the preset dragging time, or the hijacked distance is greater than the preset dragging distance, the shielding member of the cleaning robot switches from the lowered state to the retracted state.

[0152] By judging by the preset dragging distance threshold or the preset dragging time threshold, the cleaning robot can accurately identify the difference between human intervention dragging and normal obstacle crossing, reduce the probability of false triggering, and ensure that normal turning or small-range movement during the cleaning task is not affected.

[0153] When the cleaning robot determines that it has been hijacked, it will not retract the shielding member immediately, but will wait until the time threshold or distance threshold is met before performing the retracting action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member also easily increases the risk of the user's hand being pinched. In addition, by retracting the shielding member, it can also be prevented that the shielding member is dragged with the cleaning robot (the cleaning robot may be dragged out of the carpet) due to the unclear state of the ground material, which may cause the shielding member to rub against the ground (especially the carpet), resulting in component damage, jamming (stuck in the carpet or floor gap) or contamination with water stains, thereby affecting the cleaning effect of the subsequent roller brush assembly.

[0154] For step S52: the cleaning robot ends being hijacked, which is often also required to be determined by the aforementioned sensor component. When the sensor component determines that the cleaning robot ends being dragged, it is considered that the hijacking event ends.

[0155] After the cleaning robot stops being hijacked, the shielding piece remains in the retracted state, that is, when the cleaning robot stops dragging, the shielding piece is retracted regardless of the material of the ground, thereby avoiding mechanical wear or energy waste caused by frequent switching actions, and avoiding water stains on the shielding piece due to unclear ground material status.

[0156] For step S53: the cleaning robot continues to perform the cleaning task and executes corresponding instructions according to the material of the operating surface. When the operating surface is a carpet area, the shielding member switches from the retracted state to the lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in the target position to clean the non-carpet area, and the target position is the second position or the third position. It can be understood that for the carpet area where the operating surface is a carpet, deep cleaning is often required to meet the cleaning needs. The shielding member is kept in the lowered state, which can enhance the sealing of the dust suction chamber, thereby facilitating the cleaning force of the roller brush assembly on the operating surface and improving the suction efficiency of deep carpet dust; for the non-carpet area where the operating surface is a hard surface such as a floor or tile, the shielding member can be adjusted to the target position according to the degree of dirtiness, balancing the ventilation efficiency and dustproof effect, avoiding excessive shielding and causing airflow loss, so as to assist the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the state of the shielding member must be controlled according to the material of the operating surface at the current position.

[0157] Exemplarily, the preset dragging distance is 1m-2m; or, the preset dragging duration is 1s-10s.

[0158] Specifically, the preset dragging distance has a minimum distance threshold, for example, any value between 1m-2m is set, which can be 1m, 1.2m, 1.5m, 1.8m, etc. This prevents the cleaning robot from being dragged due to misoperation, causing it to be judged as a hijacked state and execute a hijacking command, affecting normal cleaning tasks. It also prevents the shielding member from being quickly retracted after being dragged for a short distance, which will increase the failure rate of the shielding member and affect the service life of the shielding member.

[0159] The preset dragging time has a minimum time threshold, for example, any value between 1s-10s is set, which can be 1s, 2s, 3s, 4s, 5s, 6s, 7s, 8s, 9s, 10s, etc. This prevents the cleaning robot from being dragged due to misoperation, causing it to be judged as a hijacked state and execute a hijacking command, affecting normal cleaning tasks. It also prevents the shielding member from being quickly retracted after a short dragging time, which will increase the failure rate of the shielding member and affect the service life of the shielding member.

[0160] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the shielding member at the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

[0161] Among them, the shielding member has a first position, a second position and a third position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist the cleaning of the roller brush assembly, and is suitable for cleaning ordinary dirt and dust; when the shielding member is in the third position, its ventilation area is between the ventilation areas of the first position and the second position, so that the cleaning suction force of the cleaning assembly is between the cleaning suction forces of the first position and the second position, and is suitable for cleaning dirt between ordinary dirt and deep dirt.

[0162] Preferably, when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. When the shielding member is in the first position, the shielding member can contact the first cleaning surface of the carpet area. The shielding member directly in contact with the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when processing complex surfaces such as carpets.

[0163] For step S53, when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

[0164] Specifically, for non-carpet areas, the target position of the shielding member is adjusted according to the type of cleaning surface. The degree of pollution described here can be understood as pollution in a broad sense, that is, the distribution area, distribution quantity, adhesion degree, etc. of the dirt. For the first type of dirt, the pollution degree is relatively light and the particle size is relatively large. The shielding member is adjusted to the second position for cleaning; for the second type of dirt, the pollution degree is more serious and the particle size is relatively small. The shielding member is adjusted to the third position to reduce the ventilation area, so that the suction force of the roller brush assembly is more concentrated, thereby effectively increasing the adsorption capacity of stubborn dirt. It is worth mentioning that the ventilation area of ​​the shielding member at the third position is between the ventilation areas of the first position and the second position, that is, for non-carpet areas such as floors or tiles, even if there is dirt on the surface, the cleaning suction force is less than the cleaning suction force of the carpet area. By adjusting the different types of dirt, the cleaning robot adjusts the shielding member to the corresponding target position to ensure the cleaning effect of different dirt, and by ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and the running time can be extended.

[0165] In an embodiment of the present invention, when the shielding member of the cleaning robot is in a lowered state and performing a cleaning task on the operating surface, once it is hijacked and dragged on the ground and the hijacking is greater than a preset dragging time or a preset dragging distance, the shielding member of the cleaning robot switches from the lowered state to the retracted state to prevent the shielding member from getting stuck or stained with water due to unclear ground material conditions during the dragging process of the cleaning robot (the cleaning robot may drag out the carpet), causing the shielding member to get stuck or affect the cleaning effect of the subsequent roller brush assembly. When the cleaning robot stops being hijacked and continues to perform the cleaning task, the shielding member is lowered or adjusted to the target position according to the material of the operating surface to adapt to the material of the current operating surface.

[0166] Please combine Figure 6 As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S61: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot stays at the original position under the action of an external force for a time greater than a third preset time, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; S62: The cleaning robot stops being hijacked, and the shielding member remains in the retracted state.

[0167] When the cleaning robot performs the cleaning task, it performs cleaning according to the preset cleaning route. For step S61, the shielding member of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by an external force. The hijacking means that the cleaning robot is held down or trapped in the original position for a time greater than the third preset time. The judgment of the hijacking state is obtained by the above sensors or other conventional sensors, which will not be elaborated here. The cleaning robot described here is held down, for example, the elderly may hold the cleaning robot directly in place because they do not know how to play or children may play. The cleaning robot is trapped, for example, because foreign matter appears in the environment of the operating surface, causing the roller brush assembly or the shielding member to be entangled, etc. The cleaning robot is held down or trapped, which can be timed by an internal timer. When the time of being hijacked exceeds the third preset time, the shielding member of the cleaning robot is switched from the lowered state to the retracted state.

[0168] The hijacking refers to the cleaning robot staying in the original position under the action of external force. The original position stay refers to the area of ​​1cm-5cm around the outer circumference of the cleaning robot body. It is not necessarily fixed in the original position. After the cleaning robot is pressed or trapped, it will control the driving wheels to accelerate and escape. It is difficult for external force to keep the robot's position completely still, so the position will be slightly offset.

[0169] When the cleaning robot is hijacked, it will not retract the shielding member immediately, but will wait until the third preset time threshold is met before performing the retraction action, so as to avoid the frequent retraction and release of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member may easily increase the risk of the user's hand being pinched. Moreover, after the cleaning robot meets the third preset time, the cleaning robot retracts the shielding member to avoid overload damage to the mechanical structure (such as the shielding member or the motor) due to continuous obstruction. Retracting the shielding member can also reduce the ventilation resistance between the dust suction chamber and the operating surface, alleviate the risk of motor stalling caused by external force stagnation, and reduce ineffective energy consumption. In addition, it is also conducive to the subsequent cleaning robot to escape from the trap, avoiding interference between the shielding member and the surrounding environment and increasing the escape resistance.

[0170] For step S62, whether the cleaning robot ends being hijacked is often determined by the aforementioned sensor component. When the sensor component determines that the hijacking state of the cleaning robot ends (such as the external force is released), it is considered that the hijacking event ends.

[0171] After the cleaning robot is no longer hijacked, the shielding piece remains in the retracted state to prevent repeated switching due to the environment not being fully restored (such as obstacles still existing), reduce mechanical wear or energy waste, and avoid the shielding piece being stained with water due to unclear ground material conditions.

[0172] Exemplarily, the third preset time is 8s-20s.

[0173] The third preset time has a minimum time threshold, for example, any value between 8s and 20s is set, which can be 8s, 9s, 10s, 11s, 12s, 13s, 14s, or 20s. The time threshold (third preset time) is used as a judgment condition to avoid the cleaning robot being stuck or briefly paused (such as overcoming obstacles or turning) due to misoperation, which may cause it to be judged as a hijacking state and trigger a response by mistake, affecting normal cleaning tasks. It also avoids the cleaning robot being stuck for a short time and then quickly retracting the shielding member, which will increase the failure rate of the shielding member and affect the service life of the shielding member.

[0174] It should be noted that when the shielding member is in the first position, it covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0175] Among them, the shielding member has a first position and a second position. When the shielding member is in the first position, it covers part of the ventilation channel and reduces part of the ventilation area, so that the negative pressure in the dust suction chamber increases, so that when the cleaning robot processes the carpet area, the shielding member can assist the roller brush assembly to increase the cleaning suction force, which is helpful for deep cleaning of deep dirt and dust in the carpet area; when the shielding member is in the second position, the shielding member is in a retracted state and does not assist in the cleaning of the roller brush assembly. It is suitable for cleaning ordinary dirt and dust, and is also suitable for the cleaning robot to perform dust collection tasks at the cleaning base station.

[0176] Preferably, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member contacts the first cleaning surface corresponding to the carpet area. The shielding member in the first position can contact the first cleaning surface of the carpet area, and the shielding member directly in contact with the ground can exert additional physical pressure, which helps to loosen and extract deep dirt. This physical effect combined with the enhanced suction can significantly improve the cleaning effect on the carpet. By optimizing the position of the shielding member, the cleaning robot can improve the cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0177] It is understandable that when the cleaning robot is hijacked, the roller brush assembly is lifted from the first roller brush position close to the operating surface to the second roller brush position away from the operating surface, and the roller brush assembly rotates alternately in forward and reverse directions at a preset alternating frequency. Specifically, the roller brush assembly is lifted from the first roller brush position to the second roller brush position to avoid continuous friction between the roller brush and the operating surface (especially the carpet or hair accumulation area), reduce the mechanical resistance between the roller brush assembly and the operating surface, reduce the motor load, and thus facilitate the cleaning robot to escape; and, by the roller brush assembly rotating alternately in forward and reverse directions at a preset alternating frequency, it is convenient for the roller brush assembly to discharge foreign matter, actively release hair, cables and other debris wrapped around the roller brush, reduce the risk of blockage, and solve the problem of the roller brush assembly being stuck due to foreign matter, so as to facilitate the cleaning robot to escape. The lifting of the roller brush and the retraction of the shielding member can be carried out simultaneously to jointly reduce the movement resistance of the cleaning robot.

[0178] It is understandable that when the cleaning robot is hijacked, the chassis of the cleaning robot is lifted from a first chassis position close to the operating surface to a second chassis position away from the operating surface. Specifically, in order to prevent foreign objects discharged by the roller brush assembly from being dragged by the chassis, causing interference that makes it difficult for the cleaning robot to escape, the chassis needs to be lifted from the first chassis position to the second chassis position, so that foreign objects discharged by the roller brush assembly will not be dragged with the chassis, making it easier for the cleaning robot to escape. And after the chassis is lifted, the contact area between the cleaning robot and the operating surface as a whole is reduced, reducing the movement resistance, and the lifted chassis can also avoid secondary jamming of low obstacles. The lifting of the chassis can be triggered synchronously with the lifting of the roller brush assembly and the retraction of the shielding member to form a multi-layer protection to minimize the movement resistance and the risk of component damage.

[0179] In the above embodiment, the second chassis position includes a first chassis working position and a second chassis working position, and when a first type of fluff exists on the operating surface, the chassis of the cleaning robot is in the first chassis working position; and / or, when a second type of fluff exists on the operating surface, the chassis of the cleaning robot is in the second chassis working position; wherein the length of the first type of fluff is shorter than the length of the second type of fluff, and the first chassis working position is lower than the second chassis working position.

[0180] Specifically, the chassis lifting height of the cleaning robot is different according to the different lengths of the fluff on the carpet area on the operating surface, so as to ensure that the chassis lifting height meets the requirements. Adjusting the height according to different fluff lengths can reduce the probability of hair entanglement in the roller brush assembly, which is conducive to the cleaning robot getting out of trouble, and can also avoid excessive power consumption and increase the use time of the cleaning robot. According to different fluff lengths, the lifting height can be dynamically adjusted to balance protection and cleaning effects.

[0181] It is understandable that when the cleaning robot is hijacked, the driving wheel of the cleaning robot keeps rotating within the preset escape time range to escape the hijacked state. In this way, in order to ensure that the cleaning robot can escape smoothly, the driving wheel always keeps rotating within the preset escape time range, thereby relying on the rotation of the driving wheel to assist in escaping.

[0182] Furthermore, when the cleaning robot fails to escape the hijacked state within the preset escape time range, the driving wheels of the cleaning robot stop rotating after a fourth preset time, and the cleaning robot sends an alarm to remind the user. Specifically, when the cleaning robot fails to escape successfully within the preset escape time range, after the fourth preset time threshold, in order to avoid power consumption of the cleaning robot, the driving wheels of the cleaning robot stop rotating, and the user is reminded by an alarm.

[0183] Exemplarily, the fourth preset time is 8s-15s. By setting the fourth preset time threshold, it is beneficial for the cleaning robot to be in a process of repeatedly getting out of trouble for a long time, so as to reduce unnecessary power consumption of the cleaning robot and reduce noise.

[0184] In the embodiment of the present invention, when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on the operating surface, once the cleaning robot is hijacked and stays in place for a period greater than a third preset time, the shielding member of the cleaning robot switches from the lowered state to the retracted state, which facilitates the subsequent escape of the cleaning robot and avoids interference between the shielding member and the surrounding environment and increases the escape resistance. When the cleaning robot stops being hijacked, the shielding member remains in the retracted state.

[0185] Please combine Figure 7 As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S71: when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state means that the shielding member is in a first position, the retracted state means that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; S72: The cleaning robot stops being hijacked, and the shielding member remains in the retracted state.

[0186] When performing a cleaning task, the cleaning robot performs cleaning according to a preset cleaning route. For step S71, the shielding member of the cleaning robot remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, the cleaning robot is hijacked. Hijacking should be understood in a broad sense. In this embodiment, hijacking means that the cleaning robot is summoned to move from the original position to the designated position to perform a temporary cleaning task, wherein being summoned includes but is not limited to voice summoning and frame summoning on the cleaning map. The designated location can be a cleaned area (for additional cleaning) or an uncleaned area (for temporary cleaning) specified by the user. The cleaning map includes multiple cleaning areas, and each cleaning area can display the cleaning status for the user to view.

[0187] When the cleaning robot determines that it has been hijacked, it controls the covering member to switch from the lowered state to the retracted state to prevent the covering member from being stuck or stained with water during the movement of the cleaning robot, thereby affecting the cleaning robot's rapid response efficiency and subsequent cleaning operations. It can help the cleaning robot to quickly move from its original position to a designated position to respond to customer needs as soon as possible.

[0188] For step S72: the cleaning robot ends being hijacked, which is often also determined by the aforementioned sensor component. When the sensor component determines that the cleaning robot moves from the original position to the specified position, the hijacking event is considered to be over. The shielding member remains in the retracted state, and when the cleaning task is continued, the position of the shielding member is adjusted according to the floor material.

[0189] Optionally, when the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, or the roller brush assembly is switched from a rotating state to a stopped state. In this way, when the cleaning robot is hijacked, in order to prevent the roller brush assembly of the cleaning robot from being stuck or stained with water during the movement of the cleaning robot, thereby affecting the subsequent cleaning effect, it is necessary to lift the roller brush assembly or stop the roller brush assembly when the shielding member is retracted to ensure that the roller brush assembly is not affected by dirt during the dragging process and to improve the rapid response efficiency of the cleaning robot.

[0190] In an embodiment of the present invention, when the covering member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, once it is hijacked, that is, the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the covering member is controlled to switch from a lowered state to a retracted state to prevent the covering member from being stuck or stained with water during the movement of the cleaning robot, thereby facilitating the cleaning robot to quickly move from the original position to the designated position to respond to customer needs as soon as possible.

[0191] Please combine Figure 8As shown, another embodiment of the present invention provides a cleaning method of a cleaning robot, wherein the cleaning robot comprises a cleaning assembly, wherein the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, wherein the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and wherein the method comprises: S81: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to be in a lowered state, wherein the operating surface is a carpet area, and the hijacking is that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state is that the shielding member is in a first position, and the retracted state is that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; S82: The cleaning robot stops being hijacked, and the shielding member remains in the lowered state.

[0192] When performing a cleaning task, the cleaning robot performs cleaning according to a preset cleaning route. For step S81, the shielding member of the cleaning robot remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, the cleaning robot is hijacked. Hijacking should be understood in a broad sense. In this embodiment, hijacking means that the cleaning robot is summoned to move from the original position to the designated position to perform a temporary cleaning task, wherein being summoned includes but is not limited to voice summoning and box-selecting summoning on the cleaning map. The designated location can be a cleaned area (for supplementary cleaning) or an uncleaned area (for temporary cleaning) specified by the user. The cleaning map includes multiple cleaning areas, and each cleaning area can display the cleaning status for the user to view.

[0193] When the cleaning robot determines that it has been hijacked, it controls the shielding member to be in a lowered state to avoid the shielding member being frequently retracted and extended and affecting its service life. The cleaning robot can also clean the area passed by the moving path while responding to the call command to move from the original position to the designated position.

[0194] For step S82: the cleaning robot ends being hijacked, which is often also determined by the aforementioned sensor component. When the sensor component determines that the cleaning robot moves from the original position to the specified position, the hijacking event is considered to be over. The shielding element remains in the lowered state, and when the cleaning task is continued, the position of the shielding element is adjusted according to the floor material.

[0195] In the above embodiment, when the shielding member of the cleaning robot is in a lowered state to perform cleaning tasks on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in a lowered state further includes: controlling the roller brush assembly to be in a rotating state. In this way, by controlling the roller brush assembly to be in a rotating state, the roller brush assembly can be rotated to cooperate with the lowering of the shielding member during the process of the cleaning robot moving from the original position to the designated position, so as to efficiently clean the area passed by the moving path.

[0196] It should be noted that when the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in the lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the shielding member to switch from the lowered state to the retracted state. In this way, when the cleaning robot walks out of the carpet area, the shielding member is switched from the lowered state to the retracted state to reduce power consumption and improve the efficiency of the cleaning robot's rapid movement. After the cleaning robot is summoned to move from the original position to the designated position summoned by the user, the cleaning task is started as needed.

[0197] It is understandable that when the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in a lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state. In this way, when the cleaning robot walks out of the carpet area, the cleaning robot switches the roller brush assembly from a rotating state to a stopped state, thereby reducing power consumption and improving the efficiency of the cleaning robot's rapid movement. After the cleaning robot is summoned to move from the original position to the designated position summoned by the user, the cleaning task is started as needed.

[0198] In an embodiment of the present invention, when the covering member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, once it is hijacked, that is, the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the covering member is controlled to be in a lowered state, so that the cleaning robot can respond to the summoning instruction to move from the original position to the designated position while also cleaning the area passed by the moving path.

[0199] To summarize, the cleaning method of the cleaning robot provided by the present invention adjusts the state of the covering member according to the situation in which the cleaning robot is hijacked, so as to avoid the frequent retraction and deployment of the covering member affecting its service life and avoid the risk of the user's hands being pinched; avoids the covering member being stuck or stained with water due to unclear ground material status; and subsequently adjusts the position of the covering member according to the ground material, so that the cleaning robot can still adjust the position of the covering member after encountering a hijack situation to normally perform cleaning tasks that meet the user's intentions.

[0200] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to be in a lowered state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, and the lowered state means that the shielding member is in a first position; The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member remains in a lowered state to clean the carpet area. When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

2. The cleaning method of the cleaning robot according to claim 1, characterized in that: The first preset time is 1s-2s, and the second preset time is 4s-6s.

3. The cleaning method of the cleaning robot according to claim 1, characterized in that: When the shielding member is in the first position, it covers part of the ventilation passage, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation passage, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

4. The cleaning method of the cleaning robot according to claim 1, characterized in that: When the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

5. The cleaning method of the cleaning robot according to claim 1, characterized in that: When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

6. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot leaves the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot ends being hijacked and continues to perform the cleaning task. When the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

7. The cleaning method of the cleaning robot according to claim 6, characterized in that: The first preset time is in the range of 1s-2s, and the second preset time is in the range of 4s-6s.

8. The cleaning method of the cleaning robot according to claim 6, characterized in that: When the shielding member is in the first position, it covers part of the ventilation passage, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation passage, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

9. The cleaning method of the cleaning robot according to claim 6, characterized in that: When the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

10. The cleaning method of the cleaning robot according to claim 6, characterized in that: When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

11. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is moved away from the operating surface, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in a retracted state; The cleaning robot continues to perform the cleaning task, and when the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

12. The cleaning method of the cleaning robot according to claim 11, characterized in that: The second preset time is 6s-10s.

13. The cleaning method of the cleaning robot according to claim 11, characterized in that: When the shielding member is in the first position, it covers part of the ventilation passage, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation passage, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

14. The cleaning method of the cleaning robot according to claim 11, characterized in that: When the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

15. The cleaning method of the cleaning robot according to claim 11, characterized in that: When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

16. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state and performs a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, and when the cleaning robot performs a dust collection task, the shielding member is switched from the retracted state to the lowered state; Alternatively, when the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to remain in the lowered state so that the cleaning robot performs the dust collection task; Among them, the hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging, the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

17. The cleaning method of the cleaning robot according to claim 16, characterized in that: When the shielding member is in the first position, the shielding member covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

18. The cleaning method of the cleaning robot according to claim 16, characterized in that: The operating surface is a carpet area, and when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

19. The cleaning method of the cleaning robot according to claim 16, characterized in that: When the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state.

20. The cleaning method of the cleaning robot according to claim 16, characterized in that: When the cleaning robot performs a dust collection task, the roller brush assembly switches from a stopped state to a rotating state.

21. The cleaning method of the cleaning robot according to claim 20, characterized in that: When the cleaning robot performs a dust collection task, the rotation state of the roller brush assembly is forward rotation, reverse rotation, or forward rotation and reverse rotation alternately at a preset alternating frequency.

22. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than a preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than a preset dragging time; the lowered state means that the shielding member is in the first position, and the retracted state means that the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in a retracted state; The cleaning robot continues to perform the cleaning task, and when the operating surface is a carpet area, the shielding member is switched from a retracted state to a lowered state to clean the carpet area; when the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is the second position or the third position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position or the third position.

23. The cleaning method of the cleaning robot according to claim 22, characterized in that: The preset dragging distance is 1m-2m; or, the preset dragging duration is 1s-10s.

24. The cleaning method of the cleaning robot according to claim 22, characterized in that: When the shielding member is in the first position, it covers part of the ventilation passage, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation passage, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, and smaller than the ventilation area when the shielding member is in the second position.

25. The cleaning method of the cleaning robot according to claim 22, characterized in that: When the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

26. The cleaning method of the cleaning robot according to claim 22, characterized in that: When the operating surface is a non-carpet area, the shielding member is in a target position to clean the non-carpet area, and the target position is a second position or a third position, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; The contamination degree of the second type of dirt is greater than the contamination degree of the first type of dirt, and / or the particle size of the second type of dirt is smaller than the particle size of the first type of dirt.

27. The cleaning method of the cleaning robot according to claim 22, characterized in that: When the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface.

28. The cleaning method of the cleaning robot according to claim 22, characterized in that: When the cleaning robot continues to perform the cleaning task, the roller brush assembly descends from the second roller brush position away from the operating surface to the first roller brush position close to the operating surface.

29. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot stays at the original position for a time greater than a third preset time under the action of an external force, the lowered state means that the shielding member is in a first position, and the retracted state means that the shielding member is in a second position; the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

30. The cleaning method of the cleaning robot according to claim 29, characterized in that: The third preset time is 8s-20s.

31. The cleaning method of the cleaning robot according to claim 29, characterized in that: When the shielding member is in the first position, the shielding member covers a portion of the ventilation channel, so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

32. The cleaning method of the cleaning robot according to claim 29, characterized in that: The operating surface is a carpet area, and when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

33. The cleaning method of the cleaning robot according to claim 29, characterized in that: When the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, and the roller brush assembly rotates alternately forward and reverse at a preset alternating frequency.

34. The cleaning method of the cleaning robot according to claim 29, characterized in that: When the cleaning robot is hijacked, the chassis of the cleaning robot is lifted from a first chassis position close to the operating surface to a second chassis position away from the operating surface.

35. The cleaning method of the cleaning robot according to claim 34, characterized in that: The second chassis position includes a first chassis working position and a second chassis working position, When the first type of fluff exists on the operating surface, the chassis of the cleaning robot is in the first chassis working position; and / or, When the second type of fluff exists on the operating surface, the chassis of the cleaning robot is in the second chassis working position; The length of the first type of fluff is shorter than the length of the second type of fluff, and the working position of the first chassis is lower than the working position of the second chassis.

36. The cleaning method of the cleaning robot according to claim 29, characterized in that: When the cleaning robot is hijacked, the driving wheels of the cleaning robot keep rotating within a preset escape time range to escape from the hijacked state.

37. The cleaning method of the cleaning robot according to claim 36, characterized in that: When the cleaning robot fails to escape from the hijacked state within the preset escape time range, the driving wheels of the cleaning robot stop rotating after a fourth preset time, and the cleaning robot issues an alarm.

38. The cleaning method of the cleaning robot according to claim 37, characterized in that: The fourth preset time is 8 s-15 s.

39. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state means that the shielding member is in a first position, and the retracted state means that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

40. The cleaning method of the cleaning robot according to claim 39, characterized in that: When the cleaning robot is hijacked, the roller brush assembly is lifted from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, or the roller brush assembly is switched from a rotating state to a stopped state.

41. A cleaning method for a cleaning robot, characterized in that: The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield a ventilation channel between the dust suction chamber and an operating surface, and the method comprises: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, the shielding member is controlled to be in a lowered state, wherein the operating surface is a carpet area, and the hijacking is that the cleaning robot is summoned to move from an original position to a designated position to perform a temporary cleaning task, the lowered state is that the shielding member is in a first position, and the retracted state is that the shielding member is in a second position, and the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; The cleaning robot stops being hijacked, and the shielding member remains in the lowered state.

42. The cleaning method of the cleaning robot according to claim 41, characterized in that: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on an operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in the lowered state further includes: controlling the roller brush assembly to be in a rotating state.

43. The cleaning method of the cleaning robot according to claim 41 or 42, characterized in that: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on an operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in the lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the shielding member to switch from the lowered state to the retracted state.

44. The cleaning method of the cleaning robot according to claim 43, characterized in that: When the shielding member of the cleaning robot is in a lowered state to perform a cleaning task on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to be in the lowered state also includes: when the cleaning robot walks out of the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state.

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