Cleaning methods of cleaning robots

Abstract

The present invention belongs to the technical field of cleaning robots, and in particular relates to a cleaning method for a cleaning robot, the method comprising: when a shielding member of the cleaning robot is in a lowered state performing a cleaning task on an operating surface, the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, controlling the shielding member to be in a lowered state, wherein being hijacked 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; when 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 a second position or a 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.

Description

Technical Field

[0001] The present 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 of cleaning robots, including sweeping robots, mopping robots, sweeping and mopping robots, and floor washing machines. Some cleaning robots also have the dual functions of sweeping and washing the floor, and are increasingly widely used in home environments.

[0003] When performing sweeping or mopping tasks, cleaning robots usually strictly follow the preset cleaning path to complete the floor cleaning work in an orderly and efficient manner. However, in the actual floor cleaning process, 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 prevent them from performing the intended cleaning task normally. Once these hijacking situations disappear, the cleaning robot will face the problem of losing its position or status. If it continues to perform the cleaning task 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 will not achieve the expected cleaning effect. It may even cause secondary pollution due to misoperation, thereby affecting the overall cleaning efficiency. Summary of the Invention

[0004] 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.

[0005] To achieve the above-mentioned and other related purposes, the technical solutions of the present invention are as follows:

[0006] An embodiment of the present invention provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0007] 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 is when the cleaning robot is moved away from the operating surface, and the lowered state is when the shielding member is in the first position;

[0008] 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.

[0009] When the cleaning robot is walking, it usually walks into an area with many obstacles. In this case, it needs to be manually moved out of the area and moved to a new location. After the cleaning robot of the present invention is hijacked, that is, after it 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 retraction 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 remains in the lowering state and does not switch to the retracted state, so as to minimize the number of retractions and releases, avoid affecting the service life of the shielding member due to frequent retractions and releases, and in addition, it can also avoid the risk of the user's hand being pinched or accidentally injured due to multiple retractions and releases of the shielding member.

[0010] After the robot is hijacked, it continues its cleaning task, adjusting the position of the shield based on the material of the work surface. For carpeted areas, which require a deep clean to meet cleaning requirements, the shield remains lowered, enhancing the brush's ability to clean the work surface. For non-carpeted areas, such as floors or tiles, the shield adjusts to the desired position based on the level of dirt, assisting the brush in cleaning and vacuuming.

[0011] Optionally, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0012] 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 lifted off the ground instantly due to misoperation, causing it to be judged as a hijacking state and execute hijacking instructions, affecting normal cleaning tasks.

[0013] Optionally, when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0014] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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 helps to deep clean the 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.

[0015] Optionally, when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

[0016] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0017] 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 the second position or the third position, including:

[0018] When the operating surface is a non-carpet area and there is 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,

[0019] 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;

[0020] The pollution degree of the second type of dirt is greater than the pollution 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.

[0021] In this way, the shielding element's target position varies for non-carpet areas, providing appropriate suction and cleaning performance based on the cleaning surface type. By using appropriate suction force for different non-carpet areas, cleaning performance can be improved. The cleaning robot adjusts the shielding element to the appropriate target position based on the type of dirt, ensuring effective cleaning for each stain. By ensuring appropriate suction force for each non-carpet area, unnecessary energy consumption can be avoided and operating time can be extended.

[0022] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0023] 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 is when the cleaning robot leaves the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when the shielding member is in the second position;

[0024] 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.

[0025] In this way, after the cleaning robot of the present invention is hijacked, in order to prevent the shielding member from being contaminated by the different state of the material of the current ground when it is placed on the ground to resume the cleaning task, it is necessary to first retract the shielding member, and then determine whether to put down or retract the shielding member based on the material of the ground when it lands. The present invention provides a time threshold from a first preset time to a 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 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 can easily increase the risk of the user's hand being pinched. Executing the retraction command only after the preset time threshold is met can avoid the above defects to the greatest extent. In addition, the retraction of the shielding member can prevent the cleaning robot from being trapped or stuck on 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 may affect the subsequent wetting of the carpet during cleaning.

[0026] Optionally, the first preset time is in the range of 1s-2s, and the second preset time is in the range of 4s-6s.

[0027] 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 lifted off the ground instantly due to misoperation, causing it to be judged as a hijacking state and execute hijacking instructions, affecting normal cleaning tasks.

[0028] Optionally, when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0029] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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 helps to deep clean the 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.

[0030] Optionally, when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

[0031] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0032] 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 the second position or the third position, including:

[0033] When the operating surface is a non-carpet area and there is 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,

[0034] 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;

[0035] The pollution degree of the second type of dirt is greater than the pollution 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.

[0036] In this way, the shielding element's target position varies for non-carpet areas, providing appropriate suction and cleaning performance based on the cleaning surface type. By using appropriate suction force for different non-carpet areas, cleaning performance can be improved. The cleaning robot adjusts the shielding element to the appropriate target position based on the type of dirt, ensuring effective cleaning for each stain. By ensuring appropriate suction force for each non-carpet area, unnecessary energy consumption can be avoided and operating time can be extended.

[0037] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0038] 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 is when the cleaning robot is moved away from the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when the shielding member is in the second position;

[0039] The cleaning robot ends being hijacked, and the shielding member remains in the retracted state;

[0040] 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.

[0041] 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 member from being easily knocked off course by human hands when it is being moved away for a long time, the shielding member is retracted during the hijacking process. When it is placed on the ground to resume the cleaning task, in order to avoid contamination caused by the state of the shielding member being different from the current material of the ground, it is necessary to keep the shielding member in the retracted state, and then determine whether to put down or retract the shielding member based on 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 member 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 member affecting the service life of the shielding member. In addition, the multiple retraction and release of the shielding member can easily increase the risk of the user's hand being pinched. Executing the retraction instruction after the time threshold is greater than the second preset time threshold can avoid the above defects to the greatest extent. In addition, the retracted shield 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.

[0042] Optionally, the second preset time is 6s-10s.

[0043] 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 instruction, affecting the normal cleaning task.

[0044] Optionally, when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0045] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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 helps to deep clean the 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.

[0046] Optionally, when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

[0047] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0048] 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 the second position or the third position, including:

[0049] When the operating surface is a non-carpet area and there is 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,

[0050] 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;

[0051] The pollution degree of the second type of dirt is greater than the pollution 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.

[0052] In this way, the shielding element's target position varies for non-carpet areas, providing appropriate suction and cleaning performance based on the cleaning surface type. By using appropriate suction force for different non-carpet areas, cleaning performance can be improved. The cleaning robot adjusts the shielding element to the appropriate target position based on the type of dirt, ensuring effective cleaning for each stain. By ensuring appropriate suction force for each non-carpet area, unnecessary energy consumption can be avoided and operating time can be extended.

[0053] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0054] 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;

[0055] Alternatively, 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 remain in the lowered state so that the cleaning robot performs the dust collection task;

[0056] 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.

[0057] 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 first, and then the shielding member can be switched from the retracted state to the lowered state when the dust collection task is performed, so as 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.

[0058] 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.

[0059] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0060] 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.

[0061] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0062] Optionally, when the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state.

[0063] In this way, when the cleaning robot is hijacked, the hijacking here means that 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.

[0064] Optionally, when the cleaning robot performs a dust collection task, the roller brush assembly switches from a stopped state to a rotating state.

[0065] 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 collection 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.

[0066] 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.

[0067] In this way, when the cleaning robot performs the dust collection task, the dust collection effect of the roller brush assembly can be improved by making the roller brush assembly rotate forward, reverse, or rotate forward and reverse alternately at a preset alternating frequency.

[0068] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0069] 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 the first cleaning position to the second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than the preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than the 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;

[0070] The cleaning robot ends being hijacked, and the shielding member remains in the retracted state;

[0071] 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.

[0072] In this way, when the cleaning robot determines that it has been hijacked, that is, the cleaning robot is being dragged on the ground, the driving wheels may not leave the ground or may be slightly lifted, which are both considered to be dragging situations. 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 retraction action to avoid the frequent retraction and extension of the shielding member affecting the service life of the shielding member. In addition, the multiple retraction and extension of the shielding member may also easily increase the risk of the user's hand being pinched. Executing the retraction instruction after the preset dragging time threshold or dragging distance threshold is met can avoid the above defects to the greatest extent. At the same time, 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.

[0073] Optionally, the preset dragging distance is 1m-2m; or, the preset dragging duration is 1s-10s.

[0074] In this way, the preset dragging time has a minimum time threshold or the preset dragging distance has a minimum distance threshold, which avoids the cleaning robot 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 instruction, affecting normal cleaning tasks, and also avoids the shielding member 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.

[0075] Optionally, when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0076] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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 helps to deep clean the 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.

[0077] Optionally, when the shielding member is in the first position, the shielding member contacts a first cleaning surface corresponding to the carpet area.

[0078] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0079] 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 the second position or the third position, including:

[0080] When the operating surface is a non-carpet area and there is 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,

[0081] 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;

[0082] The pollution degree of the second type of dirt is greater than the pollution 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.

[0083] In this way, the shielding element's target position varies for non-carpet areas, providing appropriate suction and cleaning performance based on the cleaning surface type. By using appropriate suction force for different non-carpet areas, cleaning performance can be improved. The cleaning robot adjusts the shielding element to the appropriate target position based on the type of dirt, ensuring effective cleaning for each stain. By ensuring appropriate suction force for each non-carpet area, unnecessary energy consumption can be avoided and operating time can be extended.

[0084] 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.

[0085] 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, so it is necessary to lift 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.

[0086] 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.

[0087] 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.

[0088] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0089] 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 in 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 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;

[0090] The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

[0091] In this way, when the cleaning robot is hijacked, which is defined as being trapped in place for a long time due to external forces, the cleaning robot will not immediately retract the shielding member. Instead, it will wait until a third preset time threshold is met before executing the retraction action. This is to avoid frequent retraction and extension of the shielding member, which may affect the service life of the shielding member. In addition, multiple retraction and extension of the shielding member may also easily increase the risk of the user's hand being pinched. Executing the retraction command only after the preset time threshold is met can minimize the above defects. Furthermore, the cleaning robot will not retract the shielding member until the third preset time has passed, which is beneficial for the subsequent cleaning robot to escape and avoids interference between the shielding member and the surrounding environment, which increases the escape resistance.

[0092] Optionally, the third preset time is 8s-20s.

[0093] Thus, the third preset time has a minimum time threshold, which prevents the cleaning robot from being stuck due to misoperation, causing it to be judged as in a hijacked state and execute hijacking commands, affecting normal cleaning tasks. It also prevents the shield from being quickly retracted after the cleaning robot is briefly stuck, which may increase the failure rate of the shield and shorten its service life.

[0094] 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.

[0095] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0096] 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.

[0097] In this way, when the shield is in the first position, it can contact the first cleaning surface of the carpet area. The shield directly contacting the ground can apply additional physical pressure, helping to loosen and extract deep dirt. This physical action, combined with the enhanced suction, can significantly improve the cleaning effect on the carpet. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0098] 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.

[0099] In this way, when the cleaning robot is hijacked, here hijacked means that the cleaning robot is trapped in place for a long time due to external force, and the roller brush assembly is lifted from the first roller brush position to the second roller brush position, which helps 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 helps 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, and facilitate the cleaning robot to escape.

[0100] 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.

[0101] 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. 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.

[0102] Optionally, the second chassis position includes a first chassis working position and a second chassis working position.

[0103] 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,

[0104] When the second type of fluff exists on the operating surface, the chassis of the cleaning robot is in the second chassis working position;

[0105] 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.

[0106] In this way, the chassis lifting height of the cleaning robot is different according to the different lengths of 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, avoids excessive power consumption, and increases the use time of the cleaning robot.

[0107] 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.

[0108] In this way, 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.

[0109] 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.

[0110] 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 wheel of the cleaning robot stops rotating and alerts the user through an alarm.

[0111] Optionally, the fourth preset time is 8 s-15 s.

[0112] In this way, by setting the fourth preset time threshold, the cleaning robot can be in the process of repeatedly getting out of trouble for a long time, thereby reducing unnecessary power consumption of the cleaning robot and reducing noise.

[0113] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0114] 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 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;

[0115] The cleaning robot ends being hijacked and the shielding member remains in the retracted state.

[0116] In this way, after the cleaning robot of the present invention is hijacked, that is, the cleaning robot is summoned to move from its original position to a designated location to perform a temporary cleaning task. The summoning includes but is not limited to voice summoning and summoning by selecting a box 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 getting stuck or contaminated by water during the movement of the cleaning robot. This can also facilitate the cleaning robot to quickly move from its original position to the designated location to respond to customer needs as soon as possible.

[0117] 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.

[0118] 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.

[0119] An embodiment of the present invention further provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning assembly, the cleaning assembly including a shielding member and a roller brush assembly having a dust suction chamber, the shielding member being used to partially shield a ventilation channel between the dust suction chamber and an operating surface, the method comprising:

[0120] 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, the shielding member is controlled to be in the lowered state, wherein the operating surface is a carpet area, and being hijacked 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;

[0121] The cleaning robot stops being hijacked, and the shielding member remains in the lowered state.

[0122] In this way, after the cleaning robot of the present invention is hijacked, that is, the cleaning robot is summoned to move from its original position to a designated location to perform a temporary cleaning task. The summoning includes but is not limited to voice summoning and summoning by selecting a box on the cleaning map. The cleaning robot controls the shielding member to be in a lowered state, enabling the cleaning robot to move from its original position to the designated location in response to the summoning instruction while also cleaning the area along the movement path.

[0123] Optionally, 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: controlling the roller brush assembly to be in a rotating state.

[0124] In this way, by controlling the roller brush assembly to be in a rotating state, the roller brush assembly can be rotated and the shielding member can be lowered during the process of the cleaning robot moving from the original position to the specified position, so as to efficiently clean the area passed by the moving path.

[0125] Optionally, when the covering member of the cleaning robot is in a lowered state while performing a cleaning task on the 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.

[0126] 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, thereby reducing power consumption and improving the efficiency of the cleaning robot's rapid movement.

[0127] Optionally, when the covering 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 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.

[0128] 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.

[0129] As described above, the cleaning method of the cleaning robot of the present invention has the following beneficial effects:

[0130] By adjusting the status of the covering member according to the hijacking situation of the cleaning robot, the frequent retraction and extension of the covering member can be avoided to affect its service life and avoid the risk of users' hands being pinched; the covering member can be prevented from getting stuck or stained with water due to unclear ground material conditions; and the position of the covering member can be adjusted according to the ground material subsequently, so that the cleaning robot can still adjust the position of the covering member after being hijacked to normally perform cleaning tasks that meet the user's intentions. BRIEF DESCRIPTION OF THE DRAWINGS

[0131] Figure 1 is a flow chart of a cleaning method of a cleaning robot according to an embodiment of the present invention;

[0132] Figure 2 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0133] Figure 3 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0134] Figure 4 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0135] Figure 5 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0136] Figure 6 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0137] Figure 7 is a flow chart of a cleaning method of a cleaning robot according to another embodiment of the present invention;

[0138] Figure 8 This is a flow chart of a cleaning method for a cleaning robot according to another embodiment of the present invention. DETAILED DESCRIPTION

[0139] The following describes the embodiments of the present invention using specific embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details herein may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0140] 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 understanding and reading by those familiar with this technology, and are not used to limit the conditions for implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose 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 implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0141] 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.

[0142] The cleaning robot may include a robotic device having a control unit, a drive unit, etc. The control unit may control the drive unit to achieve automatic movement of the robot. A cleaning component may be installed on the robotic 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 is understood that the rag component should be broadly understood 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 carpet-like floors; a dry cleaning component + a wet cleaning component may be used to clean floors or tile-like floors.

[0143] The robot device also has various types of sensor components. The control unit controls the cleaning robot to perform corresponding actions based on 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, posture sensors, drop sensors, etc. The position sensor can obtain the position coordinates of the cleaning robot in a timely manner and decide to execute cleaning instructions based on the position coordinates. The collision sensor can provide the collision force data of the cleaning robot to control whether the cleaning robot avoids obstacles. The posture sensor can monitor the posture of the cleaning robot and can send posture parameters such as normal, tilt, tilt angle, tilt time, etc. to the control unit. The posture 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.

[0144] Please combine Figure 1 As shown, an embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes 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 includes:

[0145] S11: When the shielding member of the cleaning robot is in a lowered state while performing 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, controlling the shielding member to be in a lowered state, wherein the hijacking is when the cleaning robot is moved away from the operating surface, and the lowered state is when the shielding member is in the first position;

[0146] 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.

[0147] It is understood that the term "shield member in the lowered state" as used herein should be broadly understood, relative to the shield member's retracted state, wherein the retracted state can be understood as a state in which the shield member is actively or passively raised. When a cleaning robot performs a cleaning task, especially in areas requiring deep cleaning, such as carpeted areas, it is often necessary to use a shield member to partially block the ventilation channel between the suction chamber and the operating surface, thereby increasing negative pressure and enhancing the roller brush assembly's ability to absorb and clean garbage.

[0148] When performing a cleaning task, the cleaning robot cleans according to a preset cleaning route. For step S11, 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 under the action of an external force. This 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 described in detail here. Once the cleaning robot senses that it has left the ground, it can count the time 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 remains in the lowered state.

[0149] If the cleaning robot determines it has been hijacked and the hijacking duration is between the first and second preset times, it will not retract the shielding member. This minimizes the number of times the shielding member is retracted and extended, preventing frequent retraction and extension of the shielding member from affecting its service life. This also reduces the risk of pinching the user's hands due to repeated retraction and extension of the shielding member. It also prevents the roller brush assembly from accidentally deploying or exposing the suction chamber during transport, preventing damage to internal components and dust backflow.

[0150] For step S12: the cleaning robot ends being hijacked, which is often also necessary to be judged by 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.

[0151] After the hijacking is complete, the cleaning robot continues to perform its cleaning task, executing instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shield remains in a lowered position to clean the carpeted area. When the operating surface is a non-carpeted area, the shield is in a target position to clean the non-carpeted area, with the target position being the second or third position. The determination of the operating surface material can be understood in conjunction with relevant technologies, such as by analyzing and determining using image sensors, optical sensors, etc., without limitation. It is understood that for carpeted areas, a deep clean is often required to meet cleaning requirements. The shield remains in a lowered position, partially blocking the ventilation channel to enhance the negative pressure in the suction chamber, thereby increasing the cleaning power of the roller brush assembly on the operating surface and effectively solving the problem of extracting stubborn dust from deep crevices in carpets. For non-carpeted areas, such as hard surfaces like floors or tiles, the shield can be adjusted to the target position based on the degree of dirtiness, dynamically adjusting the suction distribution 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.

[0152] Exemplarily, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0153] The first preset time can be any value between 1s and 2s, such as 1.5s, 1.8s, 2s, etc. The second preset time can 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, thereby affecting normal cleaning tasks.

[0154] It should be noted that when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0155] 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), it 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.

[0156] Preferably, when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. With the shield in the first position, it can contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with the enhanced suction, can significantly improve carpet cleaning effectiveness. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0157] Regarding 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 the second position or the third position, including:

[0158] When the operating surface is a non-carpet area and there is 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,

[0159] 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;

[0160] The pollution degree of the second type of dirt is greater than the pollution 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.

[0161] Specifically, for non-carpet areas, the target position of the shield is adjusted based on the type of cleaning surface. The degree of contamination mentioned here can be understood broadly as contamination, namely, the distribution area, amount of dirt, and degree of adhesion. For the first type of dirt, which is lighter and has larger particles, adjusting the shield to the second position allows for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the shield to the third position reduces the ventilation area, concentrating the suction force of the roller brush assembly and effectively increasing the suction capacity for stubborn dirt. Notably, the ventilation area of ​​the shield in the third position is between the ventilation areas of the first and second positions. This means that even if dirt is present on non-carpet areas such as floors or tiles, the cleaning suction force is less than that on carpeted areas. By adjusting the shield to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning for different dirt types. By ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and operating time can be extended.

[0162] In an embodiment of the present invention, when a shielding member of a cleaning robot is in a lowered position while performing a cleaning task on an operating surface, if it is hijacked away from the operating surface and the hijacking time is between a first preset time and a second preset time, the shielding member is controlled to remain in the lowered position to avoid frequent retraction and extension of the shielding member, which may affect its service life and increase the risk of pinching the user's hands. When the cleaning robot is no longer hijacked and continues to perform the cleaning task, the shielding member is again maintained in the lowered position or adjusted to the target position based on the material of the operating surface to adapt to the current material of the operating surface.

[0163] Please combine Figure 2 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0164] 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, controlling the shielding member to switch from the lowered state to the retracted state, wherein the hijacking is when the cleaning robot leaves the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when the shielding member is in the second position;

[0165] 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.

[0166] When the cleaning robot performs a cleaning task, it cleans according to a preset cleaning route. For step S21, 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. This 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 by the above sensors or other conventional sensors, which will not be described in detail here. Once the cleaning robot senses that it has left the ground, it can count the time 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.

[0167] When the cleaning robot determines it has been hijacked, it does not immediately retract the shielding member. Instead, it waits until the hijacked state has been satisfied for a period of time between a first preset time and a second preset time before retracting the shielding member. This prevents the shielding member from being frequently retracted and deployed, which could affect its service life. Furthermore, it also avoids the risk of the user's hand being pinched by the shielding member due to repeated deployment and retraction. Furthermore, the retracted shielding member prevents the cleaning robot from being trapped or stuck on uneven surfaces when placed on the ground. It also prevents water stains from humid environments, which could affect subsequent carpet cleaning.

[0168] For step S22: the cleaning robot ends being hijacked, which is often also necessary to be judged by 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.

[0169] After the hijacking is complete, the cleaning robot continues its cleaning task, executing commands based on the material of the operating surface. When the operating surface is carpeted, the shield switches from its retracted position to a lowered position to clean the carpeted area. When the operating surface is non-carpeted, the shield is in its target position, either the second or third position, to clean the non-carpeted area. As can be appreciated, carpeted areas often require a deep clean to meet cleaning requirements. Maintaining the shield in its lowered position reduces the ventilation area to enhance suction, thereby increasing the brush assembly's cleaning power on the operating surface and ensuring deep-seated dust removal. For non-carpeted areas, such as floors or tiles, the shield can be adjusted to its target position based on the level of dirt to assist the brush assembly in sweeping and vacuuming. Therefore, in order for the cleaning robot to correctly execute cleaning commands after the hijacking is complete, the shield's state must be controlled based on the material of the operating surface at its current location. By adjusting the shield's position in real time, a decrease in cleaning effectiveness due to changes in the floor material can be avoided. 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.

[0170] Exemplarily, the first preset time is 1s-2s, and the second preset time is in the range of 4s-6s.

[0171] The first preset time may be any value between 1s and 2s, such as 1.3s, 1.5s, or 2s, and the second preset time may be any value between 4s and 6s, such as 4s, 4.5s, or 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, thereby affecting normal cleaning tasks.

[0172] It should be noted that when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0173] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0174] Preferably, when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. With the shield in the first position, it can contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with the enhanced suction, can significantly improve carpet cleaning effectiveness. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0175] Regarding 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 the second position or the third position, including:

[0176] When the operating surface is a non-carpet area and there is 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,

[0177] 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;

[0178] The pollution degree of the second type of dirt is greater than the pollution 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.

[0179] Specifically, for non-carpet areas, the target position of the shield is adjusted based on the type of cleaning surface. The degree of contamination mentioned here can be understood broadly as contamination, namely, the distribution area, amount of dirt, and degree of adhesion. For the first type of dirt, which is lighter and has larger particles, adjusting the shield to the second position allows for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the shield to the third position reduces the ventilation area, concentrating the suction force of the roller brush assembly and effectively increasing the suction capacity for stubborn dirt. Notably, the ventilation area of ​​the shield in the third position is between the ventilation areas of the first and second positions. This means that even if dirt is present on non-carpet areas such as floors or tiles, the cleaning suction force is less than that on carpeted areas. By adjusting the shield to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning for different dirt types. By ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and operating time can be extended.

[0180] 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 away from the operating surface and the hijacking time is between a first preset time and a second preset time, the shielding member 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 when it is put back on the ground (for example, the shielding member may be trapped when placed in a difficult environment or may be stuck on an uneven ground, resulting in subsequent movement of the shielding member; or, for example, the shielding member may be 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.

[0181] Please combine Figure 3 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0182] S31: when the shielding member of the cleaning robot is in a lowered state and performing a cleaning task on the operating surface, and the cleaning robot is hijacked and the hijacking time is greater than a second preset time, controlling the shielding member to switch from the lowered state to the retracted state, wherein the hijacking is when the cleaning robot is moved away from the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when the shielding member is in the second position;

[0183] S32: the cleaning robot ends being hijacked, and the shielding member remains in the retracted state;

[0184] 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.

[0185] When the cleaning robot performs a cleaning task, it cleans according to a preset cleaning route. For step S31, 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. This 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 by the above sensors or other conventional sensors, which will not be described in detail here. Once the cleaning robot senses that it has left the ground, it can count the time through an internal timer. When the time in the hijacked state is greater than a 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.

[0186] When the cleaning robot determines that it has been hijacked, it will not immediately retract the shielding member. Instead, it will wait until the hijacked state has been met for longer than a second preset time before performing the retraction action. This prevents the shielding member from being frequently retracted and extended, which may affect its service life. In addition, it can also avoid the risk of the user's hand being pinched due to repeated retraction and extension 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 also helps to quickly balance 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 uneven surfaces when the cleaning robot is placed on the ground in difficult environments, and prevent water stains caused by being placed in humid environments, which may affect the subsequent cleaning process and wet the carpet.

[0187] For step S32: the cleaning robot ends being hijacked, which is often also necessary to be judged by 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.

[0188] After the cleaning robot is no longer hijacked, the shield remains in the retracted state, that is, when the cleaning robot lands, the shield is retracted regardless of the material of the ground to prevent the shield from getting stuck (preventing the shield from getting stuck due to uneven ground or obstacles) or being stained by water due to unclear ground material conditions.

[0189] In step S33, the cleaning robot continues to perform the cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shielding member switches from the retracted state to the lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding member is in the target position to clean the non-carpeted area, which is the second or third position. As can be understood, for carpeted areas, a deep clean is often required to meet cleaning requirements. The shielding member remains in the lowered state, reducing the ventilation area to enhance suction, thereby enhancing the cleaning power of the roller brush assembly on the operating surface and resolving the problem of difficulty extracting deep-seated carpet dust. For non-carpeted areas, such as floors or tiles, the shielding member can be adjusted to the target position based on 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 shielding member's state must be controlled based on the material of the operating surface at its current location.

[0190] Exemplarily, the second preset time is 6s-10s.

[0191] The second preset time has a minimum time threshold, for example, set to any value between 6s and 10s, such as 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 hijacked state and execute a hijacking command, thereby affecting normal cleaning tasks.

[0192] It should be noted that when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0193] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0194] Preferably, when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. With the shield in the first position, it can contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with the enhanced suction, can significantly improve carpet cleaning effectiveness. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0195] Regarding 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 the second position or the third position, including:

[0196] When the operating surface is a non-carpet area and there is 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,

[0197] 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;

[0198] The pollution degree of the second type of dirt is greater than the pollution 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.

[0199] Specifically, for non-carpet areas, the target position of the shield is adjusted based on the type of cleaning surface. The degree of contamination mentioned here can be understood broadly as contamination, namely, the distribution area, amount of dirt, and degree of adhesion. For the first type of dirt, which is lighter and has larger particles, adjusting the shield to the second position allows for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the shield to the third position reduces the ventilation area, concentrating the suction force of the roller brush assembly and effectively increasing the suction capacity for stubborn dirt. Notably, the ventilation area of ​​the shield in the third position is between the ventilation areas of the first and second positions. This means that even if dirt is present on non-carpet areas such as floors or tiles, the cleaning suction force is less than that on carpeted areas. By adjusting the shield to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning for different dirt types. By ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and operating time can be extended.

[0200] 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 away from 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. It can also 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 difficult environments on the ground or getting stuck on 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.

[0201] Please combine Figure 4 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0202] 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 is when 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;

[0203] Wherein, the lowered state is the shielding member in the first position, the retracted state is the shielding member 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;

[0204] or,

[0205] 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 the dust collection task;

[0206] The lowered state is when the shielding member is in the first position, and the retracted state is when 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.

[0207] When the cleaning robot performs 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 has been 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, which is beneficial for the cleaning robot to perform other tasks besides dust collection 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. By reducing the ventilation area and enhancing the negative pressure strength of the dust collection air duct, the efficiency of dust transfer from the dust box of the cleaning robot to the dust bag of the cleaning base station is improved, and dust overflow during the dust collection process is prevented to maintain the cleanliness of the cleaning base station.

[0208] Regarding 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 by the above sensors or other conventional sensors, which will not be described 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 due to 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.

[0209] 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.

[0210] 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 at the cleaning base station. By reducing the ventilation area to enhance the negative pressure strength of the dust collection air duct, a more closed air duct system is formed during the dust collection process, thereby improving the efficiency of dust transfer from the dust box to the dust bag and preventing dust from overflowing during the dust collection process; 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.

[0211] Preferably, the operating surface is a carpet area, and when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. With the shield in the first position, it can contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with the enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0212] It is understood 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 the user's hand being pinched by 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 when transporting the cleaning robot to the cleaning base station and reducing the operating power consumption of the cleaning robot.

[0213] It is understood 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. The rotation of the roller brush assembly can remove stubborn dust adhering to the inner wall of the dust box and the filter screen, and the rotation of the roller brush assembly can break up agglomerated dust (such as dust that has clumps due to moisture), preventing large particles from clogging 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 even. In addition, when the roller brush assembly rotates, the bristles can clean the air duct inlet area, preventing airflow attenuation caused by hair entanglement.

[0214] Exemplarily, when the cleaning robot performs dust collection, the roller brush assembly rotates in forward, reverse, or alternating forward and reverse rotations at a preset alternating frequency. Specifically, during forward rotation, the roller brush transports dust toward the dust collection port, improving the recovery efficiency of large particles (such as cat litter and food scraps), making it suitable for conventional dust / particulate matter collection. Reverse rotation generates a mechanical force opposite to that during cleaning, effectively shaking out clumped dust (adhesive due to moisture), fibrous waste (carpet lint, pet hair), or sticky materials (sugar stains, dirt) stuck in the gaps between the roller brushes. During reverse rotation, dust accumulated at the base of the bristles is forcefully ejected, and combined with the dust collection airflow, the roller brush achieves a deep clean. Reverse rotation changes the direction of hair entanglement, and alternating forward and reverse rotations can avoid excessive unidirectional entanglement and prevent hair entanglement. Thus, when the cleaning robot performs dust collection, by rotating the roller brush assembly in forward, reverse, or alternating forward and reverse rotations at a preset alternating frequency, the roller brush assembly's dust collection efficiency can be improved.

[0215] 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 the operating surface, once it is hijacked from the operating surface and transferred to the cleaning base station for charging, the shielding member switches from the lowered state to the retracted state, and waits until the dust collection task is performed before lowering the shielding member 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 the 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 that the dust collection task can be directly performed, thereby reducing the state switching frequency of the shielding member and improving work efficiency.

[0216] Please combine Figure 5 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0217] S51: when the shielding member of the cleaning robot is in a lowered state performing 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 the first cleaning position to the second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than the preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than the 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;

[0218] S52: the cleaning robot ends being hijacked, and the shielding member remains in the retracted state;

[0219] 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.

[0220] When the cleaning robot performs a cleaning task, it cleans according to a preset cleaning route. For step S51, 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 refers to the cleaning robot being dragged from a first position to a second position. The judgment of the hijacking state is obtained by the above sensors or other conventional sensors, which will not be described in detail here. Once the cleaning robot senses that it is being dragged, it can count the time 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 is switched from the lowered state to the retracted state.

[0221] 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.

[0222] When the cleaning robot determines it has been hijacked, it will not immediately retract the shield. Instead, it will wait until a time threshold or distance threshold is met before retracting the shield. This prevents frequent retraction and extension of the shield, which can affect its service life. Furthermore, repeated retraction and extension of the shield can increase the risk of pinching the user's hands. Furthermore, by retracting the shield, the robot can be prevented from rubbing against the floor (especially the carpet) due to unclear ground conditions while being dragged (the robot may be dragged out of the carpet), potentially causing damage to the components, jamming (getting stuck in the carpet or floor gaps), or water stains, thereby affecting the subsequent cleaning effect of the roller brush assembly.

[0223] Regarding step S52: the cleaning robot ends being hijacked, it is often necessary to determine through the aforementioned sensor component. When the sensor component determines that the cleaning robot ends being dragged, it is considered that the hijacking event ends.

[0224] 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, 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.

[0225] In step S53, the cleaning robot continues to perform the cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shielding member switches from the retracted state to the lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding member is in the target position to clean the non-carpeted area, which is the second or third position. As can be understood, for carpeted areas, a deep clean is often required to meet cleaning requirements. Maintaining the shielding member in the lowered state enhances the sealing of the dust collection chamber, thereby enhancing the cleaning power of the roller brush assembly on the operating surface and improving the extraction efficiency of deep-seated carpet dust. For non-carpeted areas, such as hard surfaces like flooring or tiles, the shielding member can be adjusted to the target position based on the degree of dirtiness, balancing ventilation efficiency and dust prevention, avoiding airflow loss caused by excessive obstruction, and assisting the roller brush assembly in cleaning and dust collection. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the shielding member's state must be controlled based on the material of the operating surface at the current position.

[0226] Exemplarily, the preset dragging distance is 1m-2m; or, the preset dragging duration is 1s-10s.

[0227] Specifically, the preset dragging distance has a minimum distance threshold, for example, set to any value between 1m and 2m, such as 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 in a hijacked state and execute hijacking commands, affecting normal cleaning tasks. It also prevents the shield from being quickly retracted after being dragged a short distance, which can increase the shield's failure rate and shorten its service life.

[0228] The preset dragging duration has a minimum time threshold, for example, any value between 1s and 10s, such as 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 in a hijacked state and execute hijacking commands, affecting normal cleaning tasks. It also prevents the shield from being quickly retracted after a short dragging, which may increase the shield failure rate and shorten its service life.

[0229] It should be noted that when the covering member is in the first position, it covers part of the ventilation channel, so that the ventilation area when the covering member is in the first position is smaller than the ventilation area when the covering member is in the second position; when the covering member is in the third position, it covers part of the ventilation channel, and the ventilation area of ​​the covering member at the third position is larger than the ventilation area when the covering member is in the first position, and smaller than the ventilation area when the covering member is in the second position.

[0230] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0231] Preferably, when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. With the shield in the first position, it can contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with the enhanced suction, can significantly improve carpet cleaning effectiveness. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0232] Regarding 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 the second position or the third position, including:

[0233] When the operating surface is a non-carpet area and there is 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,

[0234] 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;

[0235] The pollution degree of the second type of dirt is greater than the pollution 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.

[0236] Specifically, for non-carpet areas, the target position of the shield is adjusted based on the type of cleaning surface. The degree of contamination mentioned here can be understood broadly as contamination, namely, the distribution area, amount of dirt, and degree of adhesion. For the first type of dirt, which is lighter and has larger particles, adjusting the shield to the second position allows for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the shield to the third position reduces the ventilation area, concentrating the suction force of the roller brush assembly and effectively increasing the suction capacity for stubborn dirt. Notably, the ventilation area of ​​the shield in the third position is between the ventilation areas of the first and second positions. This means that even if dirt is present on non-carpet areas such as floors or tiles, the cleaning suction force is less than that on carpeted areas. By adjusting the shield to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning for different dirt types. By ensuring appropriate suction force in different non-carpet areas, unnecessary energy consumption can be avoided and operating time can be extended.

[0237] In an embodiment of the present invention, when the shielding member of a cleaning robot is in a lowered state while performing a cleaning task on an operating surface, if it is hijacked and dragged on the ground for a period of time or a distance greater than a preset dragging time, the shielding member of the cleaning robot switches from the lowered state to the retracted state. This prevents the shielding member from becoming stuck or contaminated with water due to unclear ground material during the dragging process (the cleaning robot may drag out the carpet), causing the shielding member to become stuck or affect the cleaning effect of the subsequent roller brush assembly. When the cleaning robot is no longer 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 current material of the operating surface.

[0238] Please combine Figure 6 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0239] 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, controlling the shielding member to switch from the lowered state to the retracted state, wherein the hijacking means that the cleaning robot stays in 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;

[0240] S62: The cleaning robot ends being hijacked, and the shielding member remains in the retracted state.

[0241] When the cleaning robot performs a cleaning task, it cleans according to a preset cleaning route. For step S61, 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 held down or trapped and stays in the original position for a time greater than a 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 do it or the 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.

[0242] The hijacking refers to the cleaning robot staying in the original position under the action of external force. Staying in the original position 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.

[0243] When the cleaning robot is hijacked, it does not immediately retract the shielding member. Instead, it waits until a third preset time threshold has been met before retracting the shielding member. This prevents frequent retraction and extension of the shielding member, which can affect its service life. Furthermore, repeated retraction and extension of the shielding member can increase the risk of pinching the user's hand. Furthermore, after the cleaning robot has been hijacked for a period exceeding the third preset time, the shielding member is retracted to prevent overload and damage to mechanical structures (such as the shielding member or motor) caused by continued obstruction. Retracting the shielding member also reduces ventilation resistance between the suction chamber and the operating surface, alleviating the risk of motor stalling due to external force, while also reducing inefficient energy consumption. Furthermore, it facilitates the cleaning robot's subsequent escape by preventing interference between the shielding member and the surrounding environment, which could increase escape resistance.

[0244] For step S62, whether the cleaning robot ends being hijacked often needs to be judged 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.

[0245] After the cleaning robot is no longer hijacked, the shield 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 shield being stained with water due to unclear ground material conditions.

[0246] Exemplarily, the third preset time is 8s-20s.

[0247] The third preset time has a minimum threshold, for example, any value between 8s and 20s, including 8s, 9s, 10s, 11s, 12s, 13s, 14s, and 20s. Using this threshold (the third preset time) as a judgment condition prevents the cleaning robot from being blocked or briefly paused (e.g., while navigating an obstacle or turning) due to misoperation, leading to a misjudgment of the robot as being in a hijacked state and triggering a false response, thus affecting normal cleaning tasks. It also prevents the shield from being quickly retracted after the cleaning robot is briefly blocked, which could increase the shield's failure rate and shorten its service life.

[0248] 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.

[0249] 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, reduces part of the ventilation area, and increases the negative pressure in the dust suction chamber, 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.

[0250] Preferably, the operating surface is a carpet area, and when the shield is in the first position, it contacts the first cleaning surface corresponding to the carpet area. The shield in the first position enables it to contact the first cleaning surface of the carpet area. The shield, directly contacting the ground, can exert additional physical pressure, helping to loosen and extract deep-seated dirt. This physical effect, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shield, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when handling complex surfaces such as carpets.

[0251] It is understandable 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. 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 forward and reverse at a preset alternating frequency, it is conducive to 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, jointly reducing the resistance to the movement of the cleaning robot.

[0252] It is understandable that when the cleaning robot is hijacked, the chassis of the cleaning robot is lifted from the first chassis position close to the operating surface to the second chassis position away from the operating surface. Specifically, in order to prevent foreign matter 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 matter discharged by the roller brush assembly will not be dragged along with the chassis, making it easier for the cleaning robot to escape. Moreover, after the chassis is lifted, the contact area between the cleaning robot as a whole and the operating surface is reduced, reducing the movement resistance. The lifted chassis can also avoid secondary jamming by 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.

[0253] In the above embodiment, the second chassis position includes a first chassis working position and a second chassis working position. 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.

[0254] Specifically, the robot's chassis lift height varies according to the length of the carpeted area on the work surface, ensuring the required height is met. Adjusting the height for different lengths of carpet reduces the chance of hair entanglement in the brush assembly, helping the robot escape, while also avoiding excessive power consumption and extending the robot's operating time. The lift height can be dynamically adjusted to balance protection and cleaning effectiveness.

[0255] It is understandable that when the cleaning robot is hijacked, the driving wheels of the cleaning robot keep rotating within the preset escape time range to escape the hijacked state. In this way, in order to ensure that the cleaning robot can successfully escape, the driving wheels always keep rotating within the preset escape time range, thereby relying on the rotation of the driving wheels to assist in escaping.

[0256] Furthermore, if 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 issues an alarm. Specifically, if the cleaning robot fails to escape within the preset escape time range, the driving wheels of the cleaning robot stop rotating after a fourth preset time threshold to avoid power consumption of the cleaning robot, and the cleaning robot issues an alarm to alert the user.

[0257] 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 the process of repeatedly getting out of trouble for a long time, thereby reducing unnecessary power consumption of the cleaning robot and reducing noise.

[0258] In an embodiment of the present invention, when a cleaning robot's shielding member is in a lowered position while performing a cleaning task on an operating surface, if the cleaning robot is hijacked and remains in place for a period exceeding a third preset time, the shielding member of the cleaning robot switches from the lowered position to the retracted position, thereby facilitating subsequent escape attempts by the cleaning robot and preventing interference between the shielding member and the surrounding environment, which would increase escape resistance. When the cleaning robot is no longer hijacked, the shielding member remains retracted.

[0259] Please combine Figure 7 As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0260] S71: When the shielding member of the cleaning robot is in a lowered state and is performing a cleaning task on the operating surface, when the cleaning robot is hijacked, controlling the shielding member to switch from the lowered state to the retracted state, wherein the hijacking is when 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 when the shielding member is in a first position, and the retracted state is when 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;

[0261] S72: The cleaning robot stops being hijacked, and the shielding member remains in the retracted state.

[0262] When performing a cleaning task, the cleaning robot cleans according to a preset cleaning route. In 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 point, the cleaning robot is hijacked. "Hijacked" should be understood in a broad sense. In this embodiment, hijacking means that the cleaning robot is summoned to move from its original position to a designated location to perform a temporary cleaning task. Summoning includes but is not limited to voice summoning and summoning by selecting a box on a cleaning map. The designated location can be a user-specified cleaned area (for supplementary cleaning) or uncleaned area (for temporary cleaning). The cleaning map includes multiple cleaning areas, and each cleaning area can display the cleaning status for the user to view.

[0263] 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 move quickly from its original position to the designated position to respond to customer needs as soon as possible.

[0264] In step S72, the cleaning robot is no longer hijacked. This is often determined by the aforementioned sensor assembly. When the sensor assembly determines that the cleaning robot has moved from its original position to the designated position, the hijacking event is considered complete. The shield remains retracted, and when the cleaning task is subsequently resumed, the shield is adjusted according to the floor material.

[0265] Optionally, when the cleaning robot is hijacked, the roller brush assembly is raised 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. Thus, when the cleaning robot is hijacked, in order to prevent the roller brush assembly from getting stuck or contaminated by water during movement, thereby affecting subsequent cleaning effects, it is necessary to raise the roller brush assembly or stop it when the shielding member is retracted to ensure that the roller brush assembly is protected from dirt during the dragging process and to improve the cleaning robot's rapid response efficiency.

[0266] 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 the operating surface, once it is hijacked, that is, the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task, the covering member is controlled 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, so as to facilitate the cleaning robot to quickly move from its original position to the designated position to respond to customer needs as soon as possible.

[0267] Please combine Figure 8As shown, another embodiment of the present invention provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a cleaning assembly, the cleaning assembly includes a shielding member and a roller brush assembly having a dust suction chamber, the shielding member is used to partially shield the ventilation channel between the dust suction chamber and the operating surface, and the method includes:

[0268] S81: When the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on an operating surface, the cleaning robot is hijacked, controlling the shielding member to be in the lowered state, wherein the operating surface is a carpet area, and being hijacked 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;

[0269] S82: The cleaning robot stops being hijacked, and the shielding member remains in the lowered state.

[0270] When performing a cleaning task, the cleaning robot cleans according to a preset cleaning route. In step S81, the shield of the cleaning robot remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this point, the cleaning robot is hijacked. "Hijacked" should be understood in a broad sense. In this embodiment, hijacking means that the cleaning robot is summoned to move from its original position to a designated location to perform a temporary cleaning task. Summoning includes but is not limited to voice summoning and summoning by selecting a box on a cleaning map. The designated location can be a user-specified cleaned area (for supplementary cleaning) or uncleaned area (for temporary cleaning). The cleaning map includes multiple cleaning areas, and each cleaning area can display the cleaning status for the user to view.

[0271] When the cleaning robot determines that it has been hijacked, it controls the shielding member to be in the lowered state to avoid the frequent retraction and extension of the shielding member 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.

[0272] In step S82, the cleaning robot is no longer hijacked. This is often determined by the aforementioned sensor assembly. When the sensor assembly determines that the cleaning robot has moved from its original position to the designated position, the hijacking event is considered complete. The shield remains lowered, and when the cleaning task resumes, the shield is adjusted based on the floor material.

[0273] In the above embodiment, when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on the operating surface, if 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 rotational state. Thus, by controlling the roller brush assembly to be in the rotational state, the roller brush assembly can be rotated and the shielding member can be lowered during the process of the cleaning robot moving from an original position to a designated position, thereby efficiently cleaning the area along the moving path.

[0274] It should be noted that when the cleaning robot's shielding member is in a lowered state while performing a cleaning task on the operating surface, if the cleaning robot is hijacked, controlling the shielding member to remain in the lowered state further includes: when the cleaning robot exits the carpeted 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 exits the carpeted area, the shielding member switches from the lowered state to the retracted state, thereby reducing power consumption and improving the efficiency of the cleaning robot's rapid movement. After the cleaning robot is summoned from its original position to the designated location specified by the user, it can then initiate a cleaning task as needed.

[0275] It is understood that when the shielding member of the cleaning robot is in a lowered state while performing a cleaning task on the operating surface, if the cleaning robot is hijacked, controlling the shielding member to be in the lowered state also includes: when the cleaning robot exits 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 exits 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 from its original position to the designated location summoned by the user, it can initiate the cleaning task as needed.

[0276] 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 the operating surface, once it 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 covering member is controlled to be in a lowered state, enabling the cleaning robot to 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.

[0277] To sum up, the cleaning method of the cleaning robot provided by the present invention adjusts the state of the covering member according to the situation of the cleaning robot being hijacked, so as to avoid the frequent retraction and extension 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, which is conducive to the cleaning robot being able to adjust the position of the covering member after encountering a hijacking situation to normally perform cleaning tasks that meet the user's intentions.

[0278] 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 skilled in 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 one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A cleaning method for a cleaning robot, characterized in that: The cleaning robot includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 is when the cleaning robot is moved away from the operating surface, and the lowered state is when the shielding member is in the 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 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.

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 the second position or the third position, including: When the operating surface is a non-carpet area and there is 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 pollution degree of the second type of dirt is greater than the pollution 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 includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 is when the cleaning robot leaves the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when 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 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.

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 the second position or the third position, including: When the operating surface is a non-carpet area and there is 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 pollution degree of the second type of dirt is greater than the pollution 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 includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 is when the cleaning robot is moved away from the operating surface, the lowered state is when the shielding member is in the first position, and the retracted state is when the shielding member is in the second position; The cleaning robot ends being hijacked, and the shielding member remains in the 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 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.

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 the second position or the third position, including: When the operating surface is a non-carpet area and there is 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 pollution degree of the second type of dirt is greater than the pollution 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 includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 and performs 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, 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.

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 includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 the first cleaning position to the second cleaning position, and the distance from the first cleaning position to the second cleaning position is greater than the preset dragging distance, or the time from the first cleaning position to the second cleaning position is greater than the 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 ends being hijacked, and the shielding member remains in the 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 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.

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 the second position or the third position, including: When the operating surface is a non-carpet area and there is 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 pollution degree of the second type of dirt is greater than the pollution 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 includes a cleaning assembly, the cleaning assembly includes 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 includes: 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 in 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 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; 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, 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.

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 in forward and reverse directions 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.

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