Blind spot cleaning method, cleaning robot and readable storage medium

Abstract

The present application relates to a blind spot cleaning method, a cleaning robot, and a readable storage medium. The blind spot cleaning method is applied to a cleaning robot, which includes a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, and the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member extending and retracting along the width direction of the cleaning robot, and when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; the method includes: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a cleaning blind spot of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the cleaning blind spot along the length direction of the cleaning blind spot. The use of this method can improve the cleaning effect.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a blind spot cleaning method, a cleaning robot and a readable storage medium. Background Art

[0002] Cleaning robots can improve environmental hygiene while reducing labor. They are equipped with dry and wet cleaning devices on their base, with the dry cleaning device located at the front and the wet cleaning device at the rear. During daily cleaning duties, the robot uses the dry cleaning device to sweep and vacuum, while the wet cleaning device mops. When encountering obstacles (such as furniture or walls), the robot typically navigates around them to clean.

[0003] At present, for the sake of aesthetic design, some furniture has gaps around its sides. However, since the height dimension of the gap is usually smaller than the height dimension of the cleaning robot, the cleaning robot cannot enter the gap for cleaning, which makes it easy for the gap to form a cleaning blind spot, resulting in incomplete cleaning and affecting the cleaning effect. Summary of the Invention

[0004] Based on this, it is necessary to provide a blind spot cleaning method, a cleaning robot and a readable storage medium to address the technical problem that the above-mentioned cleaning robot cannot enter the gap for cleaning, resulting in the formation of cleaning blind spots in the gap, causing incomplete cleaning and affecting the cleaning effect.

[0005] In a first aspect, the present application provides a blind spot cleaning method, which is applied to a cleaning robot, wherein the cleaning robot includes a side brush and a rotary wet cleaning member disposed at the bottom of the cleaning robot, wherein the side brush is disposed at the front end of the cleaning robot, and the rotary wet cleaning member is disposed at the rear end of the cleaning robot, wherein the rotary wet cleaning member extends and retracts along the width direction of the cleaning robot, and when the rotary wet cleaning member extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot;

[0006] The method comprises: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind cleaning zone along a length direction of the blind cleaning zone;

[0007] Among them, the cleaning blind spot is a recessed area formed by the inward recess of the surface of the obstacle, and the recessed area is connected downward with the working surface of the cleaning robot. The height of the side brush is less than the height of the rotary wet cleaning part, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning part and the side brush, and is less than the height of the cleaning robot body.

[0008] In one embodiment, along the length direction of the cleaning blind area, one end of the cleaning blind area is a first closed end, and when the side brush and the rotary wet cleaning element pass through the first closed end and enter the cleaning blind area;

[0009] The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including:

[0010] controlling the cleaning robot to retract the rotary wet cleaning element into the cleaning robot;

[0011] Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot;

[0012] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning element passes the first closed end, the cleaning robot is controlled to extend the rotary wet cleaning element outside the cleaning robot so that the farthest end of the rotary wet cleaning element enters the cleaning blind spot.

[0013] In one embodiment, adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches a minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot, includes:

[0014] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0015] Controlling the cleaning robot to move in a direction approaching the obstacle so that the distance between the cleaning robot and the edge of the obstacle is a minimum edge distance L0;

[0016] The cleaning robot is controlled to turn for the second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind area, and the farthest end of the side brush enters the cleaning blind area.

[0017] In one embodiment, before controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle, the method further includes:

[0018] The cleaning robot is controlled to move along the edge of the obstacle at a first preset distance L1 so that the side brush passes the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0019] In one embodiment, adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches a minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot, includes:

[0020] driving the front end of the cleaning robot to deflect toward the obstacle;

[0021] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing back away from the obstacle. During the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to be the minimum edge distance L0, and the side brush is driven to enter the cleaning blind spot.

[0022] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0023] In one embodiment, along the length direction of the cleaning blind area, the end of the cleaning blind area away from the first closed end is a second closed end. After the cleaning robot cleans the cleaning blind area along the length direction of the cleaning blind area using the side brush and the rotary wet cleaning member, the method further includes:

[0024] The front end of the cleaning robot is controlled to approach the second closed end, and the cleaning robot drives the side brush and the rotary wet cleaning member to pass through the second closed end and leave the cleaning blind area.

[0025] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning element to pass through the second closed end and leave the cleaning blind area, comprising:

[0026] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0027] Controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0028] The cleaning robot is controlled to turn for the second time so that the front end of the cleaning robot deviates from the obstacle.

[0029] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the second preset distance L2.

[0030] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning element to pass through the second closed end and leave the cleaning blind area, comprising:

[0031] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0032] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the third preset distance L3.

[0033] In one embodiment, along the length direction of the blind cleaning zone, an end of the blind cleaning zone away from the first closed end is a first open end. After the cleaning robot cleans the blind cleaning zone along the length direction of the blind cleaning zone using the side brush and the rotary wet cleaning member, the method further comprises: controlling the cleaning robot to maintain the rotary wet cleaning member in an extended state, and controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning member leave the blind cleaning zone from the first open end;

[0034] The edge of the obstacle is the edge of the projection figure of the obstacle in the height direction.

[0035] In one embodiment, along the length direction of the cleaning blind area, one end of the cleaning blind area is a second open end, and when the side brush and the rotary wet cleaning member enter the cleaning blind area from the second open end;

[0036] The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including:

[0037] controlling the cleaning robot to extend the rotary wet cleaning member out of the cleaning robot;

[0038] Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot;

[0039] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end.

[0040] In one embodiment, along the length direction of the cleaning blind area, an end of the cleaning blind area away from the second opening end is a third opening end. After the cleaning robot cleans the cleaning blind area along the length direction of the cleaning blind area using the side brush and the rotary wet cleaning member, the method further includes:

[0041] The cleaning robot is controlled to maintain the rotary wet cleaning element in an extended state, and the cleaning robot is controlled to continue to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning element leave the cleaning blind spot from the third opening end.

[0042] In one embodiment, along the length direction of the blind cleaning zone, an end of the blind cleaning zone away from the second open end is a third closed end. After the cleaning robot cleans the blind cleaning zone along the length direction of the blind cleaning zone using the side brush and the rotary wet cleaning member, the method further includes:

[0043] The front end of the cleaning robot is controlled to approach the third closed end, and the cleaning robot drives the side brush and the rotary wet cleaning member to pass through the third closed end and leave the cleaning blind area.

[0044] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning element to pass through the third closed end and leave the cleaning blind area, comprising:

[0045] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0046] controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4;

[0047] The cleaning robot is controlled to turn for the second time, so that the front end of the cleaning robot deviates from the obstacle, and the side brush and the rotary wet cleaning member pass through the third closed end and leave the cleaning blind area.

[0048] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fourth preset distance L4.

[0049] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning element to pass through the third closed end and leave the cleaning blind area, comprising:

[0050] The front end of the cleaning robot is driven to deflect away from the obstacle, and at the same time, the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush and the rotary wet cleaning element pass through the third closed end and leave the cleaning blind spot.

[0051] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fifth preset distance L5.

[0052] In one embodiment, along the length direction of the cleaning blind zone, at least one end of the cleaning blind zone is a fourth closed end. During the process of the cleaning robot performing a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into the cleaning blind zone of the obstacle, and uses the side brush and the rotary wet cleaning member to clean the cleaning blind zone along the length direction of the cleaning blind zone, including:

[0053] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When encountering a fourth closed section, the side brush first passes through the fourth closed end while the rotary wet cleaning member is retracted. When the rotary wet cleaning member passes through the fourth closed end after the rotary wet cleaning member, the cleaning robot is controlled to extend the rotary wet cleaning member outside the cleaning robot.

[0054] Wherein, in the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush and the rotary wet cleaning member to clean the cleaning blind area along the length direction of the cleaning blind area.

[0055] In one embodiment, the edge of the obstacle is the edge of a projection pattern of the obstacle in the height direction.

[0056] In one embodiment, the cleaning of the cleaning blind area along the length direction of the cleaning blind area by using the side brush and the rotary wet cleaning element includes: the cleaning robot performs at least one forward and backward movement to clean the cleaning blind area reciprocatingly by using the side brush and the rotary wet cleaning element.

[0057] In a second aspect, the present application provides a blind spot cleaning device, which is applied to a cleaning robot, the cleaning robot comprising a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member being extended and retracted along the width direction of the cleaning robot, and when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot;

[0058] The device includes: a first control module, configured to drive the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle during the cleaning robot's performance of a cleaning task, and to clean the blind cleaning zone along a length direction of the blind cleaning zone using the side brush and the rotary wet cleaning member;

[0059] Among them, the cleaning blind spot is a recessed area formed by the inward recess of the surface of the obstacle, and the recessed area is connected downward with the working surface of the cleaning robot. The height of the side brush is less than the height of the rotary wet cleaning part, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning part and the side brush, and is less than the height of the cleaning robot body.

[0060] In one embodiment, along the length direction of the cleaning blind area, one end of the cleaning blind area is a first closed end, and when the side brush and the rotary wet cleaning element pass through the first closed end and enter the cleaning blind area;

[0061] The first control module is specifically configured to:

[0062] controlling the cleaning robot to retract the rotary wet cleaning element into the cleaning robot;

[0063] Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot;

[0064] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning element passes the first closed end, the cleaning robot is controlled to extend the rotary wet cleaning element outside the cleaning robot so that the farthest end of the rotary wet cleaning element enters the cleaning blind spot.

[0065] In one embodiment, the first control module is specifically configured to:

[0066] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0067] Controlling the cleaning robot to move in a direction approaching the obstacle so that the distance between the cleaning robot and the edge of the obstacle is a minimum edge distance L0;

[0068] The cleaning robot is controlled to turn for the second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind area, and the farthest end of the side brush enters the cleaning blind area.

[0069] In one embodiment, the apparatus further comprises:

[0070] The second control module is used to control the cleaning robot to move along the edge of the obstacle at a first preset distance L1 so that the side brush passes through the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0071] In one embodiment, the first control module is specifically configured to:

[0072] driving the front end of the cleaning robot to deflect toward the obstacle;

[0073] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing back away from the obstacle. During the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to be the minimum edge distance L0, and the side brush is driven to enter the cleaning blind spot.

[0074] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0075] In one embodiment, along the length direction of the cleaning blind area, the end of the cleaning blind area away from the first closed end is a second closed end, and the device further includes:

[0076] The third control module is used to drive the side brush and the rotary wet cleaning member to pass through the second closed end and leave the cleaning blind area after the cleaning robot uses the side brush and the rotary wet cleaning member to clean the cleaning blind area along the length direction of the cleaning blind area.

[0077] In one embodiment, the third control module is specifically configured to:

[0078] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0079] Controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0080] The cleaning robot is controlled to turn for the second time so that the front end of the cleaning robot deviates from the obstacle.

[0081] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the second preset distance L2.

[0082] In one embodiment, the third control module is specifically configured to:

[0083] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0084] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the third preset distance L3.

[0085] In one embodiment, along the length direction of the blind cleaning zone, an end of the blind cleaning zone away from the first closed end is a first open end, and the device further comprises: a fourth control module, configured to control the cleaning robot to maintain the rotary wet cleaning member in an extended state after the cleaning robot cleans the blind cleaning zone along the length direction of the blind cleaning zone using the side brush and the rotary wet cleaning member, and to control the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning member leave the blind cleaning zone from the first open end;

[0086] The edge of the obstacle is the edge of the projection figure of the obstacle in the height direction.

[0087] In one embodiment, along the length direction of the cleaning blind area, one end of the cleaning blind area is a second open end, and when the side brush and the rotary wet cleaning member enter the cleaning blind area from the second open end;

[0088] The first control module is specifically configured to:

[0089] controlling the cleaning robot to extend the rotary wet cleaning member out of the cleaning robot;

[0090] Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot;

[0091] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end.

[0092] In one embodiment, along the length direction of the cleaning blind area, the end of the cleaning blind area away from the second opening end is a third opening end, and the device further includes:

[0093] The fifth control module is used to control the cleaning robot to maintain the rotary wet cleaning element in an extended state, and control the cleaning robot to continue moving along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning element leave the cleaning blind spot from the third opening end.

[0094] In one embodiment, along the length direction of the cleaning blind area, the end of the cleaning blind area away from the second open end is a third closed end, and the device further includes:

[0095] The sixth control module is configured to drive the side brush and the rotary wet cleaning element to pass through the third closed end and leave the cleaning blind area.

[0096] In one embodiment, the sixth control module is specifically configured to:

[0097] controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle;

[0098] controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4;

[0099] The cleaning robot is controlled to turn for the second time, so that the front end of the cleaning robot deviates from the obstacle, and the side brush and the rotary wet cleaning member pass through the third closed end and leave the cleaning blind area.

[0100] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fourth preset distance L4.

[0101] In one embodiment, the sixth control module is specifically configured to:

[0102] The front end of the cleaning robot is driven to deflect away from the obstacle, and at the same time, the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush and the rotary wet cleaning element pass through the third closed end and leave the cleaning blind spot.

[0103] In one embodiment, when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fifth preset distance L5.

[0104] In one embodiment, along the length direction of the cleaning blind zone, at least one end of the cleaning blind zone is a fourth closed end, and the first control module is specifically configured to:

[0105] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When encountering a fourth closed section, the side brush first passes through the fourth closed end while the rotary wet cleaning member is retracted. When the rotary wet cleaning member passes through the fourth closed end after the rotary wet cleaning member, the cleaning robot is controlled to extend the rotary wet cleaning member outside the cleaning robot.

[0106] Wherein, in the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush and the rotary wet cleaning member to clean the cleaning blind area along the length direction of the cleaning blind area.

[0107] In one embodiment, the edge of the obstacle is the edge of a projection pattern of the obstacle in the height direction.

[0108] In one embodiment, the first control module is specifically configured to cause the cleaning robot to perform at least one forward or backward movement, so as to reciprocate and clean the cleaning blind area using the side brush and the rotary wet cleaning element.

[0109] In a third aspect, the present application provides a cleaning robot, comprising:

[0110] a side brush, disposed at the bottom of the cleaning robot and at the front end of the cleaning robot;

[0111] a rotary wet cleaning member disposed at the bottom of the cleaning robot and at the rear end of the cleaning robot, the rotary wet cleaning member extending and retracting along the width direction of the cleaning robot, wherein when the rotary wet cleaning member extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot;

[0112] A walking system, provided at the bottom of the cleaning robot, for driving the cleaning robot to move;

[0113] A perception system for obtaining image information and / or distance information of obstacles;

[0114] A control module is used to execute any blind spot cleaning method described in the first aspect above.

[0115] In one embodiment, the perception system includes one or more of an AI camera, a binocular camera, a trinocular camera, a line laser sensor, a surface laser sensor, a lidar, a Dtof, Itof, and an ultrasonic sensor.

[0116] In a fourth aspect, the present application provides a cleaning robot comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the blind spot cleaning method described in any one of the first aspects are implemented.

[0117] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the blind spot cleaning method described in any one of the above-mentioned first aspects are implemented.

[0118] The above-mentioned blind spot cleaning method, cleaning robot and readable storage medium, the blind spot cleaning method is applied to a cleaning robot, the cleaning robot includes a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush is arranged at the front end of the cleaning robot, and the rotary wet cleaning member is arranged at the rear end of the cleaning robot, the rotary wet cleaning member extends and retracts along the width direction of the cleaning robot, and when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot. The method includes: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind spot of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind spot along the length of the blind spot; wherein the blind spot is a recessed area formed by the surface of the obstacle being recessed inward, the recessed area is downwardly connected to the working surface of the cleaning robot, and the height of the blind spot is greater than the height of the rotary wet cleaning member and the side brush, and less than the height of the cleaning robot body. By adopting this method, the cleaning limitation is broken through by the side brush and the rotary wet cleaning member provided by the cleaning robot, and the side brush and the rotary wet cleaning member can be flexibly extended to the blind spot on the side of the obstacle, thereby achieving cleaning of the blind spot, improving the cleaning coverage rate, and enhancing the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0119] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0120] Figure 1 is a top view of a cleaning robot according to an embodiment;

[0121] Figure 2 is a bottom view of a cleaning robot according to one embodiment;

[0122] Figure 3 is a top view of a cleaning robot according to an embodiment;

[0123] Figure 4 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0124] Figure 5 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0125] Figure 6This is a schematic structural diagram of a screw drive mechanism in one embodiment;

[0126] Figure 7 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0127] Figure 8 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0128] Figure 9 is a schematic diagram showing a cleaning robot in one embodiment;

[0129] Figure 10 is a schematic diagram showing a cleaning robot in one embodiment;

[0130] Figure 11 is a schematic diagram showing a cleaning robot in one embodiment;

[0131] Figure 12 is a schematic diagram showing a cleaning robot in one embodiment;

[0132] Figure 13 This is a schematic diagram of a cleaning blind area structure shown in an embodiment;

[0133] Figure 14 This is a schematic diagram of the structure of the side brush and the rotary wet cleaning element entering the cleaning blind area shown in one embodiment;

[0134] Figure 15 This is a schematic diagram of a cleaning blind area shown in an embodiment;

[0135] Figure 16 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0136] Figure 17 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0137] Figure 18 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0138] Figure 19 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0139] Figure 20 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0140] Figure 21 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0141] Figure 22 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0142] Figure 23 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0143] Figure 24 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0144] Figure 25 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0145] Figure 26 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0146] Figure 27 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0147] Figure 28 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0148] Figure 29 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0149] Figure 30 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0150] Figure 31 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0151] Figure 32 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0152] Figure 33 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0153] Figure 34 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0154] Figure 35 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0155] Figure 36 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0156] Figure 37 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0157] Figure 38 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0158] Figure 39 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0159] Figure 40 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0160] Figure 41 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0161] Figure 42 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0162] Figure 43 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0163] Figure 44 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0164] Figure 45 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0165] Figure 46 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0166] Figure 47 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0167] Figure 48 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0168] Figure 49 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0169] Figure 50 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0170] Figure 51 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0171] Figure 52 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0172] Figure 53 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0173] Figure 54 is a schematic diagram of adjusting the posture of a cleaning robot in one embodiment;

[0174] Figure 55 Schematic diagram of a cleaning robot adjusting its posture in one embodiment.

[0175] Explanation of reference numerals: 1. body; 101. front end; 102. rear end; 103. roller brush chamber; 104. dust box chamber; 105. extension opening; 201. driving wheel; 202. universal wheel; 301. side brush; 302. roller brush; 303. dust box; 304. rotary wet cleaning element; 305. cleaning element bracket; 3051. driving end; 3052. extension end; 3053. cleaning element mounting chamber; 3023. sewage receiving box; 3024. fourth driving assembly; 30241. fourth driving motor; 30242. fourth gear box; 3025. inner support bracket; 30251. driving shaft; 3025 2. Driven shaft; 30261. Fifth drive motor; 30262. Fixed bracket; 30263. Moving bracket; 3027. Wiper; 3028. Water nozzle; 4. Guide rail; 401. First end; 402. Inclined section; 403. Second end; 404. Guide member; 5. Mounting plate; 501. Screw drive mechanism; 5011. Screw; 5012. Slider; 502. Avoidance chamber; 6. Cleaning blind spot; 601. First closed end; 602. First open end; 603. Second closed end; 604. Second open end; 605. Third open end; 606. Third closed end; 607. Fourth closed end. DETAILED DESCRIPTION

[0176] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0177] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0178] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0179] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0180] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0181] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0182] In an exemplary embodiment, a cleaning robot is provided. The cleaning robot may be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. Figures 1-8 As shown, the cleaning robot may include a body 1, a walking system, a sensing system, a cleaning module, a control module, and the like.

[0183] The travel system is provided on the machine body 1 and is used to drive the machine body 1 to move autonomously on the work surface. Autonomous movement includes forward, backward, and turning. Along the forward direction of the machine body 1, the front end of the machine body 1 is the front end 101, and the rear end is the rear end 102. The width direction of the machine body 1 refers to the direction of the machine body 1 perpendicular to its forward direction.

[0184] The traveling system generally includes a first drive assembly and a set of drive wheels 201. The drive wheels 201 include a drive wheel 201 and a universal wheel 202. The drive wheels 201 are rotatably mounted on the bottom of the machine body 1. Two drive wheels 201 are positioned opposite each other along the width of the machine body 1, and the two drive wheels 201 are located between the front end 101 and the rear end 102 of the machine body 1. The universal wheel 202 is mounted on the bottom of the machine body 1. The universal wheel 202 can be located at the front end 101 or the rear end 102 of the machine body 1. The universal wheel 202 is located on the perpendicular midline connecting the two drive wheels 201. During forward, backward, and turning movements of the machine body 1, the universal wheel 202 provides support and assists in steering.

[0185] The first drive assembly includes a first drive motor and a first gearbox. The first drive assembly is arranged in the body 1. The first drive assembly is provided with two groups, each group of first drive assemblies corresponds to each drive wheel 201 one by one, the output end of the first drive motor is connected to the input end of the first gearbox, and the output end of the first gearbox is connected to the drive wheel 201. The power of the first drive motor is transmitted to the drive wheel 201 through the first gearbox to drive the body 1 to move on the working surface.

[0186] When the walking system needs to drive the machine body 1 forward or backward, the rotational speeds of the two first drive motors are the same, so that the rotational speeds of the two drive wheels 201 are the same, thus driving the machine body 1 forward or backward. When the walking system needs to drive the machine body 1 to turn, the rotational speeds of the two first drive motors are different, so that the rotational speeds of the two drive wheels 201 are different. Due to the rotational speed difference between the two drive wheels 201, the rotational speed difference causes the machine body 1 to turn. For example, along the forward direction of the machine body 1, when it is necessary to drive the machine body 1 to turn right, the rotational speed of the right drive wheel 201 is controlled to be lower than the rotational speed of the left drive wheel 201; when it is necessary to drive the machine body 1 to turn left, the rotational speed of the right drive wheel 201 is controlled to be higher than the rotational speed of the left drive wheel 201.

[0187] The cleaning module includes a dry cleaning module and / or a wet cleaning module. The dry cleaning module is used to perform cleaning work, mainly removing dust and debris on the ground by scraping and vacuuming; the wet cleaning module is used to perform mopping work, mainly using water or detergent to wet the wet cleaning module, and removing stains and dust on the ground by mopping.

[0188] The dry cleaning module includes a side brush 301, a roller brush 302, a dust box 303, and a fan. A second drive assembly is provided within the housing 1. The second drive assembly includes a second drive motor and a second gearbox. The output shaft of the second drive motor is connected to the input of the second gearbox. The output of the second gearbox extends out of the bottom surface of the housing 1 and is connected to the side brush 301. The side brush 301 is rotatably mounted to the bottom of the housing 1 via the second drive assembly. The side brush 301 is located at the front end 101 of the housing 1. During rotation, the farthest end of the side brush 301 can extend beyond the widest edge of the housing 1. The widest edge of the housing 1 refers to the edge of the housing 1 corresponding to the widest portion of the housing 1, perpendicular to the forward direction of the housing 1. A third drive assembly is provided within the housing 1. The third drive assembly includes a third drive motor and a third gearbox. The output shaft of the third drive motor is connected to the input of the third gearbox. A cavity 103 for a roller brush 302 is provided at the bottom of the machine body 1. The cavity 103 is located between the two drive wheels 201. The side brush 301 is closer to the front end 101 of the machine body 1 than the cavity 103 and the drive wheels 201. The output end of the third gearbox extends into the cavity 103 and is connected to the roller brush 302. The roller brush 302 is rotatably mounted within the cavity 103 via a third drive assembly. The side of the cavity 103 facing the ground is open, and at least a portion of the side of the roller brush 302 facing the ground is exposed through the opening of the cavity 103. The exposed portion of the roller brush 302 is used to clean trash on the ground. A dust suction port is provided on the inner wall of the cavity 103 of the roller brush 302. A dust box 303 cavity 104 is provided on the body 1. The dust box 303 is detachably mounted within the cavity 104. The dust box 303 has a dust inlet on one side and an exhaust port on the other. The dust suction port of the cavity 103 of the roller brush 302 is connected to the dust inlet of the dust box 303, and the exhaust port of the dust box 303 is connected to the fan. The side brush 301 is closer to the front end 101 of the body 1 than the roller brush 302. In this way, when the cleaning robot is sweeping the floor, the side brush 301 and the roller brush 302 rotate at the same time, and the side brush 301 gathers the garbage to the opening of the roller brush 302 cavity 103. The roller brush 302 cavity 103 generates negative pressure under the action of the fan, and the garbage gathered by the side brush 301 and the garbage near the opening of the roller brush 302 cavity 103 are sucked into the dust box 303 under the action of the above negative pressure, so as to realize the collection of garbage in the dust box 303.

[0189] In order to optimize the airflow transmission between the dust box 303 and the roller brush 302 cavity 103, the dust box 303 and the roller brush 302 cavity 103 are staggered along the forward direction of the body 1. For example, along the forward direction of the body 1, the dust box 303 is closer to the front end 101 of the body 1 than the roller brush 302 cavity 103; or along the forward direction of the body 1, the dust box 303 is closer to the rear end 102 of the body 1 than the roller brush 302 cavity 103.

[0190] The wet cleaning module includes a rotary wet cleaning element 304 , a cleaning element bracket 305 , a sewage receiving box 3023 , a fourth driving assembly 3024 , an inner support bracket 3025 , and a fifth driving assembly.

[0191] Rotary wet cleaning element 304 is a crawler-type or roller-type cleaning element. Its vertical projection is rectangular. While the crawler-type cleaning element has a longitudinal cross-section that resembles an elongated hole, the rotary wet cleaning element 304 has a circular hole. Rotary wet cleaning element 304 is hollow within the cavity, and internal support brackets 3025 are positioned within the cavity to maintain tension within the rotary wet cleaning element 304. One side of the inner support bracket 3025 in the length direction is rotatably connected to the driving shaft 30251, and the other side of the inner support bracket 3025 in the length direction is rotatably connected to the driven shaft 30252. The driving shaft 30251 and the driven shaft 30252 are parallel to each other, and the driving shaft 30251 and the driven shaft 30252 are both parallel to the width direction of the body 1. The rotary wet cleaning element 304 is tensioned outside the driving shaft 30251 and the driven shaft 30252.

[0192] The length of the cleaning member bracket 305 is perpendicular to the forward direction of the machine body 1. One end of the cleaning member bracket 305 is a driving end 3051, and the other end is an extension end 3052. The cleaning member bracket 305 is movably mounted to the machine body 1. A cleaning member mounting cavity 3053 is defined on the side of the cleaning member bracket 305 that faces the ground. The rotary wet cleaning member 304 is removably mounted in the mounting cavity 3053. The rotary wet cleaning member 304 is positioned near the rear end 102 of the machine body 1. The roller brush 302 and two drive wheels 201 are positioned between the rotary wet cleaning member 304 and the side brush 301. A fourth drive assembly 3024 is mounted to the driving end 3051 of the cleaning member bracket 305 and is used to drive the rotary wet cleaning member 304 to rotate, thereby cleaning the ground surface. The fourth drive assembly 3024 includes a fourth drive motor 30241 and a fourth gear box 30242. The fourth gear box 30242 is connected to the drive end 3051 of the cleaning member bracket 305. The fourth motor is connected to the fourth gear box 30242. The output shaft of the fourth motor is connected to the input end of the fourth gear box 30242. The output end of the fourth gear box 30242 extends to the cleaning member mounting cavity 3053 and is connected to the driving shaft 30251 of the inner support bracket 3025. The fourth motor drives the driving shaft 30251 of the inner support bracket 3025 to rotate through the transmission of the fourth gear box 30242, so that the rotary wet cleaning member 304 rotates.

[0193] During rotation, the side of the rotary wet cleaning element 304 facing the ground moves in a direction from the rear end 102 of the body 1 to the front end 101 of the body 1, while the side facing away from the ground moves in a direction from the front end 101 of the body 1 to the rear end 102 of the body 1. A sewage holding chamber is provided on the inner sidewall of the cleaning element mounting cavity 3053. The sewage holding chamber is located within the cleaning element mounting cavity 3053 near the rear end 102 of the body 1. A wiper 3027 is fixed to the inner sidewall of the cleaning element mounting cavity 3053. The wiper 3027 is arranged along the length of the cleaning element bracket 305, protruding from the inner sidewall of the mounting cavity. The wiper 3027 is located on the side of the sewage holding chamber away from the front end 101 of the body 1.

[0194] Several water spray ports 3028 are provided on the inner sidewall of the cleaning element mounting cavity 3053. These ports are distributed along the length of the cleaning element bracket 305 and are positioned within the cleaning element mounting cavity 3053 near the front end 101 of the machine body 1. The outlets of the water spray ports 3028 face the rotary wet cleaning element 304. A clean water tank is secured within the machine body 1 and stores clean water for cleaning the rotary wet cleaning element 304. A clean water delivery pipeline connects the clean water tank and the water spray ports 3028. A water pump is provided within the clean water delivery pipeline, which sprays clean water from the tank onto the rotary wet cleaning element 304, thereby achieving self-cleaning of the rotary wet cleaning element 304.

[0195] In this way, during the process of the rotary wet cleaning member 304 cleaning the ground, the rotary wet cleaning member 304 is in a rotating state. After the rotary wet cleaning member 304 in the rotating state cleans the dirt on the ground, a dirty area is formed on the surface of the rotary wet cleaning member 304. The dirty area first passes through a plurality of water spray ports 3028, and the plurality of water spray ports 3028 spray clean water to the rotary wet cleaning member 304 to clean the dirty area and form sewage. Then the sewage passes through the wiper member 3027, and the wiper member 3027 scrapes the sewage during the rotation of the rotary wet cleaning member 304 to scrape the sewage away into the sewage holding chamber.

[0196] The sewage collection tank 3023 is fixed to the end of the cleaning member support 305 away from the fourth drive assembly 3024, specifically, located near the extended end 3052 of the cleaning member support 305. The sewage collection tank 3023 is located on the side of the cleaning member support 305 facing away from the rotary wet cleaning member 304. A sewage absorption pipeline connects the sewage collection tank 3023 to the sewage holding chamber, through which the sewage collection tank 3023 absorbs sewage from the sewage holding chamber. The sewage collection tank 3023 absorbs sewage from the sewage holding chamber using the principle of negative pressure. An air pipeline is connected to the sewage collection tank 3023, which is equipped with a negative pressure pump. The negative pressure pump, through the pipeline, pumps the sewage collection tank 3023 to a negative pressure state. Under negative pressure, the sewage collection tank 3023 absorbs sewage from the sewage holding chamber into the sewage collection tank 3023.

[0197] The bottom of the machine body 1 is provided with a mounting cavity for a cleaning member support 305. The cleaning member support 305 is movably mounted in the mounting cavity. A fifth drive assembly is connected between the machine body 1 and the cleaning member support 305. The fifth drive assembly is used to drive the cleaning member support 305 to perform four actions: raising, lowering, extending, and retracting. The raising action refers to the upward movement of the cleaning member support 305 in the height direction; the lowering action refers to the downward movement of the cleaning member support 305 in the height direction. When the cleaning member support 305 remains in the lowered state, the rotary wet cleaning member 304 performs a mopping operation; the extending action refers to the extending end 3052 of the cleaning member support 305 extending from the edge of the machine body 1 along the width direction of the machine body 1; and the retracting action refers to the extending end 3052 of the cleaning member support 305 retracting from the edge of the machine body 1 along the width direction of the machine body 1 to the edge of the machine body 1 along the width direction of the machine body 1. The installation cavity of the cleaning member holder 305 has an extension opening 105 at one end near the protruding end 3052 of the cleaning member holder 305. When the cleaning member holder 305 is extended, its movement is directed from the driving end 3051 of the cleaning member holder 305 toward the protruding end 3052. The extension opening 105 is used to clear the protruding end 3052 of the cleaning member holder 305. When the cleaning member holder 305 is retracted, its movement is directed from the protruding end 3052 of the cleaning member holder 305 toward the driving end 3051. The rotary wet cleaning member 304 is installed in the cleaning member installation cavity 3053 of the cleaning member holder 305. Therefore, when the cleaning member holder 305 moves, the rotary wet cleaning member 304 follows the movement of the cleaning member holder 305.

[0198] The fifth drive assembly includes a fifth drive motor 30261, a fixed bracket 30262, a movable bracket 30263, and a transmission assembly. The fixed bracket 30262 is fixed to the cleaning member bracket 305, and the movable bracket 30263 is movably mounted on the fixed bracket 30262. The fifth drive motor 30261 drives the transmission assembly, which acts on the fixed bracket 30262 to drive the fixed bracket 30262 relative to the movable bracket 30263. A guide rail 4 is provided on one of the movable bracket 30263 and the fixed bracket 30262, and a guide member 404 is provided on the other of the movable bracket 30263 and the fixed bracket 30262. The guide member 404 engages with the guide rail 4 to drive the cleaning member bracket 305 under the action of the transmission assembly.

[0199] Exemplarily, the guide track 4 is disposed on the fixed bracket 30262, and the guide member 404 is fixed to the movable bracket 30263. The guide track 4 is a slot body provided on the fixed bracket 30262 and includes a first end 401, an inclined section 402, and a second end 403. Along the height direction of the housing 1, the second end 403 is higher than the first end 401, i.e., the distance between the second end 403 and the rotary wet cleaning member 304 is greater than the distance between the first end 401 and the rotary wet cleaning member 304. Along the width direction of the housing 1, the second end 403 is closer to the protruding end 3052 of the cleaning member bracket 305 than the first end 401. The inclined section 402 is disposed between the first end 401 and the second end 403, and the first end 401, the inclined section 402, and the second end 403 form a continuous slot structure. A movable cavity is provided on the side of the fixed bracket 30262 facing away from the cleaning member bracket 305, and at least a portion of the movable bracket 30263 is disposed within the movable cavity. Along the width of the machine body 1, the dimensions of the movable bracket 30263 are smaller than those of the movable cavity, enabling the movable bracket 30263 to slide within the movable cavity along the width of the machine body 1. The guide member 404 is a shaft, fixedly connected to the side wall of the movable bracket 30263 facing the guide track 4. The end of the guide member 404 facing away from the movable bracket 30263 passes through the guide track 4, and the guide member 404 slides in engagement with the guide track 4, enabling the guide member 404 to slide within the first end 401, the inclined section 402, and the second end 403. A mounting plate 5 is fixed within the machine body 1 and is located above the movable bracket 30263. A screw rod 5011 drive mechanism 501 is provided on the side of the mounting plate 5 facing the movable bracket 30263. A clearance is provided on the side of the mounting plate 5 facing the movable bracket 30263. The screw rod 5011 drive mechanism 501 includes a screw rod 5011 and a slider 5012. Both the screw rod 5011 and the slider 5012 are disposed within the clearance chamber 502. The screw rod 5011 is arranged along the width of the machine body 1 and is rotatably connected between two opposing side walls of the clearance chamber 502. The fifth drive motor 30261 is fixed to the mounting plate 5. The output shaft of the fifth drive motor 30261 is connected to the screw rod 5011. The slider 5012 has a feed hole extending across the width of the machine body 1. The screw rod 5011 passes through the feed hole and is threadedly engaged with the feed hole. A limiting groove is provided on the inner sidewall of the avoidance chamber 502 facing the cleaning member support 305. A limiting protrusion is provided on the side of the slider 5012 facing away from the cleaning member support 305. The limiting protrusion slides in the limiting groove. The cooperation between the limiting groove and the limiting protrusion has a limiting effect, preventing the slider 5012 from rotating along with the screw rod 5011 during the rotation of the screw rod 5011. The slider 5012 is relatively fixed to the movable support 30263. When the screw rod 5011 drives the slider 5012 to move, the slider 5012 can drive the movable support 30263 to move synchronously.

[0200] The side of the sewage receiving box 3023 facing away from the fourth drive assembly 3024 does not exceed the end face of the extended end 3052 of the cleaning component bracket 305, and the distance between the side of the sewage receiving box 3023 facing away from the fourth drive assembly 3024 and the end face of the extended end 3052 is equal to the maximum extended distance of the cleaning component bracket 305.

[0201] In other embodiments, the distance between the side of the sewage receiving tank 3023 facing away from the fourth drive assembly 3024 and the end surface of the extension end 3052 is greater than the maximum extension distance of the cleaning member holder 305. In this case, the extension opening 105 is used to avoid the extension end 3052 of the cleaning member holder 305. A first limiting portion is provided at the extension opening 105, and a first mating portion is provided on the side of the sewage receiving tank 3023 facing away from the fourth drive assembly 3024. When the cleaning member holder 305 is extended to its maximum extension distance, the first limiting portion and the first mating portion abut against each other to limit further extension of the cleaning member holder 305. A second limiting portion is provided at the end of the cleaning member holder 305 mounting cavity near the driving end 3051 of the cleaning member holder 305, and a second mating portion is provided on the side of the fourth drive assembly 3024 facing away from the sewage receiving tank 3023. When the cleaning member holder 305 is retracted to its retracted state, the second limiting portion and the second mating portion abut against each other to limit further retraction of the cleaning member holder 305. The first limiting portion and the first matching portion, the second limiting portion and the second matching portion may be a matching of a groove and a protrusion, or a matching of surfaces, which is not limited here.

[0202] Thus, the fifth drive motor 30261 drives the screw rod 5011 to rotate in the first direction, causing the slider 5012 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. During the movement of the movable bracket 30263, the sidewall portion of the guide member 404 near the extended end 3052 of the cleaning member holder 305 pushes against the inner sidewall of the inclined section 402 near the extended end 3052 of the cleaning member holder 305, causing the fixed bracket 30262 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. Since the fixed bracket 30262 is fixedly connected to the cleaning member holder 305, the movement of the fixed bracket 30262 causes the cleaning member holder 305 to extend. When the cleaning member bracket 305 reaches the maximum extension distance, the first limiting portion and the first matching portion abut against each other, and the cleaning member bracket 305 cannot continue to extend. The fifth drive motor 30261 drives the screw rod 5011 to rotate in the first direction, and the fixed bracket 30262 will move downward along the inclined direction of the inclined section 402, so that the cleaning member bracket 305 completes the descending action in the extended state. In this state, the rotary wet cleaning member 304 is in the state of mopping the floor in the extended state.

[0203] The fifth drive motor 30261 drives the screw rod 5011 to rotate in the second direction, causing the slider 5012 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. The slider 5012 is fixed relative to the movable bracket 30263, so the slider 5012 causes the movable bracket 30263 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. During the movement of the movable bracket 30263, the side wall portion of the guide member 404 near the driving end 3051 of the cleaning member holder 305 pushes against the inner side wall of the inclined section 402 near the driving end 3051 of the cleaning member holder 305, causing the fixed bracket 30262 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. Since the fixed bracket 30262 is fixedly connected to the cleaning member holder 305, the movement of the fixed bracket 30262 causes the cleaning member holder 305 to retract. When the cleaning member bracket 305 reaches the retracted state, the second limiting portion and the second engaging portion abut against each other, preventing the cleaning member bracket 305 from further retracting. In this state, the rotary wet cleaning member 304 is in a retracted state for mopping. The fifth drive motor 30261 drives the screw rod 5011 to rotate in the second direction, causing the fixed bracket 30262 to move upward along the inclination direction of the inclined section 402, thereby completing the lifting action of the cleaning member bracket 305 in the retracted state. In this state, the rotary wet cleaning member 304 is in an inactive state for lifting.

[0204] A spring is also provided between the transmission assembly and the cleaning member support 305. The spring's elastic force acts on the rotary wet cleaning member 304 through the cleaning member support 305, thereby providing an upward pulling force on the rotary wet cleaning member 304. For example, the spring is located between the movable support 30263 and the cleaning member support 305. Along the height direction of the machine body 1, one end of the spring is connected to the fixed support 30262, and the other end is connected to the cleaning member support 305. When the rotary wet cleaning member 304 is not in contact with the ground, the spring is in a stretched state.

[0205] On the cleaning member support 305, the fourth drive assembly 3024 and the sewage storage tank 3023 are spaced apart, with the transmission assembly located between the fourth drive assembly 3024 and the sewage storage tank 3023. Thus, the fourth drive assembly 3024 and the sewage storage tank 3023 are simultaneously fixed to the cleaning member support 305, improving the modularity of the wet cleaning module, facilitating subsequent disassembly and maintenance, and facilitating the planning of the internal space of the robot body 1. Furthermore, during operation of the cleaning robot, the sewage in the sewage storage tank 3023 will continuously accumulate. The sewage storage tank 3023 containing the sewage acts as a counterweight, preventing excessive gravity from being applied to the drive end 3051 of the cleaning member support 305, where the fourth drive assembly 3024 is mounted, resulting in an imbalance of gravity between the drive end 3051 and the extension end 3052 of the cleaning member support 305. This improves the balance of gravity along the length of the cleaning member support 305.

[0206] In order to improve the space utilization above the cleaning member bracket 305, along the length direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the cleaning member are in a ratio of 1 / 6-1 / 3, for example, the size of the sewage receiving box 3023 in the length direction and the size of the cleaning member are in a ratio of 1 / 6, 1 / 5, 1 / 4, 1 / 3, etc.; along the width direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the cleaning member are in a ratio of 1 / 5-1, for example, the size of the sewage receiving box 3023 and the size of the cleaning member are in a ratio of 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.; along the height direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the fourth driving assembly 3024 are in a ratio of 1 / 5-1, for example, the size of the sewage receiving box 3023 and the size of the fourth driving assembly 3024 are in a ratio of 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.

[0207] When a cleaning robot controls the rotation of the rotary wet cleaning element 304 to perform mopping operations, there are typically two mopping scenarios: edge-to-edge and non-edge-to-edge. In the edge-to-edge scenario, the cleaning robot travels along the edge of an obstacle (e.g., a wall, table, chair, coffee table, etc.). During this process, the extended end 3052 of the cleaning element bracket 305 extends beyond the edge of the body 1 and abuts against the obstacle. The rotary wet cleaning element 304 follows the extension of the cleaning element bracket 305, moving the end of the rotary wet cleaning element 304 away from the fourth drive assembly 3024 closer to the obstacle. The cleaning robot performs mopping operations in the edge-to-edge scenario with the cleaning element bracket 305 in the lowered and extended state. In the non-edge-to-edge scenario, the cleaning element bracket 305 remains lowered, with the extended end 3052 retracted to within the edge of the body 1. The cleaning robot performs mopping operations in the non-edge-to-edge scenario with the cleaning element bracket 305 in the lowered and retracted state.

[0208] When mopping along edges, due to the width limitation of the machine body 1, in order to allow the rotary wet cleaning element 304 to be closer to the edge of the obstacle and improve cleaning coverage, the maximum extension distance of the cleaning element holder 305 is set to 30 mm to 50 mm. For example, the maximum extension distance of the cleaning element holder 305 can be 30 mm, 35 mm, 40 mm, 45 mm, 50 mm, etc. Furthermore, when the cleaning element holder 305 is at its maximum extension distance, the minimum distance between the end surface of the extended end 3052 of the cleaning element holder 305 and the machine body 1 is 5 mm to 15 mm. For example, the minimum distance between the end surface of the extended end 3052 of the cleaning element holder 305 and the machine body 1 is 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 15 mm, etc.

[0209] Since the portion of the roller brush 302 exposed from the opening of the roller brush 302 cavity 103 and the two drive wheels 201 are in contact with the ground, in order to minimize dirt marks left by the roller brush 302 and the two drive wheels 201 along their travel path, the mopping surface of the rotary wet cleaning element 304 covers as much of the travel path of the roller brush 302 and the two drive wheels 201 as possible. Specifically, the cleaning coverage area of ​​the rotary wet cleaning element 304 when extended is a first coverage area, the cleaning coverage area of ​​the rotary wet cleaning element 304 when retracted is a second coverage area, the coverage area of ​​the opening of the roller brush 302 cavity 103 is a third coverage area, the coverage area of ​​the drive wheel 201 away from the drive end 3051 of the cleaning element bracket 305 is a fourth coverage area, and the coverage area of ​​the drive wheel 201 close to the drive end 3051 of the cleaning element bracket 305 is a fifth coverage area.

[0210] When the rotary wet cleaning element 304 is at its maximum extension, the first covering area covers the third covering area and the fourth covering area; when the rotary wet cleaning element 304 is in a retracted state, the first covering area covers the third covering area, the fourth covering area and the fifth covering area. In this way, when the rotary wet cleaning member 304 is at the maximum extension distance, the first coverage area covers the third coverage area and the fourth coverage area. Since the side brush 301 is arranged at the front end 101 of the body 1, the rotary wet cleaning member 304 is arranged close to the rear end 102 of the body 1, and the roller brush 302 and the two driving wheels 201 are arranged between the rotary wet cleaning member 304 and the side brush 301, when the roller brush 302 and the two driving wheels 201 leave traces of dirt on the travel path, the rotary wet cleaning member 304 can clean the traces of dirt in the third coverage area and the fourth coverage area in time. Although it cannot clean the traces of dirt in the fifth coverage area, it also cleans the traces of dirt left by the roller brush 302 and the two driving wheels 201 on the travel path to the greatest extent. When the rotary wet cleaning element 304 is retracted, the first covering area covers the third covering area, the fourth covering area and the fifth covering area. When the roller brush 302 and the two driving wheels 201 leave traces of dirt on the travel path, the rotary wet cleaning element 304 can clean the traces of dirt in the third covering area, the fourth covering area and the fourth covering area in time to completely clean the traces of dirt left by the roller brush 302 and the two driving wheels 201 on the travel path, thereby ensuring the cleaning effect.

[0211] The perception system may include one or more of an AI camera, a binocular camera, a trinocular camera, a line laser sensor, a surface laser sensor, a lidar, a Direction of View (Dtof), an Itof, and an ultrasonic sensor. The AI ​​camera, binocular camera, and trinocular camera may be used to obtain image information of the cleaning robot's environment; the binocular camera, trinocular camera, line laser sensor, surface laser sensor, lidar, Direction of View (Dtof), and Itof may be used to obtain distance information of obstacles in the cleaning robot's environment; and the ultrasonic sensor may be used to identify floor materials such as carpets, floorboards, and floor tiles. The control module is disposed within the body 1. The control module combines the image information, depth information, and floor material to control the cleaning robot to perform corresponding actions, including edge cleaning, obstacle traversal, and cleaning mode selection.

[0212] In an exemplary embodiment, Figure 11-14As shown, a blind spot cleaning method is provided, which is applied to a cleaning robot, which includes a side brush 301 and a rotary wet cleaning member 304 arranged at the bottom of the cleaning robot. The side brush 301 is arranged at the front end 101 of the cleaning robot, and the rotary wet cleaning member 304 is arranged at the rear end 102 of the cleaning robot. The rotary wet cleaning member 304 can extend and retract along the width direction of the cleaning robot. When the rotary wet cleaning member 304 extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot. The method specifically includes:

[0213] Step 101, when the cleaning robot performs the cleaning task, the cleaning robot drives the side brush 301 and the rotary wet cleaning member 304 into the cleaning blind area 6 of the obstacle, and uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6.

[0214] Among them, such as Figure 13 As shown, the cleaning blind spot 6 is a recessed area formed by the inward recess of the surface of the obstacle, and the recessed area is connected downward to the working surface on which the cleaning robot moves. The height of the side brush 301 is less than the height of the rotary wet cleaning part 304, and the height of the cleaning blind spot 6 is greater than the height of the rotary wet cleaning part 304, and less than the height of the cleaning robot body 1.

[0215] In practice, the bottom of the cleaning robot is provided with a side brush 301 and a rotary wet cleaning member 304. The side brush 301 is provided at the front end 101 of the cleaning robot, and the rear end 102 of the cleaning robot is provided with the rotary wet cleaning member 304. The rotary wet cleaning member 304 can be flexibly extended and retracted along the width direction of the cleaning robot. Figure 3As shown, when the rotary wet cleaning member 304 is extended from the cleaning robot, the minimum distance D2 between its farthest end and the cleaning robot is less than or equal to the minimum distance D1 between the farthest end of the side brush 301 and the cleaning robot. This ensures that, along the width direction of the cleaning robot, the cleaning area covered by the farthest end of the side brush 301 is farther away from the cleaning robot than the cleaning area covered by the farthest end of the rotary wet cleaning member 304. This allows the side brush 301 to first sweep away the debris cleaned by the side brush 301, preventing the rotary wet cleaning member 304 from entraining the debris cleaned by the side brush 301 when it passes over. This reduces the possibility of the rotary wet cleaning member 304 entraining the debris cleaned by the side brush 301 into the cleaning member mounting cavity 3053 and causing damage to the cleaning robot. Furthermore, this prevents granular debris cleaned by the side brush 301 from rubbing against the rotary wet cleaning member 304 and the floor, thereby improving the user experience and ensuring a good cleaning effect. When the cleaning robot detects an obstacle in its cleaning blind spot 6 while performing its cleaning task, it will initiate the corresponding cleaning program. The cleaning blind spot 6 is a sunken area formed by the inward depression of the obstacle surface, which naturally connects downward with the working surface of the cleaning robot. Its height is greater than the height of the rotary wet cleaning element 304 and the side brush 301, but less than the height of the cleaning robot body 1. At this point, the cleaning robot body 1 cannot enter the cleaning blind spot 6 to perform cleaning work. Therefore, the cleaning robot controls the side brush 301 and the rotary wet cleaning element 304 to enter the cleaning blind spot 6. After entering, the side brush 301 and the rotary wet cleaning element 304 will move along the length of the cleaning blind spot 6 to complete the cleaning of the cleaning blind spot 6.

[0216] In the above-mentioned blind spot cleaning method, the cleaning limitation is broken through by the side brush 301 and the rotary wet cleaning part 304 set by the cleaning robot. The side brush 301 and the rotary wet cleaning part 304 can be flexibly extended to the cleaning blind spot 6 on the side of the obstacle, thereby realizing the cleaning treatment of the cleaning blind spot 6, improving the cleaning coverage rate, and improving the cleaning effect.

[0217] Specifically, with respect to the cleaning process of the cleaning robot in the cleaning blind area 6, the embodiments of the present application describe the manner in which the cleaning robot enters the cleaning blind area 6 for a variety of different application scenarios, including the following scenarios:

[0218] Scenario 1: In an exemplary embodiment, the cleaning robot moves along the length direction of the cleaning blind area 6, one end of the cleaning blind area 6 is the first closed end 601, and when the side brush 301 and the rotary wet cleaning element 304 pass through the first closed end 601 and enter the cleaning blind area 6, as shown in FIG. Figure 15-26As shown, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning member 304 to enter the cleaning blind zone 6 of the obstacle in the above step 101 includes:

[0219] Step 401 : Control the cleaning robot to retract the rotary wet cleaning element 304 into the cleaning robot.

[0220] In practice, when the perception system detects the presence of a cleaning blind spot 6, Figure 15 As shown, one end of the cleaning blind area 6 is a closed end (i.e., the first closed end 601), and the other end can be an open end ( Figure 15 is the side view of the obstacle, Figure 16 The obstacles shown are Figure 15 Obstacles along the AA cross-sectional view), if the front end 101 of the cleaning robot passes the first closed end 601 first, the cleaning robot retracts the rotary wet cleaning element 304 into the cleaning robot through the control module to maintain the rotary wet cleaning element 304 in the retracted state.

[0221] Step 402 : Adjust the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0 , and at the same time, the farthest end of the side brush 301 enters the cleaning blind spot 6 .

[0222] In practice, in order to clean the blind spot 6 below the cleaning robot body 1, the cleaning robot first adjusts its posture so that it approaches the obstacle forming the blind spot 6, that is, the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and at the same time, the farthest end of the side brush 301 enters the blind spot 6. It should be noted that the posture of the cleaning robot refers to the direction and position of the cleaning robot.

[0223] Specifically, there are various ways for the cleaning robot to adjust its position to approach an obstacle, which will be described in detail in the following embodiments and will not be elaborated upon here. When the cleaning robot receives a command to adjust its position, the perception system accurately identifies obstacle information, including the obstacle's type, location, direction, and edge profile. Next, based on the obstacle information provided by the perception system, the cleaning robot plans a movement path that ensures the cleaning robot maintains a minimum edge distance L0 between the obstacle and the edge. Then, driven by the travel system, the cleaning robot begins to move. The cleaning robot controls the speed difference between its two drive wheels 201 to execute forward, backward, and steering movements. As the cleaning robot approaches the obstacle, the perception system continuously monitors the distance to the obstacle in real time and feeds this distance data back to the control module, allowing for fine-tuning of the movement path. As the cleaning robot gradually approaches the obstacle and the distance reaches the preset minimum edge distance L0, the control module controls the cleaning robot to continue adjusting its position until the farthest end of the side brush 301 successfully enters the cleaning blind spot 6.

[0224] Step 403, control the cleaning robot to move along the edge of the obstacle with a minimum edge distance L0. When the rotary wet cleaning element 304 passes the first closed end 601, control the cleaning robot to extend the rotary wet cleaning element 304 outside the cleaning robot so that the farthest end of the rotary wet cleaning element 304 enters the cleaning blind spot 6.

[0225] In implementation, when the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, the cleaning robot is controlled by the control module to move along the edge of the obstacle. Figure 6 As shown, during this movement, the cleaning robot's perception system continuously acquires information about obstacles in its environment. When the rotary wet cleaning member 304 passes the first closed end 601, the cleaning robot is controlled to extend the rotary wet cleaning member 304 beyond the edge of the cleaning robot, so that the farthest end of the rotary wet cleaning member 304 also enters the blind cleaning zone 6. In this way, both the side brush 301 and the rotary wet cleaning member 304 of the cleaning robot enter the blind cleaning zone 6, so that the side brush 301 at the front end 101 of the cleaning robot first sweeps the blind cleaning zone 6, and then the rotary wet cleaning member 304 at the rear end 102 of the cleaning robot mops the blind cleaning zone 6.

[0226] In this embodiment, when the cleaning robot detects the cleaning blind spot 6, the cleaning robot adjusts its posture and controls the distance between the cleaning robot and the edge of the obstacle to be the minimum edge distance L0, so that the side brush 301 of the cleaning robot enters the cleaning blind spot 6, and when the rotary wet cleaning element 304 passes the first closed end 601, the cleaning robot is controlled to move the farthest end of the rotary wet cleaning element 304 into the cleaning blind spot 6, so that the cleaning blind spot 6 is cleaned by the side brush 301 and the rotary wet cleaning element 304, thereby improving the cleaning effect.

[0227] In an exemplary embodiment, Figure 16-22 As shown, this embodiment provides a method for adjusting the posture of the cleaning robot so that the farthest end of the side brush 301 enters the cleaning blind spot 6. The specific processing process of step 402 includes:

[0228] Step 701 : Control the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces an obstacle.

[0229] In practice, during the movement of the cleaning robot, if the body 1 of the cleaning robot walks along the edge of an obstacle, such as Figure 8 As shown, when the front end 101 of the cleaning robot passes the first closed end 601 of the cleaning blind spot 6, it moves along the forward direction. At this time, the control module in the cleaning robot controls the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle.

[0230] Step 702 : Control the cleaning robot to move toward the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0 .

[0231] In implementation, the control module in the cleaning robot controls the cleaning robot to move in the direction close to the obstacle, that is, Figure 9 As shown, after heading towards the obstacle, the cleaning robot approaches the obstacle by moving forward or backward until the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and then the cleaning robot stops approaching the obstacle.

[0232] Specifically, while the cleaning robot is performing its cleaning task, it controls the robot's initial turn, precisely aligning it with the obstacle. After completing the turn, the robot then begins approaching the obstacle. At this point, the robot, based on a pre-set strategy configured by the control module, can choose to advance or retreat, closing the distance to the obstacle until the distance between the robot and the obstacle's edge reaches a pre-set minimum edge distance, L0.

[0233] Step 703 : Control the cleaning robot to turn for the second time, so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot 6 , and at the same time, the farthest end of the side brush 301 enters the cleaning blind spot 6 .

[0234] In implementation, when the edge between the cleaning robot and the obstacle reaches the minimum edge distance L0, the control module of the cleaning robot controls the cleaning robot to turn for the second time, for example, Figure 10 As shown, the robot rotates counterclockwise 90 degrees in place to keep the edge between the cleaning robot and the obstacle at the minimum edge distance L0, while its forward direction is parallel to the length direction of the cleaning blind area 6. At the same time, as shown in FIG. Figure 11 、 Figure 12 As shown, during the rotation of the cleaning robot, the side brush 301 gradually enters the cleaning blind spot 6 . When the side brush 301 completes a 90-degree counterclockwise rotation, the farthest end of the side brush 301 enters the cleaning blind spot 6 .

[0235] Specifically, when the cleaning robot receives the command to execute the second turn, the control module instructs the cleaning robot to drive its two drive wheels 201 to adjust the speed difference. This speed difference drives the cleaning robot to turn. During this turn, the cleaning robot's perception system continuously scans the surrounding environment, particularly the blind spot 6. When the perception system indicates that the robot's forward direction has gradually become parallel to the length of the blind spot 6, the farthest end of the side brush 301 enters the blind spot 6.

[0236] In an exemplary embodiment, Figure 16 As shown, before step 701, the method further includes:

[0237] Step 1301 : Control the cleaning robot to move along the edge of the obstacle at a first preset distance L1 so that the side brush 301 passes the first closed end 601 .

[0238] The first preset distance L1 is greater than the minimum edge distance L0.

[0239] During implementation, the cleaning robot's travel path is parallel to the length of the obstacle, and at this time, the cleaning robot maintains a first preset distance L1 from the edge of the obstacle. Since in scenario one, one end of the cleaning blind spot 6 formed by the obstacle is the first closed end 601, the cleaning robot's control module can first control the cleaning robot to maintain the first preset distance L1 and travel along the edge of the obstacle. This allows the cleaning robot's side brush 301 to completely pass through the first closed end 601, providing ample posture adjustment space for the subsequent side brush 301 to enter the cleaning blind spot 6, thereby improving the convenience of the side brush 301 entering the cleaning blind spot 6 and preparing for the subsequent operation of the side brush 301 entering the cleaning blind spot 6.

[0240] In an exemplary embodiment, Figures 24-26 As shown, this embodiment provides another way for the cleaning robot to adjust its posture so that the farthest end of the side brush 301 enters the cleaning blind spot 6. The specific processing process of step 402 includes:

[0241] Step 1401 : driving the front end 101 of the cleaning robot to deflect toward an obstacle.

[0242] In implementation, when the cleaning robot moves along the edge of an obstacle, the control module of the cleaning robot drives the front end 101 of the cleaning robot to deflect toward the obstacle. The deflection can be a preset angle, for example, the preset angle is less than 90 degrees, so that the cleaning robot is close to the obstacle.

[0243] Specifically, as the cleaning robot moves along the edge of an obstacle, its perception system continuously monitors the environment described by the cleaning robot. Once it detects the presence of an obstacle in a blind spot 6, the cleaning robot needs to adjust its direction of travel to approach the obstacle in order to clean the blind spot 6. In this way, the control module controls the two drive wheels 201 at the bottom of the cleaning robot to generate a speed difference, which causes the cleaning robot to deflect toward the obstacle. As the front end 101 of the cleaning robot gradually deflects, the overall direction of travel of the cleaning robot also moves closer and closer to the obstacle.

[0244] Step 1402, control the cleaning robot to move toward the obstacle, and at the same time drive the front end 101 of the cleaning robot to swing back away from the obstacle. In the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to be the minimum edge distance L0, and at the same time drive the side brush 301 into the cleaning blind spot 6.

[0245] In implementation, after the cleaning robot deflects toward the obstacle, as Figures 24-26 As shown, the control module of the cleaning robot controls the cleaning robot to move toward the obstacle along the deflection direction, and at the same time drives the front end 101 of the cleaning robot to swing back away from the obstacle. In the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to be the minimum edge distance L0, and at the same time drives the side brush 301 into the cleaning blind spot 6.

[0246] Specifically, after the cleaning robot completes the deflection action toward the obstacle, the control module sends a signal to the walking system of the cleaning robot, and the walking system prompts the cleaning robot to move toward the obstacle in the direction it has just deflected. Then, the control module controls the cleaning robot to drive the two drive wheels 201 at its bottom to adjust the speed difference. The two drive wheels 201 drive the cleaning robot to swing back through the speed difference. During the swing-back turning process, the perception system of the cleaning robot continuously obtains information about the surrounding environment, especially information about the cleaning blind spot 6. When the information fed back by the perception system indicates that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, the farthest end of the side brush 301 enters the cleaning blind spot 6.

[0247] Optionally, the swing-back speed of the cleaning robot is less than the deflection speed.

[0248] During implementation, when the cleaning robot is in the process of swinging back and deflecting, the control module controls the cleaning robot to drive the two driving wheels 201 at its bottom to adjust the speed difference. The two driving wheels 201 drive the cleaning robot to deflect and swing back through the speed difference. In order to achieve a swing-back speed that is lower than the deflection speed, the control module controls the cleaning robot so that the speed difference between the two driving wheels 201 during the swing-back process is lower than the speed difference between the two driving wheels 201 during the deflection process. In this way, when the cleaning robot performs a deflection action, since there are no obstacles in the deflection direction, the cleaning robot can deflect quickly to shorten the deflection time; when the cleaning robot performs a swing-back action, since the cleaning robot needs to adjust its posture with the cleaning blind spot 6, the cleaning robot needs to swing back slowly to provide the perception system with more perception time, thereby ensuring the accuracy of the cleaning robot's posture adjustment.

[0249] In an exemplary embodiment, the cleaning robot cleans the blind area 6 along the length direction of the cleaning blind area 6, and the end of the cleaning blind area 6 away from the first closed end 601 is the second closed end 603. After the cleaning robot cleans the blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning member 304, Figure 27-35 As shown, the method further includes:

[0250] Step 1701 : Control the front end 101 of the cleaning robot to approach the second closed end 603 , and drive the side brush 301 and the rotary wet cleaning element 304 to pass through the second closed end 603 and leave the cleaning blind area 6 .

[0251] During implementation, after the cleaning robot uses the side brush 301 and the rotary wet cleaning element 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, the front end 101 of the cleaning robot is controlled to approach the second closed end 603. At this time, the control module in the cleaning robot drives the side brush 301 and the rotary wet cleaning element 304 to pass through the second closed end 603 and leave the cleaning blind area 6 to complete the cleaning work of the cleaning blind area 6.

[0252] The following embodiments introduce various ways for the cleaning robot to leave the cleaning blind area 6 including the first closed end 601 in scenario 1.

[0253] Method 1: For the cleaning robot to leave the cleaning blind area 6 through the second closed end 603, in an exemplary embodiment, as shown in FIG. Figures 27-30 As shown, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning element 304 to pass through the second closed end 603 and leave the cleaning blind area 6 in the above step 1701 includes:

[0254] Step 1801 , controlling the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces an obstacle.

[0255] In practice, after the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the blind area 6, Figure 19 As shown, the control module in the cleaning robot controls the cleaning robot to turn for the first time (for example, a 90-degree turn). The first turn causes the forward direction of the cleaning robot to change from being parallel to the length direction of the cleaning blind spot 6 to being perpendicular to the length direction of the cleaning blind spot 6, that is, the front end 101 or the rear end 102 of the cleaning robot is facing the obstacle.

[0256] Step 1802: Control the cleaning robot to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2.

[0257] In implementation, after the cleaning robot turns for the first time, the cleaning robot faces the obstacle. Figure 20 As shown, the control module in the cleaning robot controls the cleaning robot to move in a direction away from the obstacle, so that the cleaning robot can be separated from the edge of the obstacle by a certain distance, which is the second preset distance L2.

[0258] In an optional embodiment, when the rotary wet cleaning member 304 is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member 304 and the cleaning robot is less than a second predetermined distance L2. Thus, the second predetermined distance L2 is greater than the minimum distance between the farthest end of the rotary wet cleaning member 304 and the cleaning robot when the rotary wet cleaning member 304 is extended from the cleaning robot, thereby allowing the cleaning robot to safely (without collision) exit the cleaning blind spot 6.

[0259] Step 1803 , controlling the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle.

[0260] In implementation, when the cleaning robot reaches a second preset distance L2 from the edge of the obstacle, as shown in FIG. Figure 21 As shown, the control module of the cleaning robot controls the cleaning robot to turn for the second time, which makes the front end 101 of the cleaning robot deviate from the obstacle. It should be noted that there are two situations in which the front end 101 of the cleaning robot deviates from the obstacle:

[0261] Scenario 1: The forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot 6;

[0262] Scenario 2: When the cleaning robot reaches the second preset distance L2 from the edge of the obstacle, the front end 101 of the cleaning robot is located on the side of the baseline away from the cleaning blind spot 6, taking the straight line passing through the center of the cleaning robot and parallel to the length direction of the cleaning blind spot 6 as the baseline.

[0263] In the above two situations, it is ensured that the side brush 301 or the rotary wet cleaning element 304 of the cleaning robot can safely deviate from obstacles based on the deflection of the cleaning robot even in the extended state, so that the cleaning robot can safely (without collision) leave the cleaning blind spot 6.

[0264] Method 2: For the cleaning robot to leave the cleaning blind area 6 through the second closed end 603, in another exemplary embodiment, as shown in FIG. Figures 32-35 As shown, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning member 304 to pass through the second closed end 603 and leave the cleaning blind area 6 in step 1701 includes:

[0265] In step 2201 , the front end 101 of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3 .

[0266] In practice, when the cleaning robot moves along the edge of the obstacle and passes the second closed end 603, Figure 23As shown, the control module in the cleaning robot drives the front end 101 of the cleaning robot to deflect away from the obstacle (for example, the deflection angle is less than 90 degrees). Figure 24 As shown, the cleaning robot is controlled to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0267] Specifically, when the cleaning robot's control module receives a command to move the cleaning robot to a third preset distance L3 from the edge of an obstacle, it rapidly initiates the corresponding execution program. The control module then sends a signal to the cleaning robot's travel system, controlling the two drive wheels 201 to generate a rotational speed difference, causing the cleaning robot's front end 101 to deflect away from the obstacle. Simultaneously, the control module issues a command to the cleaning robot's travel system, causing the two drive wheels 201 to begin rotating, propelling the cleaning robot as a whole away from the obstacle. During this process, the cleaning robot's perception system continuously collects data about the obstacle and rapidly feeds it back to the control module. Based on this feedback, the control module adjusts the cleaning robot's speed and direction in real time. As the cleaning robot continues to move and its front end 101 continues to deflect, the distance between it and the obstacle edge gradually changes. Until the data fed back by the perception system indicates that the distance has reached the preset third preset distance L3, the control module then issues a command to stop the drive wheels 201 from rotating, causing the cleaning robot to stop deflecting, successfully completing the operation of reaching the specified distance from the obstacle edge.

[0268] In one embodiment, when the rotary wet cleaning element 304 is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than a third predetermined distance L3. This prevents the rotary wet cleaning element 304 from colliding with the cleaning robot as it moves away from the edge of an obstacle, allowing the cleaning robot to safely exit the cleaning area of ​​the obstacle.

[0269] Method 3: In an exemplary embodiment, as Figure 23 As shown, along the length direction of the blind cleaning zone 6, the end of the blind cleaning zone 6 away from the first closed end 601 is the first open end 602. Then, with respect to the first open end 602, after the cleaning robot cleans the blind cleaning zone 6 along the length direction of the blind cleaning zone 6 using the side brush 301 and the rotary wet cleaning member 304, the method further includes:

[0270] Step 2601, control the cleaning robot to maintain the rotary wet cleaning element 304 in an extended state, and control the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning element 304 leave the cleaning blind spot 6 from the first opening end 602.

[0271] During implementation, after the cleaning robot successfully uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, the control module of the cleaning robot quickly starts the subsequent operation process. The control module controls the cleaning robot to maintain the rotary wet cleaning member 304 in an extended state. Next, the control module controls the cleaning robot to move along the edge of the obstacle with a minimum edge distance L0. During the movement, the perception system of the cleaning robot obtains the distance between it and the edge of the obstacle to ensure that the minimum edge distance L0 is always maintained. As the robot moves, the side brush 301 and the extended rotary wet cleaning member 304 gradually approach the first opening end 602 of the cleaning blind area 6, and finally successfully leave the cleaning blind area 6 from the first opening end 602, thus completing a series of consecutive actions of cleaning and leaving the cleaning blind area 6, and preparing to receive instructions for the next cleaning task area.

[0272] Scenario 2: In an exemplary embodiment, Figures 36-38 As shown, the cleaning robot moves along the length direction of the cleaning blind area 6, one end of the cleaning blind area 6 is the second open end 604, and when the side brush 301 and the rotary wet cleaning member 304 enter the cleaning blind area 6 from the second open end 604, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning member 304 to enter the cleaning blind area 6 of the obstacle in step 101 includes:

[0273] Step 2701 : Control the cleaning robot to extend the rotary wet cleaning member 304 out of the cleaning robot.

[0274] In implementation, when the perception system of the cleaning robot detects the existence of the cleaning blind spot 6 , the control module in the cleaning robot controls the cleaning robot to extend the rotary wet cleaning member 304 out of the cleaning robot.

[0275] Step 2702 , adjust the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0 , and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot 6 .

[0276] In implementation, since the cleaning blind spot 6 in scene two includes a second opening end 604, during the cleaning process of the cleaning robot, the control module in the cleaning robot first adjusts the posture of the cleaning robot so that the cleaning robot is close to the obstacle (that is, the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0), and makes the forward direction of the cleaning robot parallel to the length direction of the cleaning blind spot 6.

[0277] Step 2703 : Control the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0 , so that the side brush 301 and the rotary wet cleaning element 304 enter the cleaning blind area 6 from the second opening end 604 .

[0278] In implementation, Figures 36-38 As shown, since the blind spot 6 in scenario 2 includes a second opening end 604, which is unobstructed for the cleaning robot, when the control center of the cleaning robot controls the cleaning robot to move along the edge of the obstacle at the minimum edge distance L0, the side brush 301 and the rotary wet cleaning member 304 of the cleaning robot can directly enter the blind spot 6 from the second opening end 604. Furthermore, since the cleaning robot moves along the length direction of the blind spot 6 at the minimum edge distance L0, the side brush 301 and the rotary wet cleaning member 304 of the cleaning robot can ensure that they clean the blind spot 6 with the maximum cleaning range.

[0279] The following embodiments describe various ways for the cleaning robot to leave the cleaning blind area 6 including the second opening end 604 in scenario 2.

[0280] Method (I): In one embodiment, as shown in Figures 36-38 , along the length direction of the blind cleaning zone 6 , the end of the blind cleaning zone 6 away from the second opening end 604 is the third opening end 605 . After the cleaning robot cleans the blind cleaning zone 6 along the length direction of the blind cleaning zone 6 using the side brush 301 and the rotary wet cleaning element 304 , the method further includes:

[0281] Step 2901, control the cleaning robot to maintain the rotary wet cleaning element 304 in the extended state, such as Figure 30 As shown, the cleaning robot is controlled to continue moving along the edge of the obstacle at the minimum edge distance L0 so that the side brush 301 and the rotary wet cleaning member 304 leave the cleaning blind area 6 from the third opening end 605 .

[0282] In implementation, after the cleaning robot enters the cleaning blind spot 6 from the second opening end 604, the control module of the cleaning robot controls the cleaning robot to maintain the rotary wet cleaning member 304 in an extended state, and the control module in the cleaning robot controls the cleaning robot to continue to move along the edge of the obstacle at a minimum edge distance L0, so that the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind spot 6. When reaching the third opening end 605 of the cleaning blind spot 6, since the third opening end 605 does not block the side brush 301 and the rotary wet cleaning member 304 of the cleaning robot, the side brush 301 and the rotary wet cleaning member 304 of the cleaning robot can directly leave the cleaning blind spot 6 from the third opening end 605.

[0283] Method (2): In one embodiment, if Figures 39-47 As shown, along the length direction of the cleaning blind area 6, the end of the cleaning blind area 6 away from the second open end 604 is the third closed end 606. After the cleaning robot cleans the cleaning blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning member 304, the method further includes:

[0284] Step 3101 , controlling the front end 101 of the cleaning robot to approach the third closed end 606 , and driving the side brush 301 and the rotary wet cleaning element 304 to pass through the third closed end 606 and leave the cleaning blind spot 6 .

[0285] During implementation, after the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, the front end 101 of the cleaning robot is controlled to approach the third closed end 606. At this time, due to the obstruction of the third closed end 606, the cleaning robot needs to adjust its posture, thereby driving the side brush 301 and the rotary wet cleaning member 304 to avoid the third closed end 606 and leave the cleaning blind area 6.

[0286] In the following examples, Figures 39-47 As shown, for the cleaning blind area 6 in the second method, which has a second open end 604 at one end and a third closed end 606 at the other end, the process of the cleaning robot leaving the cleaning blind area 6 is described in detail as follows:

[0287] In an exemplary embodiment, Figures 39-43 As shown, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning element 304 to pass through the third closed end 606 and leave the cleaning blind area 6 in step 3101 includes:

[0288] Step 3201 , controlling the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces an obstacle.

[0289] In practice, the control module of the cleaning robot controls the cleaning robot to make a first turn so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle. Specifically, after the cleaning robot receives the instruction to execute the first turn, the control module in the cleaning robot plans the most reasonable turning path based on the current position and posture of the cleaning robot and the relative position of the obstacle, and specifies the turning angle, speed, and direction to ensure that after the turn is completed, the front end 101 or the rear end 102 of the cleaning robot can accurately face the obstacle.

[0290] Step 3202: Control the cleaning robot to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4.

[0291] In practice, after the cleaning robot completes the first turning motion, the control module of the cleaning robot controls the cleaning robot to move forward or backward in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4. The fourth preset distance L4 is greater than the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot when the rotary wet cleaning element 304 is extended from the cleaning robot.

[0292] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than a fourth predetermined distance L4.

[0293] Step 3203 , controlling the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle, and the side brush 301 and the rotary wet cleaning member 304 pass through the third closed end 606 and leave the cleaning blind spot 6 .

[0294] During implementation, after the distance between the cleaning robot and the edge of the obstacle reaches the fourth preset distance L4, the control module of the cleaning robot controls the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle, thereby successfully avoiding the third closed end 606 of the cleaning blind spot 6, and then allowing the side brush 301 and the rotary wet cleaning part of the cleaning robot to leave the cleaning blind spot 6.

[0295] In one embodiment, Figures 44-47 As shown, the specific processing process of the cleaning robot driving the side brush 301 and the rotary wet cleaning element 304 to pass through the third closed end 606 and leave the cleaning blind area 6 in step 3101 includes:

[0296] Step 3301: drive the front end 101 of the cleaning robot to deflect away from the obstacle, and at the same time control the cleaning robot to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fifth preset distance L5.

[0297] In implementation, Figures 44-47 As shown, the control module in the cleaning robot drives the front end 101 of the cleaning robot to deflect away from the obstacle, and at the same time controls the cleaning robot to move in the direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush 301 and the rotary wet cleaning element 304 pass through the third closed end 606 to leave the cleaning blind spot 6.

[0298] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than a fifth predetermined distance L5.

[0299] Scenario 3: In an exemplary embodiment, the cleaning robot moves along the length direction of the cleaning blind area 6, and at least one end of the cleaning blind area 6 is the fourth closed end 607. Figures 48-55 As shown, the specific processing process of step 101 includes:

[0300] Step 3701, control the cleaning robot to move along the edge of the obstacle with a minimum edge distance L0. When encountering the fourth closed end 607, since the side brush 301 is made of flexible material, the side brush 301 can first pass through the fourth closed end 607 in a bent form when the rotary wet cleaning member 304 is retracted. When the rotary wet cleaning member 304 passes through the fourth closed end 607, control the cleaning robot to extend the rotary wet cleaning member 304 outside the cleaning robot.

[0301] In the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6.

[0302] As the cleaning robot gradually approaches fourth closed end 607, its side brush 301 passes through it while its rotary wet cleaning element 304 is retracted. As the robot continues forward, the rotary wet cleaning element 304 approaches fourth closed end 607. The moment the rotary wet cleaning element 304 passes fourth closed end 607, the control module quickly issues a command to activate the motor of the rotary wet cleaning element 304. Through a precise transmission mechanism, the motor drives the rotary wet cleaning element 304 along a pre-set track, smoothly extending from the interior of the cleaning robot to the exterior.

[0303] In one exemplary embodiment, in the embodiment of the blind spot cleaning method, the edge of the obstacle is the edge of the projection pattern in the height direction of the obstacle.

[0304] In one exemplary embodiment, Figure 23 、 38 As shown in Figures 50 and 53, the specific process of cleaning the blind area 6 along the length direction of the blind area 6 using the side brush 301 and the rotary wet cleaning member 304 in step 101 includes:

[0305] In step 4101 , the cleaning robot performs at least one forward and backward movement to reciprocate and clean the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning element 304 .

[0306] In one exemplary embodiment, Figure 1-12 As shown ( Figure 1-12 (The perception system and control module are not shown in the figure) provides a cleaning robot, which includes:

[0307] a side brush 301 , which is located at the bottom of the cleaning robot and at the front end 101 of the cleaning robot;

[0308] A rotary wet cleaning member 304 is provided at the bottom of the cleaning robot and at the rear end 102 of the cleaning robot. The rotary wet cleaning member 304 can be extended and retracted along the width direction of the cleaning robot. When the rotary wet cleaning member 304 is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot.

[0309] The walking system is provided at the bottom of the cleaning robot and is used to drive the cleaning robot to move forward;

[0310] A perception system for obtaining image information and / or distance information of obstacles;

[0311] The control module is used to execute the blind spot cleaning method described in the above embodiment.

[0312] In an exemplary embodiment, the above-mentioned perception system includes one or more of an AI camera, a binocular camera, a trinocular camera, a line laser sensor, a surface laser sensor, a lidar, a Dtof, Itof, and an ultrasonic sensor.

[0313] In an exemplary embodiment, the present application provides a blind spot cleaning device, which is applied to a cleaning robot. The cleaning robot includes a side brush 301 and a rotary wet cleaning member 304 provided at the bottom of the cleaning robot. The side brush 301 is provided at the front end 101 of the cleaning robot, and the rotary wet cleaning member 304 is provided at the rear end 102 of the cleaning robot. The rotary wet cleaning member 304 can be extended and retracted along the width direction of the cleaning robot. When the rotary wet cleaning member 304 is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot.

[0314] The device includes: a first control module, configured to drive a side brush 301 and a rotary wet cleaning member 304 to enter a blind cleaning zone 6 of an obstacle during the cleaning robot's cleaning task, and to clean the blind cleaning zone 6 along the length direction of the blind cleaning zone 6 using the side brush 301 and the rotary wet cleaning member 304;

[0315] Among them, the cleaning blind spot 6 is a recessed area formed by the inward recess of the surface of the obstacle, and the recessed area is connected downward with the working surface on which the cleaning robot moves. The height of the side brush 301 is less than the height of the rotary wet cleaning part 304, and the height of the cleaning blind spot 6 is greater than the height of the rotary wet cleaning part 304, and less than the height of the cleaning robot body 1.

[0316] In one embodiment, along the length direction of the cleaning blind area 6, one end of the cleaning blind area 6 is a first closed end 601, and when the side brush 301 and the rotary wet cleaning member 304 pass through the first closed end 601 and enter the cleaning blind area 6;

[0317] The first control module is specifically configured to:

[0318] Controlling the cleaning robot to retract the rotary wet cleaning member 304 into the cleaning robot;

[0319] Adjust the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush 301 enters the cleaning blind spot 6;

[0320] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning element 304 passes the first closed end 601, the cleaning robot is controlled to extend the rotary wet cleaning element 304 outside the cleaning robot so that the farthest end of the rotary wet cleaning element 304 enters the cleaning blind spot 6.

[0321] In one embodiment, the first control module is specifically configured to:

[0322] Controlling the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle;

[0323] Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0;

[0324] The cleaning robot is controlled to turn for the second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind area 6 , and at the same time the farthest end of the side brush 301 enters the cleaning blind area 6 .

[0325] In one embodiment, the apparatus further comprises:

[0326] The second control module is used to control the cleaning robot to move along the edge of the obstacle at a first preset distance L1 so that the side brush 301 passes the first closed end 601, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0327] In one embodiment, the first control module is specifically configured to:

[0328] Driving the front end 101 of the cleaning robot to deflect toward the obstacle;

[0329] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end 101 of the cleaning robot is driven to swing back away from the obstacle. In the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to be the minimum edge distance L0, and at the same time, the side brush 301 is driven into the cleaning blind spot 6.

[0330] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0331] In one embodiment, along the length direction of the cleaning blind area 6, the end of the cleaning blind area 6 away from the first closed end 601 is the second closed end 603, and the device further includes:

[0332] The third control module is used to control the front end 101 of the cleaning robot to approach the second closed end 603 after the cleaning robot uses the side brush 301 and the rotary wet cleaning part 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, and drive the side brush 301 and the rotary wet cleaning part 304 to pass through the second closed end 603 to leave the cleaning blind area 6.

[0333] In one embodiment, the third control module is specifically configured to:

[0334] Controlling the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle;

[0335] Controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0336] The cleaning robot is controlled to turn for the second time so that the front end 101 of the cleaning robot deviates from the obstacle.

[0337] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than the second predetermined distance L2.

[0338] In one embodiment, the third control module is specifically configured to:

[0339] The front end 101 of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0340] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than the third predetermined distance L3.

[0341] In one embodiment, along the length direction of the cleaning blind spot 6, the end of the cleaning blind spot 6 away from the first closed end 601 is a first open end 602, and the blind spot cleaning device also includes: a fourth control module, which is used to control the cleaning robot to extend the rotary wet cleaning member 304 out of the cleaning robot after the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind spot 6 along the length direction of the cleaning blind spot 6, and control the cleaning robot to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning member 304 leave the cleaning blind spot 6 from the first open end 602.

[0342] In one embodiment, along the length direction of the cleaning blind area 6, one end of the cleaning blind area 6 is a second open end 604, and when the side brush 301 and the rotary wet cleaning member 304 enter the cleaning blind area 6 from the second open end 604;

[0343] The first control module is specifically configured to:

[0344] Controlling the cleaning robot to extend the rotary wet cleaning member 304 out of the cleaning robot;

[0345] Adjust the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot 6;

[0346] The cleaning robot is controlled to move along the edge of the obstacle at the minimum edge distance L0 so that the side brush 301 and the rotary wet cleaning element 304 enter the cleaning blind area 6 from the second opening end 604 .

[0347] In one embodiment, along the length direction of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the second opening end 604 is a third opening end 605, and the device further includes:

[0348] The fifth control module is used to control the cleaning robot to extend the rotary wet cleaning member 304 out of the cleaning robot after the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, and control the cleaning robot to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning member 304 leave the cleaning blind area 6 from the third opening end 605.

[0349] In one embodiment, along the length direction of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the second open end 604 is a third closed end 606, and the device further includes:

[0350] The sixth control module is used to control the front end 101 of the cleaning robot to approach the third closed end 606 after the cleaning robot uses the side brush 301 and the rotary wet cleaning element 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6, and drive the side brush 301 and the rotary wet cleaning element 304 to pass through the third closed end 606 to leave the cleaning blind area 6.

[0351] In one embodiment, the sixth control module is specifically configured to:

[0352] Controlling the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle;

[0353] Controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4;

[0354] The cleaning robot is controlled to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle, and the side brush 301 and the rotary wet cleaning member pass through the third closed end 606 and leave the cleaning blind area 6.

[0355] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than a fourth predetermined distance L4.

[0356] In one embodiment, the sixth control module is specifically configured to:

[0357] The front end 101 of the cleaning robot is driven to deflect away from the obstacle, and at the same time the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush 301 and the rotary wet cleaning element 304 pass through the third closed end 606 to leave the cleaning blind spot 6.

[0358] In one embodiment, when the rotary wet cleaning element 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning element 304 and the cleaning robot is less than a fifth predetermined distance L5.

[0359] In one embodiment, along the length direction of the cleaning blind zone 6, at least one end of the cleaning blind zone 6 is a fourth closed end 607, and the first control module is specifically configured to:

[0360] The cleaning robot is controlled to move along the edge of the obstacle at a minimum edge distance L0. When encountering the fourth closed section, the side brush 301 first passes through the fourth closed end 607 while the rotary wet cleaning element 304 is retracted. When the rotary wet cleaning element 304 passes through the fourth closed end 607, the cleaning robot is controlled to extend the rotary wet cleaning element 304 outside the cleaning robot.

[0361] In the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush 301 and the rotary wet cleaning member 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6.

[0362] In one embodiment, the edge of the obstacle is the edge of the projection pattern in the height direction of the obstacle.

[0363] In one embodiment, the first control module is specifically configured to: cause the cleaning robot to perform at least one forward or backward movement to reciprocate and clean the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning element 304 .

[0364] It should be understood that, although the various steps of the process involved in each embodiment as described above are shown in sequence according to the indication of the sequence number, these steps are not necessarily performed in sequence according to the order indicated by the sequence number. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the process involved in each embodiment as described above can include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps.

[0365] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0366] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0367] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memory.

[0368] Any reference to memory, database, or other media used in the embodiments provided herein may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, artificial intelligence (AI) processors, and the like.

[0369] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0370] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A blind spot cleaning method, characterized in that: Applicable to a cleaning robot, the cleaning robot comprises a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member being capable of extending and retracting along the width direction of the cleaning robot, and when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; The method comprises: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind cleaning zone along a length direction of the blind cleaning zone; The cleaning blind spot is a recessed area formed by the surface of the obstacle being recessed inward, the recessed area is downwardly connected to the working surface on which the cleaning robot moves, the height of the side brush is less than the height of the rotary wet cleaning member, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning member and less than the height of the cleaning robot body; Along the length direction of the cleaning blind area, one end of the cleaning blind area is a first closed end, and when the side brush and the rotary wet cleaning member pass through the first closed end and enter the cleaning blind area; The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including: controlling the cleaning robot to retract the rotary wet cleaning element into the cleaning robot; Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot; controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, and when the rotary wet cleaning member passes the first closed end, controlling the cleaning robot to extend the rotary wet cleaning member outside the cleaning robot so that the farthest end of the rotary wet cleaning member enters the cleaning blind spot; The adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot, includes: controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle; Controlling the cleaning robot to move in a direction approaching the obstacle so that the distance between the cleaning robot and the edge of the obstacle is a minimum edge distance L0; The cleaning robot is controlled to turn for the second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind area, and the farthest end of the side brush enters the cleaning blind area.

2. The blind spot cleaning method according to claim 1, characterized in that: Before controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle, the method further includes: The cleaning robot is controlled to move along the edge of the obstacle at a first preset distance L1 so that the side brush passes the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0.

3. A blind spot cleaning method, characterized in that: Applicable to a cleaning robot, the cleaning robot comprises a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member being capable of extending and retracting along the width direction of the cleaning robot, and when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; The method comprises: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind cleaning zone along a length direction of the blind cleaning zone; The cleaning blind spot is a recessed area formed by the surface of the obstacle being recessed inward, the recessed area is downwardly connected to the working surface on which the cleaning robot moves, the height of the side brush is less than the height of the rotary wet cleaning member, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning member and less than the height of the cleaning robot body; Along the length direction of the cleaning blind area, one end of the cleaning blind area is a first closed end, and when the side brush and the rotary wet cleaning member pass through the first closed end and enter the cleaning blind area; The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including: controlling the cleaning robot to retract the rotary wet cleaning element into the cleaning robot; Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot; controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, and when the rotary wet cleaning member passes the first closed end, controlling the cleaning robot to extend the rotary wet cleaning member outside the cleaning robot so that the farthest end of the rotary wet cleaning member enters the cleaning blind spot; The adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time, the farthest end of the side brush enters the cleaning blind spot, includes: driving the front end of the cleaning robot to deflect toward the obstacle; The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing back away from the obstacle. In the process of moving and swinging, the distance between the cleaning robot and the edge of the obstacle is driven to reach the minimum edge distance L0, and the side brush is driven to enter the cleaning blind spot.

4. The blind spot cleaning method according to claim 3, characterized in that: The speed of the swing back is lower than the speed of the deflection.

5. The blind spot cleaning method according to claim 1 or 3, characterized in that: Along the length direction of the blind cleaning area, an end of the blind cleaning area away from the first closed end is a second closed end. After the cleaning robot cleans the blind cleaning area along the length direction of the blind cleaning area using the side brush and the rotary wet cleaning member, the method further includes: The front end of the cleaning robot is controlled to approach the second closed end, and the cleaning robot drives the side brush and the rotary wet cleaning member to pass through the second closed end and leave the cleaning blind area.

6. The blind spot cleaning method according to claim 5, characterized in that: The cleaning robot drives the side brush and the rotary wet cleaning element to pass through the second closed end and leave the cleaning blind area, comprising: controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle; Controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2; The cleaning robot is controlled to turn for the second time so that the front end of the cleaning robot deviates from the obstacle.

7. The blind spot cleaning method according to claim 6, characterized in that: When the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the second preset distance L2.

8. The blind spot cleaning method according to claim 5, characterized in that: The cleaning robot drives the side brush and the rotary wet cleaning element to pass through the second closed end and leave the cleaning blind area, comprising: The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

9. The blind spot cleaning method according to claim 8, characterized in that: When the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the third preset distance L3.

10. The blind spot cleaning method according to claim 1 or 3, characterized in that: Along the length direction of the blind cleaning area, an end of the blind cleaning area away from the first closed end is a first open end. After the cleaning robot cleans the blind cleaning area along the length direction of the blind cleaning area using the side brush and the rotary wet cleaning member, the method further includes: Controlling the cleaning robot to maintain the rotary wet cleaning member in an extended state, and controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning member leave the cleaning blind spot from the first opening end; The edge of the obstacle is the edge of the projection figure of the obstacle in the height direction.

11. A blind spot cleaning method, characterized in that: Applicable to a cleaning robot, the cleaning robot comprises a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member being capable of extending and retracting along the width direction of the cleaning robot, and when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; The method comprises: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind cleaning zone along a length direction of the blind cleaning zone; The cleaning blind spot is a recessed area formed by the surface of the obstacle being recessed inward, the recessed area is downwardly connected to the working surface on which the cleaning robot moves, the height of the side brush is less than the height of the rotary wet cleaning member, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning member and less than the height of the cleaning robot body; Along the length direction of the cleaning blind area, one end of the cleaning blind area is a second opening end, and when the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end; The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including: controlling the cleaning robot to extend the rotary wet cleaning member out of the cleaning robot; Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot; Controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0 so that the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end; Along the length direction of the blind cleaning area, an end of the blind cleaning area away from the second open end is a third closed end. After the cleaning robot cleans the blind cleaning area along the length direction of the blind cleaning area using the side brush and the rotary wet cleaning member, the method further includes: controlling the front end of the cleaning robot to approach the third closed end, and the cleaning robot drives the side brush and the rotary wet cleaning member to pass through the third closed end and leave the blind cleaning area; The cleaning robot drives the side brush and the rotary wet cleaning element to pass through the third closed end and leave the cleaning blind area, comprising: controlling the cleaning robot to turn for the first time so that the front end or the rear end of the cleaning robot faces the obstacle; controlling the cleaning robot to move in a direction away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4; The cleaning robot is controlled to turn for the second time, so that the front end of the cleaning robot deviates from the obstacle, and the side brush and the rotary wet cleaning member pass through the third closed end and leave the cleaning blind area.

12. The blind spot cleaning method according to claim 11, characterized in that: When the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fourth preset distance L4.

13. A blind spot cleaning method, characterized in that: Applicable to a cleaning robot, the cleaning robot comprises a side brush and a rotary wet cleaning member arranged at the bottom of the cleaning robot, the side brush being arranged at the front end of the cleaning robot, the rotary wet cleaning member being arranged at the rear end of the cleaning robot, the rotary wet cleaning member being capable of extending and retracting along the width direction of the cleaning robot, and when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; The method comprises: when the cleaning robot performs a cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning member into a blind cleaning zone of an obstacle, and uses the side brush and the rotary wet cleaning member to clean the blind cleaning zone along a length direction of the blind cleaning zone; The cleaning blind spot is a recessed area formed by the surface of the obstacle being recessed inward, the recessed area is downwardly connected to the working surface on which the cleaning robot moves, the height of the side brush is less than the height of the rotary wet cleaning member, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning member and less than the height of the cleaning robot body; Along the length direction of the cleaning blind area, one end of the cleaning blind area is a second opening end, and when the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end; The cleaning robot drives the side brush and the rotary wet cleaning element to enter a cleaning blind area where there is an obstacle, including: controlling the cleaning robot to extend the rotary wet cleaning member out of the cleaning robot; Adjusting the posture of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind spot; Controlling the cleaning robot to move along the edge of the obstacle at a minimum edge distance L0 so that the side brush and the rotary wet cleaning member enter the cleaning blind area from the second opening end; Along the length direction of the blind cleaning area, an end of the blind cleaning area away from the second open end is a third closed end. After the cleaning robot cleans the blind cleaning area along the length direction of the blind cleaning area using the side brush and the rotary wet cleaning member, the method further includes: controlling the front end of the cleaning robot to approach the third closed end, and the cleaning robot drives the side brush and the rotary wet cleaning member to pass through the third closed end and leave the blind cleaning area; The cleaning robot drives the side brush and the rotary wet cleaning element to pass through the third closed end and leave the cleaning blind area, comprising: The front end of the cleaning robot is driven to deflect away from the obstacle, and at the same time, the cleaning robot is controlled to move in a direction away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush and the rotary wet cleaning element pass through the third closed end and leave the cleaning blind spot.

14. The blind spot cleaning method according to claim 13, characterized in that: When the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than the fifth preset distance L5.

15. The blind spot cleaning method according to any one of claims 1, 2, 3, 6, 8, 11 or 13, characterized in that: The edge of the obstacle is the edge of the projection figure in the height direction of the obstacle.

16. The blind spot cleaning method according to any one of claims 1, 3, 11 or 13, characterized in that: The method of cleaning the blind spot along the length direction of the blind spot by using the side brush and the rotary wet cleaning member includes: the cleaning robot performing at least one forward and backward movement to reciprocately clean the blind spot by using the side brush and the rotary wet cleaning member.

17. A cleaning robot, characterized in that: include: a side brush, disposed at the bottom of the cleaning robot and at the front end of the cleaning robot; a rotary wet cleaning member disposed at the bottom of the cleaning robot and at the rear end of the cleaning robot, the rotary wet cleaning member being capable of extending and retracting along the width direction of the cleaning robot, wherein when the rotary wet cleaning member is extended from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot; A walking system, provided at the bottom of the cleaning robot, for driving the cleaning robot to move; A perception system for obtaining image information and / or distance information of obstacles; A control module is used to execute the blind spot cleaning method described in any one of claims 1 to 16.

18. The cleaning robot according to claim 17, characterized in that: The perception system includes one or more of an AI camera, a binocular camera, a trinocular camera, a line laser sensor, a surface laser sensor, a lidar, a Dtof, Itof, and an ultrasonic sensor.

19. A cleaning robot comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the blind spot cleaning method described in any one of claims 1-16 are implemented.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the blind spot cleaning method according to any one of claims 1 to 16 are implemented.

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