Cleaning robot and cleaning control method and system

Abstract

The embodiment of the invention provides a cleaning robot and a cleaning control method and system. The cleaning robot comprises a base; the driving mechanism is arranged on the base and used for driving the cleaning robot to move; the sweeping mechanism is arranged on the base and used for sweeping the surface to be cleaned; the cleaning roller is rotatably arranged on the base and is used for cleaning the surface to be cleaned; the cleaning robot at least has a mopping mode and a sweeping mode, in the mopping mode and the sweeping mode, interference exists between the cleaning roller and the to-be-cleaned face, and the interference is not larger than 1 mm. The cleaning robot can be prevented from shaking in the moving process, and the moving and cleaning effects of the cleaning robot are guaranteed.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular to a cleaning robot, a cleaning control method and a cleaning system. Background Art

[0002] With the continuous development of science and technology, more and more cleaning equipment is used in homes, hotels, offices, large conference rooms and other places to free people's hands. Among them, the sweeping and mopping robot is a kind of cleaning equipment that is more popular with users.

[0003] In the related art, when a sweeping and mopping robot is performing mopping operations or sweeping and mopping operations, the roller used for floor cleaning on the robot will cause the entire machine to shake during operation, which will not only easily affect the normal movement of the robot, but also affect the cleaning effect of the surface to be cleaned. Summary of the invention

[0004] Multiple aspects of the present application provide a cleaning robot, a cleaning control method and a system to prevent the cleaning robot from shaking during movement, thereby ensuring the movement and cleaning effect of the cleaning robot.

[0005] An embodiment of the present application provides a cleaning robot, the cleaning robot comprising:

[0006] Base;

[0007] A driving mechanism, disposed on the base, for driving the cleaning robot to move;

[0008] A sweeping mechanism, arranged on the base, for sweeping the surface to be cleaned;

[0009] A cleaning roller, rotatably disposed on the base, for cleaning the surface to be cleaned;

[0010] The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In both the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller and the surface to be cleaned, and the interference is no greater than 1 mm.

[0011] In an optional embodiment, the cleaning robot also includes: a first lifting mechanism, used to drive the cleaning roller to rise and fall, and the cleaning robot also has a sweeping mode. In the sweeping mode, the first lifting mechanism drives the cleaning roller to rise, and the sweeping mechanism cleans the surface to be cleaned.

[0012] In an optional embodiment, the first lifting mechanism includes a lifting motor, and in the mopping mode, the angle between the reaction force of the surface to be cleaned on the lifting motor and the horizontal plane is not a right angle.

[0013] In an optional embodiment, the first lifting mechanism further includes:

[0014] A guide rail, vertically arranged on the base;

[0015] A support member, used for supporting the cleaning roller on the base, wherein the support member is slidably disposed on the guide rail, and a slide groove is disposed on the support member;

[0016] The movable part has a first end connected to the driving part 54 and a second end slidably disposed in the slide groove, wherein the driving part 54 is used to drive the second end of the movable part to slide in the slide groove when a set working condition is triggered, so as to lift or lower the cleaning roller to a set height through the supporting part.

[0017] In an optional embodiment, the first lifting mechanism further comprises: a cover plate, disposed on the guide rail;

[0018] The first end of the movable part is rotatably disposed on the cover plate, wherein when the cleaning roller is lowered for operation, the movable part rotates forward and finally forms a first set angle with the guide rail, and when the cleaning roller is raised and not in operation, the movable part rotates reversely and finally forms a second set angle with the guide rail, and the first set angle is smaller than the second set angle.

[0019] In an optional embodiment, the cleaning robot further includes: a limiting member, arranged on the cover plate, for limiting the second end of the movable member at a set position during the reverse rotation of the movable member, so that the movable member and the guide rail are at the first set angle.

[0020] In an optional embodiment, the first setting angle is 10°-20°.

[0021] In an optional embodiment, the cleaning robot also includes: a second lifting mechanism and a controller, the second lifting mechanism is used to drive the base to rise and fall, the controller is connected to the first lifting mechanism and the second lifting mechanism, and the controller is used to control the second lifting mechanism to drive the base to rise when the cleaning robot transforms from mopping mode or sweeping mode to sweeping mode, and then controls the first lifting mechanism to drive the cleaning roller to rise.

[0022] In an optional embodiment, the cleaning roller includes a water pump and a cleaning member;

[0023] The water pump is used to spray water onto the surface to be cleaned;

[0024] The cleaning member is disposed on the first lifting mechanism or the second lifting mechanism, and is used to clean the surface to be cleaned in combination with the water sprayed on the surface to be cleaned, and to perform self-cleaning during the cleaning operation.

[0025] The present application also provides a cleaning control method, the method comprising:

[0026] If the cleaning robot is in the mopping mode, the cleaning roller is controlled to clean the surface to be cleaned; or,

[0027] If the cleaning robot is in the sweeping and mopping mode, the sweeping mechanism is controlled to clean the surface to be cleaned, and the cleaning roller is controlled to clean the surface to be cleaned;

[0028] There is an interference fit between the cleaning rollers and the surface to be cleaned, and the interference fit is no greater than 1 mm.

[0029] The present application also provides a cleaning control system, the system comprising:

[0030] A self-moving device and a cleaning robot corresponding to the self-moving device;

[0031] The cleaning robot comprises:

[0032] Base;

[0033] A driving mechanism, disposed on the base, for driving the cleaning robot to move;

[0034] A sweeping mechanism, arranged on the base, for sweeping the surface to be cleaned;

[0035] A cleaning roller, rotatably disposed on the base, for cleaning the surface to be cleaned;

[0036] The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In both the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller and the surface to be cleaned, and the interference is no greater than 1 mm.

[0037] In the embodiment of the present application, by arranging a sweeping mechanism on the base, the surface to be cleaned can be swept, and by arranging a cleaning roller rotatably on the base, the surface to be cleaned can be cleaned, thereby ensuring that the cleaning robot has at least a mopping mode and a sweeping and mopping mode. In the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller and the surface to be cleaned, and the interference is not greater than 1mm, thereby improving the stability of the cleaning robot during the cleaning movement. That is, the present application can prevent the cleaning robot from shaking during the movement, thereby ensuring the movement and cleaning effect of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 An exploded view of a cleaning robot provided by an exemplary embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a cleaning robot provided by an exemplary embodiment of the present application;

[0041] Figure 3 Another structural schematic diagram of a cleaning robot provided by an exemplary embodiment of the present application;

[0042] Figure 4 A scene example diagram of a cleaning robot provided by an exemplary embodiment of the present application;

[0043] Figure 5 A flow chart of a cleaning control method provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0045] With the continuous development of science and technology, more and more cleaning equipment is used in homes, hotels, offices, large conference rooms and other places to free people's hands. Among them, the sweeping and mopping robot is a cleaning device that is more popular with users. When the sweeping and mopping robot is performing mopping operations or sweeping and mopping operations, the roller used for floor cleaning on the robot will cause the whole machine to shake during operation, which will not only easily affect the normal movement of the robot, but also affect the cleaning effect of the surface to be cleaned. In view of this, an embodiment of the present application provides a cleaning robot.

[0046] Figure 1 An exploded diagram of a cleaning robot provided in an embodiment of the present application, Figure 2 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 1 and Figure 2As shown, the system includes: a base 10, a driving mechanism 20, a sweeping mechanism 30 and a cleaning roller 40. The driving mechanism 20 is arranged on the base 10, and is used to drive the cleaning robot to move. The sweeping mechanism 30 is arranged on the base 10, and is used to sweep the surface to be cleaned. The cleaning roller 40 is rotatably arranged on the base 10, and is used to clean the surface to be cleaned. The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In the mopping mode and the sweeping and mopping mode, the cleaning roller 40 has an interference with the surface to be cleaned, and the interference is not greater than 1mm.

[0047] In this embodiment, the cleaning robot has at least a mopping mode and a sweeping and mopping mode. In these two modes, a cleaning roller 40 is used. In specific implementation, the driving mechanism 20 drives the cleaning robot to move on the surface to be cleaned (such as the floor of bedrooms, classrooms, offices, etc.). If the cleaning robot is in the mopping mode at this time, the cleaning roller 40 is controlled to rotate to clean the surface to be cleaned (i.e., mopping the floor). If the cleaning robot is in the sweeping and mopping mode at this time, the sweeping mechanism 30 is controlled to sweep the surface to be cleaned (i.e., sweeping the floor). At the same time, the cleaning roller 40 is controlled to rotate to clean the surface to be cleaned (i.e., mopping the floor). During this process, there is an interference fit between the cleaning roller 40 and the surface to be cleaned, and the interference fit is not greater than 1mm, such as 0.5mm, 0.7mm, etc. It should be noted that the cleaning roller 40 has bristles, and the bristles can be glued to the roller, for example. The interference fit here refers to the interference fit between the bristles and the ground when they are basically in a completely wet state. The interference fit can be found in Figure 2 ,exist Figure 2 In the embodiment, the portion of the bristles on the cleaning roller 40 that are completely wet and flattened by the surface to be cleaned is the "interference amount".

[0048] The cleaning robot provided in the embodiment of the present application can clean the surface to be cleaned by arranging a sweeping mechanism 30 on the base 10, and can clean the surface to be cleaned by arranging a cleaning roller 40 rotatably on the base 10, thereby ensuring that the cleaning robot has at least a mopping mode and a sweeping and mopping mode. In the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller 40 and the surface to be cleaned, and the interference is not greater than 1 mm, thereby improving the stability of the cleaning robot during the cleaning movement. That is, the present application can prevent the cleaning robot from shaking during the movement, thereby ensuring the movement and cleaning effect of the cleaning robot.

[0049] In the embodiment of the present application, the cleaning robot further includes: a first lifting mechanism. The first lifting mechanism is used to drive the cleaning roller 40 to rise and fall. The cleaning robot also has a sweeping mode. In the sweeping mode, the first lifting mechanism drives the cleaning roller 40 to rise, and the sweeping mechanism 30 sweeps the surface to be cleaned.

[0050] It should be noted that the cleaning robot has a sweeping mode in addition to the mopping mode and the sweeping and mopping mode. In actual application, when the cleaning robot is in the sweeping mode, the driving mechanism 20 drives the cleaning robot to move on the surface to be cleaned. During this process, the first lifting mechanism drives the cleaning roller 40 to rise, so that the sweeping mechanism 30 cleans the surface to be cleaned. In this way, it is possible to avoid the moisture on the cleaning roller 40 interfering with the cleaning operation, thereby ensuring the smooth progress of the cleaning operation.

[0051] Wherein, the first lifting mechanism includes a lifting motor. In the mopping mode, the angle between the reaction force of the lifting motor on the surface to be cleaned and the horizontal plane is not a right angle.

[0052] It should be understood that the main power of the first lifting mechanism to drive the cleaning roller 40 to lift comes from the lifting motor, and in the mopping mode, the cleaning roller 40 will contact the surface to be cleaned. At this time, the reaction force of the surface to be cleaned will act on the lifting motor through the cleaning roller 40. If the angle between the reaction force of the surface to be cleaned to the lifting motor and the horizontal plane where the surface to be cleaned is a right angle, then the reaction force on the lifting motor is the largest at this time, which is easy to damage the motor. Therefore, in the embodiment of the present application, the angle between the reaction force of the surface to be cleaned to the lifting motor and the horizontal plane is not a right angle. Preferably, the angle can be 10°-20°, such as 10°, 15°, 20°, etc.

[0053] In actual applications, if the working scene of the cleaning robot includes carpets or other areas that are not suitable for water, then when the cleaning robot moves to the carpet or other areas that are not suitable for water, the cleaning roller 40 used for mopping the floor on the cleaning robot will wet and dirty the carpet or other areas that are not suitable for water, causing the carpet or other areas that are not suitable for water to become moldy and smelly, resulting in a poor user experience.

[0054] In view of this, in the embodiment of the present application, as an implementation method, Figure 2 and Figure 3 As shown, the first lifting mechanism also includes: a guide rail 51, a support member 52 and a movable member 53. The guide rail 51 is vertically arranged on the base 10. The support member 52 is used to support the cleaning roller 40 on the base 10, and the support member 52 is slidably arranged on the guide rail 51, and a slide groove 521 is arranged on the support member 52. The first end of the movable member 53 is connected to the driving member 54 (see Figure 1) is connected, and the second end is slidably disposed in the slide groove 521, wherein the driving member 54 is used to drive the second end of the movable member 53 to slide in the slide groove 521 when the set working condition is triggered, so as to lift or lower the cleaning roller 40 to a set height through the support member 52. The driving member 54 can be a device with driving force such as an electric motor. As for the structure of the movable member 53, for example, the movable member 53 can include a rotating shaft and a swing rod, the swing rod is sleeved on the rotating shaft, the rotating shaft is connected to the driving member 54, and the other end of the swing rod is slidably disposed in the slide groove 521, and one end of the swing rod in the slide groove 521 moves in an arc during this process.

[0055] In specific implementation, when the cleaning robot performs cleaning operations, if the set working conditions are triggered, the cleaning robot will control the driving member 54 to generate driving force, drive the second end of the movable member 53 to slide in the slide groove 521, and then lift or lower the cleaning roller 40 to a set height along the guide rail 51. It should be understood that by providing the slide groove 521 on the cleaning roller 40 and vertically arranging the guide rail 51 on the base 10, the second end of the movable member 53 can drive the cleaning roller 40 to be lifted or lowered during the sliding process in the slide groove 521. Under the restriction of the guide rail 51, the cleaning roller 40 can always keep moving in the vertical direction, and the stability is good.

[0056] Furthermore, if Figure 1-Figure 3 As shown, the cleaning robot further includes: a cover plate 60. The cover plate 60 is disposed on the guide rail 51. The first end of the movable member 53 is rotatably disposed on the cover plate 60, wherein when the cleaning roller 40 is lowered to work, the movable member 53 rotates forward and finally forms a first set angle with the guide rail 51, and when the cleaning roller 40 is raised and not working, the movable member 53 rotates reversely and finally forms a second set angle with the guide rail 51, and the first set angle is smaller than the second set angle.

[0057] For ease of understanding, the following Figure 2 and Figure 3 The embodiments of the present application are described as follows:

[0058] In practical applications, such as Figure 2 As shown, when the cleaning roller 40 needs to be lowered for operation, the cleaning robot will control the movable member 53 to rotate forward (i.e. Figure 2 The movable member 53 is finally at a first set angle with the guide rail 51. It should be understood that the larger the first set angle is, the better the force effect of the cleaning roller 40 is. However, if the first set angle is set too large, it will have a certain impact on its lifting. Therefore, in the embodiment of the present application, the first set angle can be set to 10°-20°, such as 10°, 15°, 20°, etc. Figure 2 The first setting angle adopted in is 15°.

[0059] like Figure 3 As shown, when the cleaning roller 40 is not in operation, the movable member 53 rotates in the reverse direction (i.e. Figure 3 The movable member 53 is finally at a second set angle with the guide rail 51. The second set angle can be set according to actual conditions and is not limited here.

[0060] Following the above example, taking the driving member 54 as an example, it should be understood that when the cleaning roller 40 needs to descend to work, in order to ensure the working stability of the cleaning roller 40, the motor needs to be self-locked, that is, the cleaning roller 40 remains stationary. However, if the movable member 53 directly rotates forward, the second end of the movable member 53 will slide in the slide groove 521. When the second end moves to the set position, the motor needs to consume a lot of power to complete the self-locking. In view of this, the cleaning robot provided in the embodiment of the present application also includes: a limit member 70, see Figure 2 and Figure 3 The limiting member 70 is disposed on the cover plate 60 and is used to limit the second end of the movable member 53 at a set position during the reverse rotation of the movable member 53 , so that the movable member 53 and the guide rail 51 are at a first set angle.

[0061] By setting the limit member 70, the second end of the movable member 53 can be limited at the set position during the reverse rotation of the movable member 53. In this way, a part of the force generated during the reverse rotation of the movable member 53 can be unloaded to the limit member 70, which greatly reduces the demand for the self-locking ability of the motor.

[0062] It should be noted that the height at which the cleaning roller 40 is lowered when working is not its lowest height. Figure 4 As shown, when the movable member 53 and the guide rail 51 are at a first set angle, the cleaning roller 40 is in a working state. Figure 4 The first position in the middle, and when the cleaning roller 40 is in the process of rising, it will Figure 4 Rotate to the right, passing the lowest position it can reach (i.e. Figure 4 The second position here does not correspond to any working state of the cleaning roller 40. It should be understood that when the cleaning roller is in the second position, the motor needs to overcome the weight of the whole machine to lift it to a set height, which places high requirements on the motor. Therefore, the embodiment of the present application mainly realizes the lifting operation of the cleaning roller 40 by cooperating with the first lifting mechanism.

[0063] As another implementation, the first lifting mechanism includes: a driving member 54 and a lifting member connected to the driving member 54. The lifting member is connected to the cleaning roller 40; the driving member 54 is used to drive the lifting member to lift or lower the cleaning roller 40 to a set height when a set working condition is triggered. The driving member 54 can be a device with a driving force such as a motor, and the lifting member can be a telescopic rod, a hook, or other components that can lift the cleaning roller 40, which are not specifically limited here.

[0064] In a specific implementation, when the cleaning robot performs a cleaning operation, if a set working condition is triggered, the cleaning robot will control the driving member 54 to generate a driving force to drive the lifting member to raise or lower the cleaning roller 40 to a set height.

[0065] As another implementation, the present application can also realize the lifting and lowering of the cleaning roller 40 through a second lifting mechanism. Specifically, the cleaning robot includes: a second lifting mechanism and a controller. The second lifting mechanism is used to drive the base 10 to lift and lower, and the controller is connected to the first lifting mechanism and the second lifting mechanism. The controller is used to control the second lifting mechanism to drive the base 10 to lift when the cleaning robot transforms from the mopping mode or the sweeping mode to the sweeping mode, and then controls the first lifting mechanism to drive the cleaning roller 40 to lift.

[0066] The second lifting mechanism includes: a lifting member (telescopic rod, hook, etc.) and a driving motor, wherein one end of the lifting member is connected to the base, and the other end is connected to the driving motor, and the driving motor is connected to the controller. It should be noted that in this implementation, the base 10 is slidably arranged on the guide rail 51, and the driving wheel 80 and the universal wheel 90 under the base 10 are lifted upward together with the base 10, see Figure 1 .

[0067] In specific implementation, during the cleaning operation of the cleaning robot, if the cleaning robot transforms from the mopping mode or the sweeping mode to the sweeping mode, the controller first controls the driving motor in the second lifting mechanism to drive the lifting member to lift the base 10, so that when the first lifting mechanism is subsequently used to drive the cleaning roller 40 to lift, the torque of the lifting motor in the first lifting mechanism will become smaller, thereby avoiding damage to the lifting motor due to excessive torque, thereby protecting the lifting motor.

[0068] Based on the above implementations, the set working conditions for raising the cleaning roller 40 to a set height include at least one of the following: only using the sweeping mechanism 30 to clean the surface to be cleaned, and not using the cleaning roller 40 to clean the surface to be cleaned; identifying the surface to be cleaned as a set working environment. The set working conditions for lowering the cleaning roller 40 to a set height include: it is necessary to perform both a sweeping operation and a cleaning operation on the surface to be cleaned. In simple terms, the set working conditions for raising the cleaning roller 40 to a set height are mainly: not using the cleaning roller 40, and the set working conditions for lowering the cleaning roller 40 to a set height are mainly: using the cleaning roller 40. The specific set working conditions are not limited here. Specifically, for example:

[0069] As an implementation method, during the cleaning operation of the cleaning robot, if the user issues a command to only clean the surface to be cleaned but not to wash the surface to be cleaned, the first lifting mechanism and / or the second lifting mechanism in the cleaning robot will lift the cleaning roller 40 to a set height so that it leaves the ground. The set height can be determined according to the actual working environment and working requirements, and is not limited here.

[0070] As another implementation method, during the cleaning operation of the cleaning robot, if the cleaning robot recognizes through its internal sensors that the surface to be cleaned is a set working environment, for example, it recognizes that the surface to be cleaned is a carpet, or other areas that are not suitable for water contact, the first lifting mechanism and / or the second lifting mechanism in the cleaning robot will lift the cleaning roller 40 to a set height to make it leave the carpet, or other areas that are not suitable for water contact.

[0071] As another implementation, when the cleaning roller 40 of the cleaning robot is in a recovery state, if it is necessary to perform sweeping and washing operations on the surface to be cleaned simultaneously, then the cleaning roller 40 can be lowered to a set height so that it is in full contact with the ground of the surface to be cleaned.

[0072] Based on the above, the cleaning robot provided in the embodiment of the present application can clean the surface to be cleaned by setting the sweeping mechanism 30, and can clean the surface to be cleaned by setting the cleaning roller 40. By setting the first lifting mechanism and / or the second lifting mechanism, the cleaning roller 40 can be raised or lowered to a set height when the set working condition is triggered. Even if the cleaning robot moves onto the carpet, its cleaning roller 40 will automatically rise to a set height and will not contact the carpet, thereby avoiding wetting the carpet and causing the carpet to become moldy and smelly, thereby improving the user experience.

[0073] The following is a description of the various components of the cleaning robot:

[0074] In the embodiment of the present application, the cleaning roller 40 includes a water pump and a cleaning member. The water pump is used to spray water to the surface to be cleaned; the cleaning member is arranged on the first lifting mechanism or the second lifting mechanism, and is used to perform a cleaning operation on the surface to be cleaned in combination with the water sprayed on the surface to be cleaned, and performs self-cleaning during the cleaning operation.

[0075] In actual application, when the cleaning roller 40 is needed to clean the surface to be cleaned, the water pump can be controlled to spray water to the surface to be cleaned, and the cleaning element cleans the surface to be cleaned based on the water sprayed on the surface to be cleaned. In order to improve the cleaning effect of the surface to be cleaned, the cleaning roller 40 can also perform self-cleaning during the cleaning operation, for example, the cleaning element can perform self-cleaning once every set time.

[0076] The cleaning part includes: a roller rag, a scraper and a sewage container. The roller rag is used to clean the surface to be cleaned in combination with the water sprayed on the surface to be cleaned; the scraper is used to scrape the sewage on the roller rag during the cleaning operation and discharge the scraped sewage into the sewage container.

[0077] In specific implementation, when the cleaning operation is performed on the surface to be cleaned, the drum-type rag will clean the surface to be cleaned based on the water sprayed on the surface to be cleaned by the water pump. During this process, the scraper will scrape off the sewage on the drum-type rag at set intervals (such as every 5 minutes, 10 minutes, etc., and the set time can be set according to actual conditions), and the sewage generated by the scraping operation will flow to the ground. At this time, the fan of the cleaning drum 40 will suck the sewage into the sewage container. If the cleaning robot is applied to a sweeping and mopping robot, then the real-time self-cleaning function of the cleaning drum 40 can reduce the frequency of the sweeping and mopping robot returning to the base station to clean the rag, thereby improving the cleaning efficiency.

[0078] The embodiments of the present application are described in detail below in conjunction with application scenarios.

[0079] Scenario Example 1:

[0080] Assume that the cleaning robot is a sweeping and mopping robot. During its cleaning operation, the user sends a command to it through the corresponding APP to only sweep the surface to be cleaned but not to wash the surface to be cleaned.

[0081] At this time, the water pump stops running, the roller rag continues to rotate for 10 seconds, the scraper removes the water on the rolling rag, and the fan of the cleaning roller 40 is increased to the maximum suction force, and the shutdown is delayed for 10 seconds to suck the water in the air duct into the sewage tank. Figure 2 and Figure 3As shown, the controller of the robot controls the driving member 54 to generate driving force, driving the second end of the movable member to slide in the slide groove 521, thereby lifting the cleaning roller 40 to a set height along the guide rail 51. Then, the surface to be cleaned can be cleaned according to the instructions issued by the user.

[0082] There is an interference between the cleaning roller 40 and the surface to be cleaned, and the interference is 0.5 mm.

[0083] Scenario Example 2:

[0084] Assume that the cleaning robot is a sweeping and mopping robot. During its cleaning operation, its internal sensor recognizes that the working area in front is a carpet, and it is not suitable to use a cleaning roller for cleaning operations.

[0085] At this time, the water pump stops running, the roller rag continues to rotate for 10 seconds, the scraper removes the water on the rolling rag, and the fan of the cleaning roller 40 is increased to the maximum suction force, and the shutdown is delayed for 10 seconds to suck the water in the air duct into the sewage tank. Figure 2 and Figure 3 As shown, the controller of the robot controls the driving member 54 to generate driving force, driving the second end of the movable member to slide in the slide groove 521, thereby lifting the cleaning roller 40 to a set height along the guide rail 51. Then, the robot moves to the carpet and cleans the carpet.

[0086] There is an interference between the cleaning roller 40 and the surface to be cleaned, and the interference is 0.7 mm.

[0087] Scenario Example 3:

[0088] Assume that the cleaning robot is a sweeping and mopping robot, and when its cleaning roller 40 is in a retracted state, the user sends a command to it through the corresponding APP to perform cleaning and washing at the same time.

[0089] At this time, if Figure 2 and Figure 3 As shown, the controller of the robot controls the driving member 54 to generate driving force, driving the second end of the movable member to slide in the slide groove 521, thereby lowering the cleaning roller 40 to a set height along the guide rail 51 to contact the ground of the surface to be cleaned, and performing a cleaning operation on the surface to be cleaned.

[0090] There is an interference between the cleaning roller 40 and the surface to be cleaned, and the interference is 0.9 mm.

[0091] Figure 5 A flow chart of a cleaning control method provided in an embodiment of the present application is as follows: Figure 5 As shown, the method includes:

[0092] Step 501: If the cleaning robot is in the mopping mode, control the cleaning roller to clean the surface to be cleaned.

[0093] Step 502: If the cleaning robot is in the sweeping and mopping mode, the sweeping mechanism is controlled to clean the surface to be cleaned, and the cleaning roller is controlled to clean the surface to be cleaned.

[0094] There is an interference fit between the cleaning rollers and the surface to be cleaned, and the interference fit is no greater than 1 mm.

[0095] The cleaning control method provided in the embodiment of the present application improves the stability of the cleaning robot during the cleaning movement by providing an interference fit between the cleaning roller and the surface to be cleaned in the mopping mode and the sweeping and mopping mode, and the interference fit is no greater than 1 mm. That is, the present application can prevent the cleaning robot from shaking during the movement, thereby ensuring the movement and cleaning effect of the cleaning robot.

[0096] The embodiment of the present application also provides a cleaning control system, which includes: a self-moving device and a cleaning robot corresponding to the self-moving device. Among them, the cleaning robot includes: a base 10, a driving mechanism 20, a sweeping mechanism 30 and a cleaning roller 40. Among them, the driving mechanism 20 is arranged on the base 10, and is used to drive the cleaning robot to move. The sweeping mechanism 30 is arranged on the base 10, and is used to sweep the surface to be cleaned. The cleaning roller 40 is rotatably arranged on the base 10, and is used to clean the surface to be cleaned. The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In the mopping mode and the sweeping and mopping mode, the cleaning roller 40 has an interference with the surface to be cleaned, and the interference is not greater than 1mm.

[0097] The autonomous device may be any mechanical device that can move autonomously in its environment, such as a robot, a purifier, an unmanned vehicle, etc.

[0098] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0099] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0102] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0103] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0104] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0105] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0106] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A cleaning robot, It is characterized in that include: Base; A driving mechanism, disposed on the base, for driving the cleaning robot to move; A sweeping mechanism, arranged on the base, for sweeping the surface to be cleaned; A cleaning roller, rotatably disposed on the base, for cleaning the surface to be cleaned; The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In both the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller and the surface to be cleaned, and the interference is no greater than 1 mm.

2. The cleaning robot according to claim 1, It is characterized in that Also includes: The first lifting mechanism is used to drive the cleaning roller to rise and fall. The cleaning robot also has a sweeping mode. In the sweeping mode, the first lifting mechanism drives the cleaning roller to rise, and the sweeping mechanism cleans the surface to be cleaned.

3. The cleaning robot according to claim 2, It is characterized in that The first lifting mechanism includes a lifting motor. In the mopping mode, the angle between the reaction force of the surface to be cleaned on the lifting motor and the horizontal plane is not a right angle.

4. The cleaning robot according to claim 3, It is characterized in that The first lifting mechanism also includes: A guide rail, vertically arranged on the base; A support member, used for supporting the cleaning roller on the base, wherein the support member is slidably disposed on the guide rail, and a slide groove is disposed on the support member; A movable member, the first end of which is connected to the driving member, and the second end of which is slidably disposed in the slide groove, wherein the driving member is used to drive the second end of the movable member to slide in the slide groove when a set working condition is triggered, so as to lift or lower the cleaning roller to a set height through the supporting member.

5. The cleaning robot according to claim 4, It is characterized in that The first lifting mechanism further comprises: a cover plate, arranged on the guide rail; The first end of the movable part is rotatably disposed on the cover plate, wherein when the cleaning roller is lowered for operation, the movable part rotates forward and finally forms a first set angle with the guide rail, and when the cleaning roller is raised and not in operation, the movable part rotates reversely and finally forms a second set angle with the guide rail, and the first set angle is smaller than the second set angle.

6. The cleaning robot according to claim 5, It is characterized in that It also includes: a limiting member, which is arranged on the cover plate and is used to limit the second end of the movable member at a set position during the reverse rotation of the movable member, so that the movable member and the guide rail are at the first set angle.

7. The cleaning robot according to claim 6, It is characterized in that The first setting angle is 10°-20°.

8. The cleaning robot according to claim 2, It is characterized in that Also includes: a second lifting mechanism and a controller; The second lifting mechanism is used to drive the base to rise and fall, and the controller is connected to the first lifting mechanism and the second lifting mechanism. The controller is used to control the second lifting mechanism to drive the base to rise when the cleaning robot transforms from the mopping mode or the sweeping mode to the sweeping mode, and then control the first lifting mechanism to drive the cleaning roller to rise.

9. The cleaning robot according to any one of claims 1 to 8, It is characterized in that The cleaning roller comprises a water pump and a cleaning member; The water pump is used to spray water onto the surface to be cleaned; The cleaning member is disposed on the first lifting mechanism or the second lifting mechanism, and is used to clean the surface to be cleaned in combination with the water sprayed on the surface to be cleaned, and to perform self-cleaning during the cleaning operation.

10. A cleaning control method, It is characterized in that include: If the cleaning robot is in the mopping mode, the cleaning roller is controlled to clean the surface to be cleaned; or, If the cleaning robot is in the sweeping and mopping mode, the sweeping mechanism is controlled to clean the surface to be cleaned, and the cleaning roller is controlled to clean the surface to be cleaned; There is an interference fit between the cleaning rollers and the surface to be cleaned, and the interference fit is no greater than 1 mm.

11. A cleaning control system, It is characterized in that include: A self-moving device and a cleaning robot corresponding to the self-moving device; The cleaning robot comprises: Base; A driving mechanism, disposed on the base, for driving the cleaning robot to move; A sweeping mechanism, arranged on the base, for sweeping the surface to be cleaned; A cleaning roller, rotatably disposed on the base, for cleaning the surface to be cleaned; The cleaning robot has at least a mopping mode and a sweeping and mopping mode. In both the mopping mode and the sweeping and mopping mode, there is an interference between the cleaning roller and the surface to be cleaned, and the interference is no greater than 1 mm.

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