Cleaning robot control method and cleaning robot

Abstract

The invention provides a control method of a cleaning robot and the cleaning robot, and belongs to the technical field of cleaning. The control method of the cleaning robot comprises the steps that the movement track of the cleaning robot at least comprises linear advancing and steering, and when the cleaning robot moves forwards linearly, a shielding piece is controlled to be located at a first position; when the cleaning robot turns around, the shielding piece is controlled to be located at the second position; when the cleaning robot is converted to turn around from linear advancing, the shielding piece is controlled to be switched to the second position from the first position; and when the cleaning robot is converted from turning to straight line advancing, the shielding piece is controlled to be switched from the second position to the first position. Large particles on the to-be-cleaned face can be automatically cleaned, the effect of completely cleaning the to-be-cleaned face is achieved, and the use experience of a user can be improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and particularly to a control method for a cleaning robot and a cleaning robot. Background Art

[0002] With the continuous improvement of living standards, floor-sweeping robots are increasingly accepted by more people, replacing manual labor for floor cleaning work, liberating people from the cumbersome cleaning work, and reducing the damage to the lumbar spine caused by manual cleaning.

[0003] In the case of large particles on the surface to be cleaned, the existing floor-sweeping robots need to manually switch to the "strong mode" to clean the large particles. However, the above operation process is relatively cumbersome, resulting in a poor user experience. Therefore, a new solution is needed to solve the above technical problems. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a control method for a cleaning robot and a cleaning robot to solve the problem of inconvenient cleaning of large particles on the surface to be cleaned in the prior art.

[0005] In a first aspect, the present invention provides a control method for a cleaning robot. The cleaning robot at least includes a shielding member and a cleaning assembly. The cleaning assembly has a dust suction cavity, one end of the dust suction cavity forms a dust suction port, and the shielding member is located on one side of the dust suction port. The control method includes: When the cleaning assembly performs a cleaning task on the surface to be cleaned, the shielding member has at least a first position and a second position; The movement trajectory of the cleaning robot at least includes straight-line forward movement and turning around. When the cleaning robot moves straight forward, control the shielding member to be in the first position; when the cleaning robot turns around, control the shielding member to be in the second position; when the cleaning robot changes from straight-line forward movement to turning around, control the shielding member to switch from the first position to the second position; when the cleaning robot changes from turning around to straight-line forward movement, control the shielding member to switch from the second position to the first position; Wherein, when the shielding member is in the first position, the ventilation area of the dust suction port is smaller than the ventilation area when the shielding member is in the second position, so as to realize that the shielding member blocks part of the dust suction port.

[0006] By performing the above operations, it is beneficial to automatically clean large particles on the surface to be cleaned, achieve the effect of completely cleaning the surface to be cleaned, and improve the user experience.

[0007] Preferably, the movement trajectory of the cleaning robot includes the cleaning robot moving straight forward first, then turning around, and then moving straight forward again.

[0008] By performing the above operations, the cleaning robot walks in a "bow" shape on the surface to be cleaned, thereby completing the cleaning of the surface to be cleaned.

[0009] Preferably, when the cleaning robot turns around, controlling the shielding member to be in the second position includes: Controlling the cleaning robot to rotate in a first direction first, and then rotate in a second direction to the upcoming movement trajectory, where the first direction and the second direction are two opposite directions.

[0010] By performing the above operations, the cleaning effect of the cleaning robot on the surface to be cleaned during rotation can be effectively improved.

[0011] Preferably, the control method further includes: The cleaning robot further includes a chassis, and the cleaning assembly further includes a roller brush; When the cleaning assembly performs a cleaning task on the carpet, control the cleaning robot to lift the chassis and the roller brush, and increase the dust suction power.

[0012] By performing the above operations, it is beneficial to avoid the risk of the cleaning robot being entangled by carpet hair, and it is beneficial to improve the deep dirt on the carpet.

[0013] Preferably, the control method further includes: The cleaning robot further includes a chassis; When the cleaning robot encounters a threshold during the cleaning task, first control the shielding member to be in the second position, and then lift the chassis or lift the front end of the cleaning robot to cross the threshold.

[0014] By performing the above operations, the cleaning robot can cross the threshold.

[0015] Preferably, the control method further includes: The cleaning assembly further includes a side brush; When the cleaning robot has a first preset distance from the inner wall corner during the straight-line forward movement, first switch the shielding member from the first position to the second position, and then control the body of the cleaning robot to stop moving at the inner wall corner; Control the side brush to reverse, and guide the dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner.

[0016] By performing the above operations, the cleaning of the inner wall corner is achieved.

[0017] Preferably, after controlling the side brush to reverse and guiding dust and / or particulate matter to the working area of the dust suction port to clean the inner corner, the control method further includes: Controlling the cleaning robot to retreat first and then turn around to avoid the cleaning robot colliding with the inner corner.

[0018] By performing the above operations, collisions between the cleaning robot and the inner corner during the turning-around process are avoided.

[0019] In a second aspect, the present invention further provides a control method for a cleaning robot. The cleaning robot at least includes a shielding member and a cleaning assembly. The cleaning assembly has a dust suction cavity, one end of the dust suction cavity forms a dust suction port, and the shielding member is located on one side of the dust suction port. The control method includes: When the cleaning assembly performs a cleaning task on the surface to be cleaned, the shielding member at least has a first position and a second position; When the cleaning robot moves straight forward to perform a cleaning task, control the shielding member to alternately switch between the first position and the second position, and the shielding member maintains a first preset time at the first position and a second preset time at the second position; Wherein, when the shielding member is located at the first position, the ventilation area of the dust suction port is smaller than the ventilation area when the shielding member is located at the second position, so as to realize that the shielding member blocks part of the dust suction port.

[0020] By performing the above operations, it is beneficial to automatically clean large particulate matter on the surface to be cleaned, achieve the effect of completely cleaning the surface to be cleaned, and is beneficial to improving the user experience.

[0021] Preferably, the control method further includes: When the cleaning robot turns around, control the shielding member to be located at the second position.

[0022] By performing the above operations, it is avoided that the shielding member blows large particulate matter away during the turning process of the cleaning robot.

[0023] Preferably, the movement trajectory of the cleaning robot includes the cleaning robot moving straight forward first, then turning around, and then moving straight forward again.

[0024] By performing the above operations, the cleaning robot walks in a "bow" shape on the surface to be cleaned, and then completes the cleaning of the surface to be cleaned.

[0025] Preferably, the control method further includes: The cleaning robot further includes a chassis; When the cleaning robot encounters a threshold during the cleaning task, first control the shielding member to be in the second position, and then lift the chassis or the front end of the cleaning robot to cross the threshold.

[0026] By performing the above operations, the cleaning robot can cross the threshold.

[0027] Preferably, the control method further includes: The cleaning assembly at least includes side brushes; When the cleaning robot has a first preset distance from the inner wall corner during the straight-line forward movement, first switch the shielding member from the first position to the second position, and then control the body of the cleaning robot to stop moving at the inner wall corner; Control the side brushes to reverse, and guide dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner.

[0028] By performing the above operations, the cleaning of the inner wall corner is achieved.

[0029] Preferably, after controlling the side brushes to reverse and guiding dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner, the control method further includes: Control the cleaning robot to reverse first and then turn around to avoid the cleaning robot colliding with the inner wall corner.

[0030] By performing the above operations, the collision between the cleaning robot and the inner wall corner during the turning-around process is avoided.

[0031] In a third aspect, the present invention further provides a cleaning robot, and the cleaning robot executes the control method of the cleaning robot described in any one of the above.

[0032] The beneficial effects of the present invention: 1) By providing a shielding member on the cleaning robot, the shielding member has at least a first position and a second position when the cleaning robot performs the cleaning task. When the shielding member is in the first position, the shielding member blocks part of the dust suction port, reducing the ventilation area of the dust suction port, thereby increasing the suction force of the dust suction port, which is beneficial to more effectively sucking the dirt deep in the surface to be cleaned, and further beneficial to improving the cleaning ability of the cleaning robot; when the shielding member is in the second position, the shielding member is away from the dust suction port, so that the dust suction port is completely exposed without obstruction, which is beneficial to sucking large particulate matter on the surface to be cleaned into the dust suction cavity, completing the cleaning of the large particulate matter on the surface to be cleaned, and achieving the effect of completely cleaning the surface to be cleaned; 2) The inventors found that in cleaning scenarios with a large amount of garbage, for example, on the cleaning surfaces under the kitchen and dining table, there are often many particles and dust of different sizes. For small particles and dust, they are particularly likely to get into floor cracks or deep into the carpet. Simply increasing the suction power often results in unsatisfactory dust removal effect and increased energy consumption. It is necessary to assist in opening the shielding member, that is, control the shielding member to be lowered to the first position to increase the negative pressure in the suction cavity and improve the deep cleaning ability of the cleaning robot. For large particles, if the shielding member is lowered, since the distance between the shielding member and the cleaning surface is relatively close, during the walking process of the cleaning robot, the large particles in the advancing direction are easily pushed by the shielding member and move, making it difficult for the large particles to enter below the suction port and thus difficult to be sucked into the suction cavity by the suction cavity.

[0033] In order to balance the cleaning of large particles, small particles and dust during one cleaning process, the inventors creatively proposed a solution of alternately retracting and extending the shielding member. When the cleaning robot moves straight forward on the cleaning surface, control the shielding member to be in the first position to block part of the suction port, so that the suction port sucks the dust and small particles on the cleaning surface in the advancing direction into the suction cavity. During this process, the large particles in the straight advancing direction of the cleaning robot will be pushed by the shielding member and move forward along with the cleaning robot. When the cleaning robot needs to turn around on the cleaning surface, control the shielding member to switch from the first position to the second position. At this time, the shielding member is far away from the suction port, and the suction port is completely exposed without shielding. In this way, the large particles that were previously pushed by the shielding member will be concentrated and exposed below the suction port, so that during the turning-around gap, the large particles can be sucked into the suction cavity under the action of the suction airflow. When the cleaning robot moves straight forward again after completing the turning-around on the cleaning surface, control the shielding member to switch from the second position to the first position. At this time, the shielding member blocks part of the suction port again, so that the suction port sucks the dust and small particles on the cleaning surface in the advancing direction, especially the dirt deep in the gap, into the suction cavity. Further, the above steps can be cycled in sequence, that is, during the "bow-shaped" cleaning, different types of dirt can be cleaned by adjusting the retraction and extension of the shielding member.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. Description of the Drawings

[0035] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present invention, and are used together with the specification to explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings: Figure 1Flowchart of the control method of the cleaning robot shown in an exemplary embodiment of the present invention; Figure 2 Scene diagram of the cleaning robot performing a cleaning task shown in an exemplary embodiment of the present invention; Figure 3 Schematic diagram of the partial structure of the cleaning robot shown in an exemplary embodiment of the present invention; Figure 4 Flowchart of the control method of the cleaning robot shown in another exemplary embodiment of the present invention.

[0036] Description of reference numerals 1 - Cleaning robot; 2 - Shielding member; 3 - Dust suction chamber; 31 - Dust suction port; 4 - Large particles; 5 - Small particles. Detailed implementation manners

[0037] The following will describe the implementation manners of the present invention with reference to the drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than for limiting the protection scope of the present invention.

[0038] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0039] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0040] The cleaning robot of the present invention may include a body, which has a control system, a driving unit, etc. The control system controls the driving unit to achieve the automatic movement of the cleaning robot. A cleaning component, etc. is installed on the body, and the control system controls the cleaning component to work to perform cleaning on the surface to be cleaned. The body may include a chassis, and the control system controls the lifting or lowering of the chassis. The cleaning component may include a dust suction cavity and side brushes. One end of the dust suction cavity has a dust suction port, and the control system controls the dust suction cavity to suck dust and particulate matter on the surface to be cleaned through this dust suction port; and controls the side brushes to guide the dust and particulate matter outside the working area of the dust suction port to the working area of the dust suction port.

[0041] Furthermore, the body also has various types of sensor components. The control system controls the cleaning robot to perform corresponding actions according to the data detected by the sensor components, and can control the cleaning robot to move forward, backward, turn around, etc. The sensor components include but are not limited to position sensors, collision sensors, attitude sensors, etc. The position sensor can timely obtain the position coordinates of the cleaning robot and determine to execute the cleaning instruction according to the position coordinates. The collision sensor can give the collision force data of the cleaning robot to control whether the cleaning robot avoids obstacles. The attitude sensor can monitor the attitude of the cleaning robot and send attitude parameters such as normal, tilted, tilt angle, tilt time, etc. to the control system.

[0042] Please refer to Figures 1 to 3 , the present invention provides a control method for a cleaning robot. Among them, the cleaning robot 1 at least includes a shielding member 2 and a cleaning component. The cleaning component has a dust suction cavity 3, and one end of the dust suction cavity 3 forms a dust suction port 31, and dust and particulate matter on the surface to be cleaned are sucked into the dust suction cavity 3 through this dust suction port 31. The shielding member 2 is movably installed on the body of the cleaning robot 1 and is located on one side of the dust suction port 31, so as to approach or move away from the dust suction port 31.

[0043] The control method at least includes step S110. When the cleaning component performs a cleaning task on the surface to be cleaned, the shielding member 2 has at least two positions, namely the first position and the second position. The main function of the shielding member 2 is to adjust the size of the ventilation area of the dust suction port 31.

[0044] When the shielding member 2 is in the first position, the dust suction port 31 is partially blocked by the shielding member 2, so that the ventilation area of the dust suction port 31 is reduced, thereby increasing the suction force of the dust suction port 31, which is beneficial to more effectively sucking the dirt deep in the surface to be cleaned, and further beneficial to improving the cleaning ability of the cleaning robot 1. When the shielding member 2 is in the second position, the shielding member 2 moves away from the dust suction port 31. At this time, the dust suction port 31 is not blocked by the shielding member 2 and is completely exposed, so as to be beneficial to the dust suction port 31 sucking large particulate matter 4 on the surface to be cleaned, achieving the effect of completely cleaning the surface to be cleaned.

[0045] Step S120, the movement trajectory of the cleaning robot 1 when performing a cleaning task on the surface to be cleaned includes at least straight forward movement and turning around. When the cleaning robot 1 moves straight forward, the control system controls the shielding member 2 to be in the first position, mainly sucking dust and small particles 5 on the surface to be cleaned into the dust suction cavity 3. When the cleaning robot 1 turns around, the control system controls the shielding member 2 to be in the second position, mainly sucking large particles 4 on the surface to be cleaned into the dust suction cavity 3. It should be noted that when the shielding member 2 is in the second position, the dust and small particles 5 on the surface to be cleaned can be simultaneously sucked into the dust suction cavity 3.

[0046] Moreover, when the cleaning robot 1 switches from straight forward movement to turning around, the control system controls the shielding member 2 to switch from the first position to the second position, so that when the cleaning robot 1 turns around, the shielding member 2 is in the second position, sucking the dust, small particles 5 and large particles 4 within the turning area into the dust suction cavity 3. It should be noted that within the turning area of the cleaning robot 1, it is generally in the corner of a wall or the corner of other obstacles, and large particles 4 are more likely to accumulate in these positions. Therefore, when the cleaning robot 1 turns around, the shielding member 2 is in the second position, making it easier to clean the large particles 4 in the above positions. When the cleaning robot 1 switches from turning around to straight forward movement, the control system controls the shielding member 2 to switch from the second position to the first position, so that when the cleaning robot 1 moves straight forward, the shielding member 2 is in the first position, realizing the automatic switching of the shielding member 2, which is beneficial to improving the user experience.

[0047] Exemplarily, the surface to be cleaned includes at least floors, carpets, etc. The small particles 5 include but are not limited to millet, etc., and the large particles 4 include but are not limited to rice, mung beans, red beans, cat litter, cat food, dog food, etc.

[0048] Please refer to Figure 2 , in an embodiment of the present invention, the movement trajectory of the cleaning robot 1 on the surface to be cleaned includes the cleaning robot 1 first performing straight forward movement as shown in Figure 2 View A, then performing a turn around as shown in Figure 2 View B, and then performing straight forward movement as shown in Figure 2 View C. In this way, it circulates to realize the "bow" - shaped walking of the cleaning robot 1 on the surface to be cleaned, and then complete the cleaning of the surface to be cleaned.

[0049] In an embodiment of the present invention, during the turning process of the cleaning robot 1, the cleaning robot 1 can first rotate a preset angle in the first direction and then rotate in the second direction to the upcoming movement trajectory. Exemplarily, the preset angle of the cleaning robot 1 rotating in the first direction can be set to any angle greater than 0° and less than 180°. During the rotation of the cleaning robot 1 in the first direction, the dust, small particles 5, and large particles 4 within the working range of the dust suction port 31 during the rotation in the first direction are sucked into the dust suction cavity 3; during the rotation in the second direction, the dust, small particles 5, and large particles 4 within the working range of the dust suction port 31 during the rotation in the second direction are sucked into the dust suction cavity 3. It should be noted that the first direction and the second direction are two opposite directions, which is beneficial to improving the cleaning effect of the cleaning robot 1 during the turning process.

[0050] Exemplarily, if the first direction is set to rotate counterclockwise, the second direction is set to rotate clockwise; if the first direction is set to rotate clockwise, the second direction is set to rotate counterclockwise. Specifically, the first direction and the second direction are set according to the turning direction of the cleaning robot 1.

[0051] In another embodiment of the present invention, during the turning process of the cleaning robot 1, the cleaning robot 1 only rotates in the second direction to the upcoming movement trajectory, shortening the turning time of the cleaning robot 1, and further shortening the cleaning time of the cleaning robot 1 for the surface to be cleaned, which is beneficial to improving the cleaning efficiency.

[0052] In an embodiment of the present invention, the cleaning robot 1 further includes a chassis, and the cleaning assembly further includes a roller brush. When the surface to be cleaned is a carpet, when the cleaning assembly performs the cleaning task on the carpet, the control system controls the cleaning robot 1 to lift the chassis and the roller brush to prevent the cleaning robot 1 from being entangled by carpet hairs during the cleaning task, resulting in damage to the roller brush or the motor. At the same time, the dust suction power is increased, which is beneficial for the dust suction port 31 to suck the deep-layer dust and / or particles on the carpet into the dust suction cavity 3, and is beneficial to improving the cleaning effect of the cleaning robot 1 on the carpet.

[0053] In an embodiment of the present invention, the cleaning robot 1 further includes a chassis. When the cleaning robot 1 encounters a threshold during the cleaning task on the surface to be cleaned, the control system first controls the shielding member 2 to be in the second position, so as to suck the dust, small particles 5, and large particles 4 within the working area of the dust suction port 31 at the threshold into the dust suction cavity 3 to achieve the purpose of cleaning the threshold. Subsequently, the control system controls to lift the chassis or the front end of the cleaning robot 1 to cross the threshold.

[0054] In an embodiment of the present invention, the cleaning assembly further includes a side brush. When the cleaning robot 1 has a first preset distance from the inner wall corner during a straight-line forward movement, the control system first controls the shielding member 2 to switch from the first position to the second position, preparing for subsequent cleaning of the inner wall corner, which helps to avoid missed cleaning at the corners of the inner wall corner; then controls the body of the cleaning robot 1 to stop moving at the inner wall corner to prevent the cleaning robot 1 from colliding with the wall surface of the inner wall corner during the cleaning process. In another example, when the cleaning robot 1 has a first preset distance from the inner wall corner during a straight-line forward movement, the control system first controls the cleaning robot 1 to stop moving, and then controls the shielding member 2 to switch from the first position to the second position. In the next example, when the cleaning robot 1 has a first preset distance from the inner wall corner during a straight-line forward movement, the control system simultaneously controls the cleaning robot 1 to stop moving and the shielding member 2 to switch from the first position to the second position. After the cleaning robot 1 completes the above two actions, the control system controls the side brush to reverse, guiding the dust and / or particulate matter at the inner wall corner to the working area of the suction port 31, achieving the purpose of cleaning the inner wall corner.

[0055] Exemplarily, the first preset distance is a preset safety distance between the cleaning robot 1 and the inner wall corner, preventing the cleaning robot 1 from colliding with the inner wall corner during the cleaning process.

[0056] In an embodiment of the present invention, after the cleaning robot 1 finishes cleaning the inner wall corner, in order to prevent the cleaning robot 1 from colliding with the inner wall corner during the turning process, the control system controls the cleaning robot 1 to reverse first and then turn around.

[0057] Please refer to Figure 3 and Figure 4 , the present invention also provides another control method for a cleaning robot. The cleaning robot 1 at least includes a shielding member 2 and a cleaning assembly. The cleaning assembly has a suction cavity 3, and one end of the suction cavity 3 forms a suction port 31. Dust and particulate matter on the surface to be cleaned are sucked into the suction cavity 3 through the suction port 31. The shielding member 2 is movably installed on the body of the cleaning robot 1 and is located on one side of the suction port 31, thereby realizing approaching or moving away from the suction port 31.

[0058] The control method at least includes step S210. When the cleaning assembly performs a cleaning task on the surface to be cleaned, the shielding member 2 has at least two positions, namely the first position and the second position. The main function of the shielding member 2 is to adjust the size of the ventilation area of the suction port 31.

[0059] When the shielding member 2 is in the first position, the dust suction port 31 is partially shielded by the shielding member 2, reducing the ventilation area of the dust suction port 31, thereby increasing the suction force of the dust suction port 31, which is beneficial for more effectively sucking the dirt deep in the surface to be cleaned, and further beneficial for improving the cleaning ability of the cleaning robot 1. When the shielding member 2 is in the second position, the shielding member 2 is away from the dust suction port 31, and at this time, the dust suction port 31 is not shielded by the shielding member 2 and is completely exposed, which is beneficial for the dust suction port 31 to suck in the large particles 4 on the surface to be cleaned, achieving the effect of completely cleaning the surface to be cleaned.

[0060] In step S220, when the cleaning robot 1 moves straight forward to perform the cleaning task, the control system controls the shielding member 2 to alternately switch between the first position and the second position, and the shielding member 2 switches to the second position after maintaining the first preset time in the first position, and switches to the first position after maintaining the second preset time in the second position, so as to complete the cleaning of the dust and particles on the surface to be cleaned. When the shielding member 2 is in the first position, the dust and small particles 5 on the surface to be cleaned are mainly sucked into the dust suction cavity 3; when the shielding member 2 is in the second position, the large particles 4 on the surface to be cleaned are mainly sucked into the dust suction cavity 3. It should be noted that when the shielding member 2 is in the second position, the dust and small particles 5 on the surface to be cleaned can be simultaneously sucked into the dust suction cavity 3.

[0061] The inventor found that in cleaning scenarios with a lot of garbage, for example: the surface to be cleaned under the kitchen and the dining table often contains a lot of particles and dust of different sizes. For small particles 5 and dust, it is particularly easy to drill into floor cracks or deep into the carpet. Simply increasing the suction power often results in an unsatisfactory dust removal effect and increases energy consumption. It is necessary to assist in opening the shielding member 2, that is, controlling the shielding member 2 to be lowered to the first position to increase the negative pressure in the dust suction cavity 3 and improve the deep cleaning ability of the cleaning robot 1. For large particles 4, if the shielding member 2 is lowered, since the distance between the shielding member 2 and the surface to be cleaned is relatively close, during the walking process of the cleaning robot 1, the large particles 4 in the traveling direction are easily pushed by the shielding member 2 to move, resulting in it being difficult for the large particles 4 to enter below the dust suction port 31 and thus difficult to be sucked into the dust suction cavity 3.

[0062] In order to take into account the cleaning of large particles 4, small particles 5 and dust during a single cleaning process, the inventor creatively proposed a solution of alternately retracting and extending the shielding member 2. When the cleaning robot 1 performs a cleaning task on the surface to be cleaned, the control system controls the shielding member 2 to alternately switch between a first position and a second position. When the shielding member 2 is in the first position, the shielding member 2 blocks part of the suction port 31, so that the suction port 31 sucks the dust and small particles 5 on the surface to be cleaned in the forward direction into the suction cavity 3. During this process, the large particles 4 in the forward direction of the cleaning robot 1 will be pushed by the shielding member 2 and move forward following the cleaning robot 1. When the shielding member 2 is in the second position, the shielding member 2 is away from the suction port 31, and the suction port 31 is completely exposed without being blocked. In this way, the large particles 4 that were previously pushed by the shielding member 2 will be concentrated and exposed under the suction port 31, so that the large particles 4 are sucked into the suction cavity 3 under the action of the suction airflow. Further, the shielding member 2 switches to the second position after staying in the first position for a first preset time, and switches to the first position after staying in the second position for a second preset time. By adjusting the retraction and extension of the shielding member 2, the cleaning of different types of dirt is completed.

[0063] Exemplarily, the surface to be cleaned includes at least floors, carpets, etc. The small particles 5 include but are not limited to millet, etc., and the large particles 4 include but are not limited to rice, mung beans, red beans, cat litter, cat food, dog food, etc.

[0064] In an application scenario, when the cleaning robot 1 starts to perform a cleaning task, the shielding member 2 is in the first position to block part of the suction port 31, so that the suction port 31 sucks the dust and small particles 5 on the surface to be cleaned into the suction cavity 3. During this process, the large particles 4 in front of the cleaning robot 1 are pushed by the shielding member 2 and move forward following the cleaning robot 1.

[0065] After the shielding member 2 stays in the first position for the first preset time, the shielding member 2 switches from the first position to the second position. At this time, the shielding member 2 is away from the suction port 31, and the suction port 31 is completely exposed without being blocked, so that the suction port 31 can suck the dust, small particles 5 and large particles 4 into the suction cavity 3 at the same time. Among them, the large particles 4 sucked into the suction cavity 3 include the large particles 4 stacked in front of the shielding member 2 before.

[0066] After the shielding member 2 stays in the second position for the second preset time, the shielding member 2 switches from the second position to the first position. In this way, the cleaning of the dust and particles on the surface to be cleaned is completed.

[0067] Exemplarily, the first preset time and the second preset time can be set to be the same or different, and are adaptively set according to actual needs. The first preset time and the second preset time can be set to any time above 2 seconds.

[0068] In an embodiment of the present invention, when the cleaning robot 1 turns around, if the shielding member 2 is in the first position, the large particles 4 in contact with the shielding member 2 will be knocked away, resulting in the large particles 4 damaging other items on the surface to be cleaned or failing to completely clean the surface to be cleaned. To avoid the above situation, when the cleaning robot 1 turns around, the control system controls the shielding member 2 to be in the second position, so that the dust suction port 31 can suck the dust, small particles 5 and large particles 4 into the dust suction cavity 3 at the same time.

[0069] Please refer to Figure 2 , in an embodiment of the present invention, the movement trajectory of the cleaning robot 1 on the surface to be cleaned includes the cleaning robot 1 first moving straight forward as shown in Figure 2 View A, then turning around as shown in Figure 2 View B, and then moving straight forward as shown in Figure 2 View C. By cycling in this way, the "bow" - shaped walking of the cleaning robot 1 on the surface to be cleaned is realized, and then the cleaning of the surface to be cleaned is completed.

[0070] In an embodiment of the present invention, the cleaning robot 1 further includes a chassis. When the cleaning robot 1 encounters a threshold during the cleaning task on the surface to be cleaned, the control system first controls the shielding member 2 to be in the second position, so as to suck the dust, small particles 5 and large particles 4 within the working area of the dust suction port 31 at the threshold into the dust suction cavity 3, achieving the purpose of cleaning the threshold. Subsequently, the control system controls the chassis to be lifted or the front end of the cleaning robot 1 to be lifted to cross the threshold.

[0071] In an embodiment of the present invention, the cleaning assembly further includes a side brush. When the cleaning robot 1 has a first preset distance from the inner wall corner during the straight - line forward movement, the control system first controls the shielding member 2 to switch from the first position to the second position to prepare for subsequent cleaning of the inner wall corner, which is beneficial to avoiding missed sweeping at the corners of the inner wall corner; then controls the body of the cleaning robot 1 to stop moving at the inner wall corner to avoid the cleaning robot 1 colliding with the wall surface of the inner wall corner during the cleaning process. In another example, when the cleaning robot 1 has a first preset distance from the inner wall corner during the straight - line forward movement, the control system first controls the cleaning robot 1 to stop moving, and then controls the shielding member 2 to switch from the first position to the second position. In the next example, when the cleaning robot 1 has a first preset distance from the inner wall corner during the straight - line forward movement, the control system simultaneously controls the cleaning robot 1 to stop moving and the shielding member 2 to switch from the first position to the second position. After the cleaning robot 1 completes the above two actions, the control system controls the side brush to reverse, guiding the dust and / or particles at the inner wall corner to the working area of the dust suction port 31, achieving the purpose of cleaning the inner wall corner.

[0072] Exemplarily, the first preset distance is the preset safety distance between the cleaning robot 1 and the inner corner of the wall, to prevent the cleaning robot 1 from colliding with the inner corner of the wall during the cleaning process.

[0073] In an embodiment of the present invention, after the cleaning robot 1 finishes cleaning the inner corner of the wall, to prevent the cleaning robot 1 from colliding with the inner corner of the wall during the turning process, the control system controls the cleaning robot 1 to first retreat and then turn around.

[0074] Please refer to Figure 3 , the present invention also provides a cleaning robot, and this cleaning robot 1 can execute the control method of the above-mentioned cleaning robot.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for executing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0076] The above embodiments merely exemplarily illustrate the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that The cleaning robot includes at least an occlusion member and a cleaning assembly. The cleaning assembly has a dust suction chamber, one end of the dust suction chamber forms a dust suction port, and the occlusion member is located on one side of the dust suction port. The control method includes: When the cleaning assembly performs a cleaning task on the surface to be cleaned, the occlusion member has at least a first position and a second position; The movement trajectory of the cleaning robot includes at least straight-line forward movement and turning around. When the cleaning robot moves straight forward, control the occlusion member to be in the first position; when the cleaning robot turns around, control the occlusion member to be in the second position; when the cleaning robot changes from straight-line forward movement to turning around, control the occlusion member to switch from the first position to the second position; when the cleaning robot changes from turning around to straight-line forward movement, control the occlusion member to switch from the second position to the first position; Wherein, when the occlusion member is in the first position, the ventilation area of the dust suction port is smaller than the ventilation area when the occlusion member is in the second position, so as to enable the occlusion member to block part of the dust suction port.

2. The control method of the cleaning robot according to claim 1, wherein The movement trajectory of the cleaning robot includes the cleaning robot moving straight forward first, then turning around, and then moving straight forward again.

3. The control method of the cleaning robot according to claim 1, characterized in that When the cleaning robot turns around, controlling the occlusion member to be in the second position includes: Controlling the cleaning robot to rotate in a first direction first, and then rotate in a second direction to the upcoming movement trajectory. The first direction and the second direction are two opposite directions.

4. The control method of the cleaning robot according to claim 1, characterized in that, The control method further includes: The cleaning robot further includes a chassis, and the cleaning assembly further includes a rotary brush; When the cleaning assembly performs a cleaning task on a carpet, control the cleaning robot to lift the chassis and the rotary brush and increase the dust suction power.

5. The control method of the cleaning robot according to claim 1, wherein, The control method further includes: The cleaning robot further includes a chassis; When the cleaning robot encounters a threshold during the cleaning task, first control the occlusion member to be in the second position, and then lift the chassis or the front end of the cleaning robot to cross the threshold.

6. The control method of the cleaning robot according to any one of claims 1-5, characterized in that, The control method further includes: The cleaning assembly further includes a side brush; When the cleaning robot has a first preset distance from the inner wall corner during the straight-line forward movement, first switch the occlusion member from the first position to the second position, and then control the body of the cleaning robot to stop moving at the inner wall corner; Control the side brush to reverse, and guide dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner.

7. The control method of the cleaning robot according to claim 6, wherein, After controlling the side brush to reverse and guiding dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner, the control method further includes: Control the cleaning robot to move backward and then turn around to avoid the cleaning robot colliding with the inner wall corner.

8. A control method for a cleaning robot, characterized in that, The cleaning robot includes at least an occlusion member and a cleaning assembly. The cleaning assembly has a dust suction chamber, one end of the dust suction chamber forms a dust suction port, and the occlusion member is located on one side of the dust suction port. The control method includes: When the cleaning assembly performs a cleaning task on the surface to be cleaned, the occlusion member has at least a first position and a second position; When the cleaning robot moves straight forward to perform a cleaning task, control the shielding member to alternately switch between the first position and the second position, and the shielding member maintains a first preset time at the first position and a second preset time at the second position; Wherein, when the shielding member is in the first position, the ventilation area of the dust suction port is smaller than the ventilation area of the shielding member in the second position, so as to realize that the shielding member shields part of the dust suction port.

9. The control method of the cleaning robot according to claim 8, wherein, The control method further includes: When the cleaning robot turns around, control the shielding member to be in the second position.

10. The control method of the cleaning robot according to claim 9, wherein, The movement trajectory of the cleaning robot includes the cleaning robot moving straight forward first, then turning around, and then moving straight forward again.

11. The control method of the cleaning robot according to claim 8, wherein The control method further includes: The cleaning robot further includes a chassis; When the cleaning robot encounters a threshold during the cleaning task, first control the shielding member to be in the second position, and then lift the chassis or the front end of the cleaning robot to cross the threshold.

12. The control method of the cleaning robot according to any one of claims 8-11, characterized in that, The control method further includes: The cleaning assembly at least includes side brushes; When the cleaning robot has a first preset distance from the inner wall corner during the straight-forward movement, first switch the shielding member from the first position to the second position, and then control the body of the cleaning robot to stop moving at the inner wall corner; Control the side brush to reverse, and guide dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner.

13. The control method of the cleaning robot according to claim 12, characterized in that, After controlling the side brush to reverse and guiding dust and / or particulate matter to the working area of the dust suction port to clean the inner wall corner, the control method further includes: Control the cleaning robot to move backward and then turn around to avoid the cleaning robot colliding with the inner wall corner.

14. A cleaning robot, characterized in that: The cleaning robot executes the control method of the cleaning robot according to any one of claims 1-13.

Images