Control method of cleaning robot and cleaning robot

Abstract

The present invention provides a control method for a cleaning robot and a cleaning robot, and belongs to the field of cleaning technology. The control method for the cleaning robot of the present invention includes that the motion trajectory of the cleaning robot at least includes straight forward and turning and U-turning, when the cleaning robot moves in a straight line, the shielding member is controlled to be located in the first position; when the cleaning robot turns and U-turns, the shielding member is controlled to be located in the second position; when the cleaning robot switches from straight forward to turning and U-turning, the shielding member is controlled to switch from the first position to the second position; when the cleaning robot switches from turning and U-turning to straight forward, the shielding member is controlled to switch from the second position to the first position. The present invention is conducive to automatically cleaning large particles on the surface to be cleaned, achieving the effect of completely cleaning the surface to be cleaned, and is conducive to improving the user experience.

Description

Technical Field

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

[0002] With the continuous improvement of living standards, sweeping robots are being accepted by more and more people, replacing manual floor cleaning, freeing people from tedious cleaning work, and reducing the damage to the lumbar spine caused by manual cleaning.

[0003] When cleaning surfaces with large particles, existing robot vacuums require manual switching to "powerful mode" to remove large particles. However, this process is cumbersome and results in a poor user experience. Therefore, a new solution is needed to address this technical issue. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control method for a cleaning robot and a cleaning robot, so as to solve the problem in the prior art that large particles on the surface to be cleaned are inconvenient to clean.

[0005] In a first aspect, the present invention provides a control method for a cleaning robot, wherein the cleaning robot includes at least a shielding member and a cleaning assembly, wherein the cleaning assembly has a dust suction chamber, one end of the dust suction chamber forms a dust suction port, and the shielding member is located on one side of the dust suction port; the control method includes:

[0006] 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;

[0007] The motion trajectory of the cleaning robot includes at least straight forward movement and turning and U-turning. When the cleaning robot is moving straight forward, the shielding member is controlled to be located at the first position; when the cleaning robot is turning and U-turning, the shielding member is controlled to be located at the second position; when the cleaning robot is switching from straight forward movement to turning and U-turning, the shielding member is controlled to switch from the first position to the second position; when the cleaning robot is switching from turning and U-turning to straight forward movement, the shielding member is controlled to switch from the second position to the first position;

[0008] 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 that the shielding member partially blocks the dust suction port.

[0009] By performing the above operations, large particles on the surface to be cleaned can be automatically cleaned, thereby achieving the effect of completely cleaning the surface to be cleaned, and improving the user experience.

[0010] Preferably, the motion trajectory of the cleaning robot includes the cleaning robot first moving in a straight line, then turning around, and then moving in a straight line again.

[0011] By performing the above operations, the cleaning robot can move in a "bow" shape on the surface to be cleaned, thereby completing the cleaning of the surface to be cleaned.

[0012] Preferably, when the cleaning robot turns around, controlling the shielding member to be located at the second position includes:

[0013] The cleaning robot is controlled to rotate in a first direction first, and then in a second direction to a motion trajectory on which it is about to move, wherein the first direction and the second direction are two opposite directions.

[0014] By performing the above operations, the cleaning effect of the cleaning robot on the surface to be cleaned during the rotation process can be effectively improved.

[0015] Preferably, the control method further includes:

[0016] The cleaning robot further includes a chassis, and the cleaning component further includes a roller brush;

[0017] When the cleaning component performs a cleaning task on the carpet, the cleaning robot is controlled to lift the chassis and the roller brush and increase the suction power.

[0018] By performing the above operations, the risk of the cleaning robot being entangled by carpet hair is avoided, and the cleaning of deep-seated dirt on the carpet is improved.

[0019] Preferably, the control method further includes:

[0020] The cleaning robot further includes a chassis;

[0021] When the cleaning robot encounters a threshold during cleaning, the shielding member is first controlled to be located at the second position, and then the chassis or the front end of the cleaning robot is lifted to cross the threshold.

[0022] By performing the above operations, the cleaning robot can cross the threshold.

[0023] Preferably, the control method further includes:

[0024] The cleaning assembly also includes a side brush;

[0025] When the cleaning robot is moving in a straight line and has a first preset distance from an inner wall corner, the shielding member is first switched from the first position to the second position, and then the body of the cleaning robot is controlled to stop moving at the inner wall corner;

[0026] The side brush is controlled to reverse and guide dust and / or particles to the working area of the suction port to clean the inner corner.

[0027] By performing the above operations, the inner corners of the walls can be cleaned.

[0028] Preferably, after controlling the side brush to reverse and guide dust and / or particulate matter to the working area of the suction port to clean the inner corner, the control method further includes:

[0029] The cleaning robot is controlled to first retreat and then turn around to avoid collision between the cleaning robot and the inner wall corner.

[0030] By performing the above operations, the cleaning robot is prevented from colliding with the inner corner of the wall during the turning process.

[0031] In a second aspect, the present invention further provides a control method for a cleaning robot, wherein the cleaning robot includes at least a shielding member and a cleaning assembly, wherein the cleaning assembly has a dust suction chamber, one end of the dust suction chamber forms a dust suction port, and the shielding member is located on one side of the dust suction port; the control method includes:

[0032] 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;

[0033] When the cleaning robot moves forward in a straight line to perform a cleaning task, the shielding member is controlled to switch alternately between the first position and the second position, and the shielding member is maintained in the first position for a first preset time and in the second position for a second preset time;

[0034] 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 that the shielding member partially blocks the dust suction port.

[0035] By performing the above operations, large particles on the surface to be cleaned can be automatically cleaned, thereby achieving the effect of completely cleaning the surface to be cleaned, and improving the user experience.

[0036] Preferably, the control method further includes:

[0037] When the cleaning robot turns around, the shielding member is controlled to be located at the second position.

[0038] By performing the above operation, it is prevented that the shielding member will knock large particles away during the turning process of the cleaning robot.

[0039] Preferably, the motion trajectory of the cleaning robot includes the cleaning robot first moving in a straight line, then turning around, and then moving in a straight line again.

[0040] By performing the above operations, the cleaning robot can move in a "bow" shape on the surface to be cleaned, thereby completing the cleaning of the surface to be cleaned.

[0041] Preferably, the control method further includes:

[0042] The cleaning robot further includes a chassis;

[0043] When the cleaning robot encounters a threshold during cleaning, the shielding member is first controlled to be located at the second position, and then the chassis or the front end of the cleaning robot is lifted to cross the threshold.

[0044] By performing the above operations, the cleaning robot can cross the threshold.

[0045] Preferably, the control method further includes:

[0046] The cleaning assembly includes at least a side brush;

[0047] When the cleaning robot is moving in a straight line and has a first preset distance from an inner wall corner, the shielding member is first switched from the first position to the second position, and then the body of the cleaning robot is controlled to stop moving at the inner wall corner;

[0048] The side brush is controlled to reverse and guide dust and / or particles to the working area of the suction port to clean the inner corner.

[0049] By performing the above operations, the inner corners of the walls can be cleaned.

[0050] Preferably, after controlling the side brush to reverse and guide dust and / or particulate matter to the working area of the suction port to clean the inner corner, the control method further includes:

[0051] The cleaning robot is controlled to first retreat and then turn around to avoid collision between the cleaning robot and the inner wall corner.

[0052] By performing the above operations, the cleaning robot is prevented from colliding with the inner corner of the wall during the turning process.

[0053] In a third aspect, the present invention further provides a cleaning robot, which executes any one of the above-mentioned control methods for the cleaning robot.

[0054] Beneficial effects of the present invention:

[0055] 1) A shielding member is provided on the cleaning robot, and the shielding member has at least a first position and a second position when the cleaning robot performs a cleaning task. When the shielding member is in the first position, the shielding member blocks part of the dust suction port, so that the ventilation area of the dust suction port is reduced, thereby improving the suction force of the dust suction port, which is conducive to more effectively sucking out dirt deep in the surface to be cleaned, and further conducive 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 conducive to sucking large particles on the surface to be cleaned into the dust suction chamber, completing the cleaning of large particles on the surface to be cleaned, and achieving the effect of completely cleaning the surface to be cleaned;

[0056] 2) The inventors discovered that in cleaning scenarios with a lot of garbage, such as in the kitchen or under the dining table, the surfaces to be cleaned are often mixed with a lot of particles of different sizes, dust, etc. Small particles and dust are particularly easy to get into the gaps in the floor or deep in the carpet. Simply increasing the suction power often does not produce an ideal dust removal effect and increases energy consumption. It is necessary to assist in opening the shield, that is, to control the shield to be lowered to the first position, so as to increase the negative pressure of the dust suction chamber and improve the deep cleaning ability of the cleaning robot. For large particles, if the shield is lowered, since the shield is close to the surface to be cleaned, the large particles in the direction of travel of the cleaning robot are easily pushed by the shield during the walking process, which makes it difficult for the large particles to enter the bottom of the suction port and then difficult to be sucked into the suction chamber.

[0057] In order to take into account the cleaning of large particles, small particles and dust in one cleaning process, the inventor creatively proposed a solution of alternately retracting and releasing the shielding member. When the cleaning robot moves in a straight line on the surface to be cleaned, the shielding member is controlled to be in the first position to block part of the suction port, so that the suction port can suck the dust and small particles on the surface to be cleaned in the forward direction into the suction chamber. During this process, large particles in the straight forward direction of the cleaning robot will be pushed by the shielding member and follow the cleaning robot forward. When the cleaning robot needs to turn around on the surface to be cleaned, the shielding member is controlled to switch from the first position to the second position. At this time, the shielding member is away from the suction port, and the suction port is completely exposed without any obstruction. In this way, the large particles previously pushed by the shielding member will be concentrated and exposed under the suction port, so that the gap between turning and turning can be used to suck the large particles into the suction chamber under the action of the suction airflow. After the cleaning robot completes a U-turn on the surface to be cleaned and continues to advance in a straight line, the shield is controlled to switch from the second position to the first position. At this time, the shield again partially blocks the suction port, allowing the suction port to suck dust and small particles on the surface to be cleaned in the forward direction, especially dirt deep in the gaps, into the suction chamber. Furthermore, the above steps can be repeated sequentially, and when performing "bow" cleaning, different types of dirt can be cleaned by adjusting the retraction and extension of the shield.

[0058] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and it is clear that a person skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0060] Figure 1 A flowchart of a method for controlling a cleaning robot according to an exemplary embodiment of the present invention is shown;

[0061] Figure 2 A scene diagram of a cleaning robot performing a cleaning task shown in an exemplary embodiment of the present invention;

[0062] Figure 3 A schematic diagram of a partial structure of a cleaning robot according to an exemplary embodiment of the present invention;

[0063] Figure 4 A flowchart of a method for controlling a cleaning robot is shown in another exemplary embodiment of the present invention.

[0064] Description of Reference Numerals

[0065] 1- Cleaning robot;

[0066] 2- shielding member;

[0067] 3-dust suction chamber; 31-dust suction port;

[0068] 4-large particles;

[0069] 5- Small particles. DETAILED DESCRIPTION

[0070] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0071] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0072] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0073] The cleaning robot of the present invention may include a body, which has a control system, a drive unit, etc. The control system controls the drive unit to realize the automatic movement of the cleaning robot. A cleaning component is installed on the body, and the control system controls the operation of the cleaning component to perform cleaning on the surface to be cleaned. The body may include a chassis, and the control system controls the raising or lowering of the chassis. The cleaning component may include a dust suction chamber and a side brush. One end of the dust suction chamber has a dust suction port. The control system controls the dust suction chamber to suck dust and particulate matter on the surface to be cleaned through the dust suction port; and controls the side brush to guide dust and particulate matter outside the working area of the dust suction port to the working area of the dust suction port.

[0074] Furthermore, the body also has various types of sensor components. The control system controls the cleaning robot to perform corresponding actions based on the data detected by the sensor components. It 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 obtain the position coordinates of the cleaning robot in a timely manner and decide to execute cleaning instructions based on the position coordinates. The collision sensor can provide the collision force data of the cleaning robot to control whether the cleaning robot avoids obstacles. The attitude sensor can monitor the attitude of the cleaning robot and can send attitude parameters such as normal, tilt, tilt angle, tilt time, etc. to the control system.

[0075] See also Figures 1 to 3 The present invention provides a control method for a cleaning robot. The cleaning robot 1 includes at least a shielding member 2 and a cleaning assembly. The cleaning assembly has a dust collection chamber 3, one end of which forms a dust collection port 31. Dust and particulate matter on the surface to be cleaned is drawn into the dust collection chamber 3 through the dust collection port 31. The shielding member 2 is movably mounted on the body of the cleaning robot 1 and is located on one side of the dust collection port 31, thereby enabling the robot to move closer to or further away from the dust collection port 31.

[0076] The control method includes at least 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 a first position and a second position. The main function of the shielding member 2 is to adjust the size of the ventilation area of the suction port 31.

[0077] When the shielding member 2 is in the first position, the dust suction port 31 is partially blocked 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, facilitating more effective suction of dirt deep inside the surface to be cleaned, and further facilitating improved cleaning performance 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. At this time, the dust suction port 31 is not blocked by the shielding member 2 and is completely exposed, thereby facilitating the dust suction port 31 to suck in large particles 4 on the surface to be cleaned, achieving the effect of completely cleaning the surface to be cleaned.

[0078] Step S120, the motion trajectory of the cleaning robot 1 when performing the cleaning task on the surface to be cleaned at least includes straight forward and turning around. When the cleaning robot 1 is moving in a straight line, the control system controls the shielding member 2 to be located in the first position, mainly sucking the dust and small particles 5 on the surface to be cleaned into the dust suction chamber 3. When the cleaning robot 1 turns around, the control system controls the shielding member 2 to be located in the second position, mainly sucking the large particles 4 on the surface to be cleaned into the dust suction chamber 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 sucked into the dust suction chamber 3 at the same time.

[0079] And when the cleaning robot 1 switches from moving in a straight line to turning and making a U-turn, the control system controls the shielding member 2 to switch from the first position to the second position, so as to ensure that the shielding member 2 is in the second position when the cleaning robot 1 turns and makes a U-turn, and the dust, small particles 5 and large particles 4 within the turning and making a U-turn area are sucked into the dust suction chamber 3. It should be noted that the area where the cleaning robot 1 turns and makes a U-turn is generally located in the corners of walls or the edges of other obstacles, and the above-mentioned positions are more likely to accumulate large particles 4. Therefore, the shielding member 2 of the cleaning robot 1 is located in the second position during the turning and making a U-turn, making it easier to clean the large particles 4 at the above-mentioned positions. When the cleaning robot 1 switches from turning and making a U-turn to moving in a straight line, the control system controls the shielding member 2 to switch from the second position to the first position, so as to ensure that the shielding member 2 is in the first position when the cleaning robot 1 moves in a straight line, thereby realizing automatic switching of the shielding member 2, which is beneficial to improving the user experience.

[0080] 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.

[0081] See also Figure 2In one embodiment of the present invention, the motion trajectory of the cleaning robot 1 on the surface to be cleaned includes the following steps: Figure 2 Move forward in a straight line in view A, and then proceed as follows Figure 2 Turn around in view B, and then proceed as follows Figure 2 The straight line forward of the middle C view. Such a cycle enables the cleaning robot 1 to walk in a "bow" shape on the surface to be cleaned, thereby completing the cleaning of the surface to be cleaned.

[0082] In one embodiment of the present invention, when the cleaning robot 1 is turning and making a U-turn, the cleaning robot 1 can first rotate in the first direction by a preset angle, and then rotate in the second direction to the motion trajectory it is about to travel. Exemplarily, the preset angle of rotation of the cleaning robot 1 in the first direction can be set to any angle greater than 0° and less than 180°. During the rotation in the first direction, the cleaning robot 1 sucks the dust, small particles 5 and large particles 4 within the working range of the dust suction port 31 when rotating in the first direction into the dust suction chamber 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 when rotating in the second direction are sucked into the dust suction chamber 3. It should be noted that the first direction and the second direction are two opposite directions, which is conducive to improving the cleaning effect of the cleaning robot 1 during the turning process.

[0083] For example, if the first direction is set to counterclockwise rotation, the second direction is set to clockwise rotation; if the first direction is set to clockwise rotation, the second direction is set to counterclockwise rotation. Specifically, the first direction and the second direction are set according to the direction in which the cleaning robot 1 turns.

[0084] In another embodiment of the present invention, when the cleaning robot 1 is turning and making a U-turn, the cleaning robot 1 only rotates along the second direction to the motion trajectory it is about to travel, which shortens the time for the cleaning robot 1 to turn and make a U-turn, thereby shortening the time for the cleaning robot 1 to clean the surface to be cleaned, which is beneficial to improving cleaning efficiency.

[0085] In one embodiment of the present invention, the cleaning robot 1 further comprises a chassis, and the cleaning assembly further comprises a roller brush. When the surface to be cleaned is a carpet, while the cleaning assembly is performing a cleaning task on the carpet, the control system controls the cleaning robot 1 to raise the chassis and roller brush to prevent the cleaning robot 1 from becoming entangled in the carpet hair during the cleaning task, which could damage the roller brush or motor. Simultaneously, the suction power is increased, thereby facilitating the suction port 31 to draw dust and / or particulate matter deep within the carpet into the suction chamber 3, thereby improving the cleaning efficiency of the cleaning robot 1 on the carpet.

[0086] In one embodiment of the present invention, the cleaning robot 1 further includes a chassis. When the cleaning robot 1 encounters a threshold while performing a cleaning task on a surface to be cleaned, the control system first controls the shielding member 2 to be positioned in the second position, thereby drawing dust, small particles 5, and large particles 4 within the working area of the suction port 31 at the threshold into the suction chamber 3, thereby cleaning the threshold. The control system then controls the chassis or the front end of the cleaning robot 1 to be raised, allowing the robot to cross the threshold.

[0087] In one embodiment of the present invention, the cleaning assembly further comprises a side brush. When the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, 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 corner and preventing missed cleaning of the inner corner's edges. The control system then controls the body of the cleaning robot 1 to stop at the inner corner to prevent collisions between the cleaning robot 1 and the wall surface at the inner corner during cleaning. In another example, when the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, the control system first controls the cleaning robot 1 to stop and then controls the shielding member 2 to switch from the first position to the second position. In yet another example, when the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, the control system simultaneously controls the cleaning robot 1 to stop and the shielding member 2 to switch from the first position to the second position. After the cleaning robot 1 completes these two actions, the control system controls the side brush to reverse, directing dust and / or particulate matter from the inner corner into the working area of the suction port 31, thereby cleaning the inner corner.

[0088] Exemplarily, the first preset distance is a preset safety distance between the cleaning robot 1 and the inner wall corner, which prevents the cleaning robot 1 from colliding with the inner wall corner during the cleaning process.

[0089] In one embodiment of the present invention, after the cleaning robot 1 completes cleaning the inner wall corner, in order to avoid the cleaning robot 1 colliding with the inner wall corner during the turning process, the control system controls the cleaning robot 1 to first retreat and then turn around.

[0090] See also Figure 3 and Figure 4 The present invention also provides another method for controlling a cleaning robot. The cleaning robot 1 includes at least a shielding member 2 and a cleaning assembly. The cleaning assembly has a dust collection chamber 3, one end of which forms a dust collection port 31. Dust and particulate matter on the surface to be cleaned is drawn into the dust collection chamber 3 through the dust collection port 31. The shielding member 2 is movably mounted on the body of the cleaning robot 1 and is located on one side of the dust collection port 31, thereby enabling the shielding member 2 to be moved closer to or further away from the dust collection port 31.

[0091] The control method includes at least step S210. When the cleaning component performs a cleaning task on the surface to be cleaned, the shielding member 2 has at least two positions, namely a first position and a second position. The main function of the shielding member 2 is to adjust the size of the ventilation area of the suction port 31.

[0092] When the shielding member 2 is in the first position, the dust suction port 31 is partially blocked 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, facilitating more effective suction of dirt deep inside the surface to be cleaned, and further facilitating improved cleaning performance 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. At this time, the dust suction port 31 is not blocked by the shielding member 2 and is completely exposed, thereby facilitating the dust suction port 31 to suck in large particles 4 on the surface to be cleaned, achieving the effect of completely cleaning the surface to be cleaned.

[0093] In step S220, when the cleaning robot 1 moves forward in a straight line to perform the cleaning task, the control system controls the shielding member 2 to alternately switch between the first position and the second position. The shielding member 2 maintains the first position for a first preset time, then switches to the second position, and maintains the second position for a second preset time, then switches back to the first position, thereby completing the cleaning of dust and particulate matter 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 collection chamber 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 collection chamber 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 sucked into the dust collection chamber 3 at the same time.

[0094] The inventors have discovered that in cleaning scenarios with a lot of garbage, such as in the kitchen or under the dining table, the surface to be cleaned is often mixed with a lot of particles of different sizes, dust, etc. Small particles 5 and dust are particularly easy to get into the gaps in the floor or deep in the carpet. Simply increasing the suction power often does not produce an ideal dust removal effect and increases energy consumption. It is necessary to assist in opening the shielding member 2, that is, to control the shielding member 2 to be lowered and placed in the first position, so as to increase the negative pressure of the dust suction chamber 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 shielding member 2 is close to the surface to be cleaned, the large particles 4 in the direction of travel are easily pushed and moved by the shielding member 2 during the walking process of the cleaning robot 1, which makes it difficult for the large particles 4 to enter the bottom of the suction port 31, and then difficult to be sucked into the dust suction chamber 3.

[0095] In order to take into account the cleaning of large particles 4, small particles 5, and dust during a single cleaning process, the inventors creatively proposed a solution for alternately retracting and releasing 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 the first position and the second position. When the shielding member 2 is in the first position, the shielding member 2 partially blocks the dust suction port 31, allowing the dust suction port 31 to draw dust and small particles 5 on the surface to be cleaned in the forward direction into the dust suction chamber 3. During this process, large particles 4 in the forward direction of the cleaning robot 1 will be pushed by the shielding member 2 and follow the cleaning robot 1 forward. When the shielding member 2 is in the second position, the shielding member 2 moves away from the dust suction port 31, and the dust suction port 31 is completely exposed without any obstruction. This allows the large particles 4 previously pushed by the shielding member 2 to be concentrated and exposed below the dust suction port 31, thereby drawing the large particles 4 into the dust suction chamber 3 under the action of the dust suction airflow. Furthermore, the shielding member 2 switches to the second position after staying in the first position for a first preset time, and switches back to the first position after staying in the second position for a second preset time. Different types of dirt cleaning can be completed by adjusting the retraction and extension of the shielding member 2.

[0096] 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.

[0097] In one application scenario, when the cleaning robot 1 begins to perform a cleaning task, the shielding member 2 is in the first position to partially block the suction port 31, so that the suction port 31 sucks dust and small particles 5 on the surface to be cleaned into the suction chamber 3. During this process, large particles 4 in front of the cleaning robot 1 are pushed by the shielding member 2 and move forward with the cleaning robot 1.

[0098] After the shielding member 2 remains in the first position for a first preset time, it switches from the first position to the second position. At this point, the shielding member 2 is away from the dust suction port 31, leaving the dust suction port 31 completely exposed and unobstructed, allowing the dust suction port 31 to simultaneously draw dust, small particles 5, and large particles 4 into the dust suction chamber 3. The large particles 4 drawn into the dust suction chamber 3 include those previously accumulated in front of the shielding member 2.

[0099] After the shielding member 2 stays at the second position for a second preset time, the shielding member 2 switches from the second position to the first position. This process is repeated to complete the cleaning of dust and particles on the surface to be cleaned.

[0100] For example, the first preset time and the second preset time can be set to be the same or different, and can be adaptively set according to actual needs. The first preset time and the second preset time can be set to any time greater than 2 seconds.

[0101] In one embodiment of the present invention, when the cleaning robot 1 turns around, if the shielding member 2 is in the first position, the shielding member 2 will knock away large particles 4 that come into contact with it, causing the large particles 4 to damage other items on the surface to be cleaned or failing to completely clean the surface to be cleaned. To avoid this, 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 simultaneously suck dust, small particles 5, and large particles 4 into the dust suction chamber 3.

[0102] See also Figure 2 In one embodiment of the present invention, the motion trajectory of the cleaning robot 1 on the surface to be cleaned includes the following steps: Figure 2 Move forward in a straight line in view A, and then proceed as follows Figure 2 Turn around in view B, and then proceed as follows Figure 2 The straight line forward of the middle C view. Such a cycle enables the cleaning robot 1 to walk in a "bow" shape on the surface to be cleaned, thereby completing the cleaning of the surface to be cleaned.

[0103] In one embodiment of the present invention, the cleaning robot 1 further includes a chassis. When the cleaning robot 1 encounters a threshold while performing a cleaning task on a surface to be cleaned, the control system first controls the shielding member 2 to be positioned in the second position, thereby drawing dust, small particles 5, and large particles 4 within the working area of the suction port 31 at the threshold into the suction chamber 3, thereby cleaning the threshold. The control system then controls the chassis or the front end of the cleaning robot 1 to be raised, allowing the robot to cross the threshold.

[0104] In one embodiment of the present invention, the cleaning assembly further comprises a side brush. When the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, 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 corner and preventing missed cleaning of the inner corner's edges. The control system then controls the body of the cleaning robot 1 to stop at the inner corner to prevent collisions between the cleaning robot 1 and the wall surface at the inner corner during cleaning. In another example, when the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, the control system first controls the cleaning robot 1 to stop and then controls the shielding member 2 to switch from the first position to the second position. In yet another example, when the cleaning robot 1 is moving in a straight line and has a first preset distance from an inner corner, the control system simultaneously controls the cleaning robot 1 to stop and the shielding member 2 to switch from the first position to the second position. After the cleaning robot 1 completes these two actions, the control system controls the side brush to reverse, directing dust and / or particulate matter from the inner corner into the working area of the suction port 31, thereby cleaning the inner corner.

[0105] Exemplarily, the first preset distance is a preset safety distance between the cleaning robot 1 and the inner wall corner, which prevents the cleaning robot 1 from colliding with the inner wall corner during the cleaning process.

[0106] In one embodiment of the present invention, after the cleaning robot 1 completes cleaning the inner wall corner, in order to avoid the cleaning robot 1 colliding with the inner wall corner during the turning process, the control system controls the cleaning robot 1 to first retreat and then turn around.

[0107] See also Figure 3 The present invention also provides a cleaning robot, which can execute the above-mentioned control method of the cleaning robot.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the 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 boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0109] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot includes at least a shielding member and a cleaning assembly, wherein the cleaning assembly has a dust suction chamber, one end of the dust suction chamber 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 motion trajectory of the cleaning robot includes at least straight forward movement and turning and U-turning. When the cleaning robot is moving straight forward, the shielding member is controlled to be located at the first position; when the cleaning robot is turning and U-turning, the shielding member is controlled to be located at the second position; when the cleaning robot is switching from straight forward movement to turning and U-turning, the shielding member is controlled to switch from the first position to the second position; when the cleaning robot is switching from turning and U-turning to straight forward movement, the shielding member is controlled to switch from the second position to the first 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 that the shielding member partially blocks the dust suction port.

2. The control method of the cleaning robot according to claim 1, characterized in that: The motion trajectory of the cleaning robot includes the cleaning robot first moving forward in a straight line, then turning around, and then moving forward in a straight line again.

3. The control method of the cleaning robot according to claim 1, characterized in that: When the cleaning robot turns around, controlling the shielding member to be located at the second position includes: The cleaning robot is controlled to rotate in a first direction first, and then in a second direction to a motion trajectory on which it is about to move, wherein 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 component further includes a roller brush; When the cleaning component performs a cleaning task on the carpet, the cleaning robot is controlled to lift the chassis and the roller brush and increase the suction power.

5. 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; When the cleaning robot encounters a threshold during cleaning, the shielding member is first controlled to be located at the second position, and then the chassis or the front end of the cleaning robot is lifted to cross the threshold.

6. The control method of the cleaning robot according to any one of claims 1 to 5, characterized in that: The control method further includes: The cleaning assembly also includes a side brush; When the cleaning robot is moving in a straight line and has a first preset distance from an inner wall corner, the shielding member is first switched from the first position to the second position, and then the body of the cleaning robot is controlled to stop moving at the inner wall corner; The side brush is controlled to reverse and guide dust and / or particles to the working area of the suction port to clean the inner corner.

7. The control method of the cleaning robot according to claim 6, characterized in that: After controlling the side brush to reverse and guide dust and / or particulate matter into the working area of the suction port to clean the inner corner, the control method further includes: The cleaning robot is controlled to first retreat and then turn around to avoid collision between the cleaning robot and the inner wall corner.

8. A cleaning robot, characterized in that: The cleaning robot executes the control method of the cleaning robot according to any one of claims 1 to 7.

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