Cleaning method of cleaning robot, cleaning robot and cleaning system

Abstract

The invention provides a cleaning method of a cleaning robot, the cleaning robot and a cleaning system, and relates to the technical field of intelligent robots, the cleaning robot comprises a mop assembly and a driving wheel, the mop assembly is provided with a mop and a driving part for driving the mop to rotate, and the driving wheel is located in front of the mop with the walking advancing direction of the cleaning robot as the benchmark; in the cleaning process of the cleaning robot, it is detected that a heavily-polluted area exists, and the cleaning robot is controlled to advance at least partially in a backward mode based on a preset cleaning path so as to clean at least part of the heavily-polluted area through a mop; the rotating direction of the driving wheel is opposite to the rotating direction of the mop cloth in the backward moving process, the relative friction force between the mop cloth and the cleaning face is increased through the reverse rotation, and therefore the dirt is wiped and removed more effectively instead of sliding on the dirt simply, and the mop cloth is adjusted to the first position in the backward moving process, so that the mop cloth is not prone to sliding on the cleaning face. The cleaning area covers the walking area of the driving wheel, so that cross contamination is reduced, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent robots, and particularly to a cleaning method for a cleaning robot, a cleaning robot, and a cleaning system. Background Art

[0002] Cleaning robots, especially household cleaning robots such as floor-sweeping robots or mopping robots, have been widely used in the market.

[0003] In the prior art, a cleaning robot moves by relying on driving wheels and cleans along a planned path. During the moving process, the rotation direction of the driving wheels is the same as that of the mop assembly to enhance the cleaning effect.

[0004] However, when the cleaning robot encounters a heavily soiled area, if the driving wheels and the mop assembly rotate in the same direction, the friction of the mop on the cleaning surface may not be sufficient to effectively remove stubborn stains, resulting in the mop sliding on the stains and affecting the cleaning effect. Summary of the Invention

[0005] This application provides a cleaning method for a cleaning robot, a cleaning robot, and a cleaning system. The cleaning robot performs backward cleaning on a heavily soiled area and controls the driving wheels and the mop to rotate in opposite directions, increasing the relative friction between the mop and the cleaning surface, so that the mop can more effectively wipe and remove stains when passing through the heavily soiled area during the backward movement. Combined with the design of adjusting the position of the mop during cleaning so that its cleaning area can cover the walking area of the driving wheels, it can not only cover the heavily soiled area more comprehensively, ensure a stable cleaning effect during backward cleaning, but also avoid the possible sliding problem during forward movement.

[0006] In a first aspect, this application provides a cleaning method for a cleaning robot. The cleaning robot includes a mop assembly and driving wheels. The mop assembly includes a mop and a driving member for driving the mop to rotate. The mop is a roller mop or a tracked mop. Based on the forward direction of the cleaning robot's movement, the driving wheels are located in front of the mop. The method includes:

[0007] During the process of the cleaning robot moving forward to clean the area to be cleaned, when it is detected that there is a heavily soiled area, control the cleaning robot to move at least partially in a backward manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop;

[0008] Wherein, during the backward movement, the rotation direction of the driving wheels is opposite to that of the mop. During the process of controlling the cleaning robot to move at least partially in a backward manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop, adjust the mop to a first position so that the cleaning area of the mop covers the walking area of the driving wheels.

[0009] In this way, after encountering a heavily soiled area, by controlling the cleaning robot to reverse, the mopping cloth is made to contact the heavily soiled area first, thereby reducing the risk of contamination of the drive wheels, side brushes, bottom of the roller brush chamber, and the roller brush. The rotation of the drive wheels and the mopping cloth is controlled to reverse during the reverse movement to increase the relative movement between the mopping cloth and the cleaning surface, thereby enhancing the frictional force. This enhanced frictional force helps to more effectively remove stubborn stains, and the reverse rotation can also reduce the sliding of the mopping cloth on the stains, enabling the mopping cloth to more stably contact the cleaning surface and perform cleaning. Because the inventor found that for the same position, by reversing the rotation of the drive wheels and the mopping cloth during the reverse movement, the number of contacts between the mopping cloth and the heavily soiled area per unit time can be increased, thereby increasing the relative movement between the mopping cloth and the cleaning surface. Due to the increase in the relative movement between the mopping cloth and the cleaning surface, the mopping cloth can exert a greater "pulling friction force" or shear force, which can effectively peel off and remove adhesive stains such as oil stains, shoe prints, and water stains. Therefore, the inventor sets the rotation directions of the drive wheels and the mopping cloth to be opposite, enabling the cleaning robot to more effectively handle heavily soiled areas, especially oil stains, shoe prints, water stains, liquid dirt, etc. in the heavily soiled areas, thereby improving the overall cleaning efficiency and effect and meeting the user's demand for efficient cleaning.

[0010] It should be noted that compared with the same rotation direction of the drive wheels and the mopping cloth during the cleaning process, in this application, the rotation of the mopping cloth and the drive wheels is controlled to be opposite, so that the number of contacts between the mopping cloth and the cleaning surface per unit time increases. This increased contact frequency enables the mopping cloth to act on the same position more frequently, thereby improving the cleaning efficiency. Moreover, the relative movement generated by the reverse rotation forms a "pulling friction force" between the mopping cloth and the cleaning surface, that is, a kind of frictional force, which can also be understood as a shear force. This force can be effectively applied to adhesive stains such as oil stains, shoe prints, and water stains. Further, through the shearing action, it helps to peel and decompose these stubborn stains, making them easier to be carried away by the mopping cloth. This shearing action changes the adhesion state of the stains, reduces their adhesion force, and makes the stains easier to be removed.

[0011] In addition, during the process of controlling the cleaning robot to reverse along a preset cleaning path to clean at least part of the heavily soiled area with the mopping cloth, the mopping cloth is adjusted to the first position to ensure that the cleaning area of the mopping cloth covers the walking area of the drive wheels, that is, the mopping cloth contacts the heavily soiled area first, and the drive wheels and the roller brush assembly contact the heavily soiled area later. This can not only avoid the contamination of the drive wheels and the roller brush assembly by the heavily soiled area, but also effectively remove any residual dirt that the drive wheels may bring, reduce the cross-contamination that may be caused by the rolling of the wheels, and ensure the cleanliness of the cleaning area. Therefore, by precisely adjusting the mopping cloth to the first position, the cleaning robot can more effectively handle the heavily soiled area and ensure that these areas are effectively cleaned.

[0012] It should also be noted that during the process of cleaning the area to be cleaned before the cleaning robot, if the mopping cloth is already in the first position, then when cleaning the heavily soiled area in a reverse manner, the mopping cloth only needs to continue to remain in the first position, thereby reducing unnecessary movement and adjustment time. If the mopping cloth is not in the first position, for example, in the fourth position of outward expansion, the cleaning robot can activate the adjustment mechanism and adjust the mopping cloth to the first position when cleaning the heavily soiled area in a reverse manner to ensure an ideal cleaning effect during reverse cleaning.

[0013] Optionally, detecting that there is a heavily soiled area, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mopping cloth, includes:

[0014] Detecting that there is a heavily soiled area, controlling the cleaning robot to perform edge cleaning on the heavily soiled area, and after the edge cleaning is completed, controlling the cleaning robot to clean the remaining heavily soiled area inside after the edge cleaning in a reverse traveling manner through the mopping cloth.

[0015] In this way, through edge cleaning, the cleaning robot can effectively remove the dirt on the edge of the heavily soiled area, and reverse traveling ensures the thorough cleaning of the heavily soiled area inside, achieving comprehensive coverage of cleaning. Therefore, through the combination of edge cleaning and reverse traveling, the omissions that may occur during the cleaning process are reduced, ensuring that every part of the heavily soiled area is cleaned. This strategy not only optimizes the cleaning path, reduces the need for repeated cleaning, improves the cleaning efficiency, but also can further reduce repeated actions, reduce the energy consumption of the cleaning robot, and extend the service life.

[0016] Optionally, controlling the cleaning robot to perform edge cleaning on the heavily soiled area, includes:

[0017] Controlling the cleaning robot to perform edge cleaning on the first area, the first area having a preset shape and the first area at least including the heavily soiled area;

[0018] Or, controlling the cleaning robot to perform edge cleaning at a position having a preset distance from the edge of the heavily soiled area.

[0019] Therefore, by providing two edge cleaning strategies, the cleaning robot can adapt to different shapes and sizes of heavily soiled areas, improving the flexibility of application. In addition, edge cleaning can ensure that the dirt in the edge area is effectively removed, reducing the omissions that may occur during the cleaning process, and can also effectively prevent the dirt from spreading from the heavily soiled area to other areas, maintaining the cleanliness of the overall environment. In this way, through precise edge cleaning, the cleaning robot can handle the heavily soiled area more thoroughly, ensuring the comprehensiveness of the cleaning effect.

[0020] Optionally, when a heavily soiled area is detected, control the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area, including:

[0021] When a heavily soiled area is detected, control the cleaning robot to continue traveling along the original cleaning path. Before the cleaning robot passes through at least part of the heavily soiled area, control the cleaning robot to rotate its direction and clean at least part of the heavily soiled area by traveling in reverse through the mopping cloth.

[0022] In this way, when cleaning the heavily soiled area, by controlling the cleaning robot to rotate its direction and travel in reverse, cross-contamination caused by wheels or other components during forward movement can be reduced, and the heavily soiled area can be cleaned along the original cleaning path without affecting the overall path planning, reducing the complexity of path planning, lowering energy consumption, simplifying the operation process, eliminating the need for additional settings or adjustments, enhancing the user experience. In addition, by using the original cleaning path, the cleaning robot does not need to recalculate and plan a new path, thus saving time and computing resources, improving cleaning efficiency, and following the original path can also ensure that the cleaning parts cover all areas that need to be cleaned, avoiding omission or repeated cleaning, and maintaining the consistency and comprehensiveness of cleaning.

[0023] Optionally, when a heavily soiled area is detected, control the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area, including:

[0024] When a heavily soiled area is detected, control the cleaning robot to clean the entire heavily soiled area by traveling in reverse and forward alternately through the mopping cloth.

[0025] Therefore, by alternately using reverse and forward cleaning methods, ensuring that the heavily soiled area is covered and cleaned multiple times, stubborn dirt can be removed more thoroughly. Through alternating cleaning, the cleaning robot can ensure that every corner of the heavily soiled area is cleaned, reducing omissions. This strategy reduces the possible repeated requirements during the cleaning process and improves the overall cleaning efficiency. In this way, through effective path planning and cleaning strategies, the cleaning robot can utilize power and cleaning resources more efficiently and extend its working time.

[0026] Optionally, when a heavily soiled area is detected, control the cleaning robot to clean the entire heavily soiled area by traveling in reverse and forward alternately through the mopping cloth, including:

[0027] When a heavily soiled area is detected, control the cleaning robot to enter from the first end of the heavily soiled area in a reverse manner and clean at least part of the heavily soiled area through the mopping cloth until it reaches the second end of the heavily soiled area;

[0028] After reversing to the second end of the heavily soiled area, control the cleaning robot to move forward to the first end of the heavily soiled area, and control the cleaning robot to adjust its direction and / or position, and continue to clean the remaining part of the heavily soiled area through the mop in an alternating manner of backward and forward movement.

[0029] In this way, by alternately using backward and forward cleaning methods, the mop can cover the same heavily soiled area multiple times. This repeated friction action helps to remove stubborn stains more thoroughly and ensures that each part of the heavily soiled area can be evenly cleaned by the cleaning robot, avoiding omissions or uneven cleaning. In addition, by adjusting the direction and position, the cleaning robot can optimize its cleaning path to adapt to different dirt distributions and terrain features, ensuring efficient use of resources, reducing possible repeated requirements during the cleaning process, and improving the overall cleaning efficiency.

[0030] Optionally, when detecting the existence of a heavily soiled area, controlling the cleaning robot to move at least partially backward based on a preset cleaning path to clean at least part of the heavily soiled area through the mop includes:

[0031] When detecting the existence of a heavily soiled area, control the cleaning robot to avoid the heavily soiled area;

[0032] After the cleaning robot avoids the heavily soiled area, clean the area in the area to be cleaned except the heavily soiled area, and then control the cleaning robot to move to the heavily soiled area and clean the heavily soiled area through the mop in a backward movement manner.

[0033] In this way, by preferentially cleaning the areas with lighter dirt, the cleaning robot can quickly complete most of the cleaning tasks, avoiding delays in the overall cleaning progress due to the complexity of the heavily soiled areas. After cleaning other areas, the cleaning robot can concentrate resources and time on cleaning the heavily soiled areas to ensure that these heavily soiled areas are thoroughly treated. In addition, by avoiding the heavily soiled areas first, the cleaning robot can prevent the dirt in the heavily soiled areas from spreading to other cleaned areas, maintaining the cleanliness of the overall environment, and can also prevent the cleaning components from moving back and forth between the un-cleaned heavily soiled areas and the cleaned areas, thereby reducing the risk of cross-contamination.

[0034] It should also be noted that cleaning the simple areas first can simplify the path planning, avoid complex path adjustments and recalculations, and improve the smoothness of the overall cleaning process.

[0035] It can be understood that after cleaning the area in the area to be cleaned except for the heavily soiled area, the cleaning robot can return to the base station to clean the mop and then return to the heavily soiled area for cleaning, or can immediately clean the heavily soiled area. This application does not specifically limit the steps before the cleaning robot travels to the heavily soiled area after cleaning the area in the area to be cleaned except for the heavily soiled area. It can also perform other operations, which greatly improves the flexibility of the cleaning process of the cleaning robot.

[0036] Optionally, detecting that there is a heavily soiled area and controlling the cleaning robot to avoid the heavily soiled area includes:

[0037] Detecting that there is a heavily soiled area and controlling the cleaning robot to perform edge cleaning around the heavily soiled area to form a target area surrounding the heavily soiled area;

[0038] Controlling the cleaning robot to avoid the target area;

[0039] Controlling the cleaning robot to travel to the heavily soiled area and cleaning the heavily soiled area with the mop in a reverse traveling manner includes:

[0040] Controlling the cleaning robot to travel to the target area and controlling the cleaning robot to reverse travel within the target area based on a preset cleaning path to clean at least part of the heavily soiled area with the mop.

[0041] In this way, through edge cleaning, the cleaning robot can accurately identify and locate the boundary of the heavily soiled area, ensure that the heavily soiled area can be completely covered during subsequent cleaning, and cleaning around the heavily soiled area can also prevent dirt from spreading outwards, ensuring that the dirt in the heavily soiled area does not contaminate the surrounding cleaned area. By first cleaning around the heavily soiled area, the cleaning sequence can be optimized, and then the cleaning robot can effectively plan the cleaning path, making the cleaning of the heavily soiled area more concentrated and effective, and reducing unnecessary repeated travel. Therefore, this method simplifies the path planning process, enables the cleaning robot to clean according to the preset path, reduces complex path adjustments, and by first dealing with simple areas and edges, the cleaning robot can quickly complete most of the cleaning tasks, allocate more time and resources to thoroughly clean the heavily soiled area, and through clear area division and cleaning sequence, reduce the back-and-forth movement of the cleaning components between the heavily soiled area and other areas, reducing the risk of cross-contamination.

[0042] Optionally, the number of heavily soiled areas is at least one. Controlling the cleaning robot to travel to the heavily soiled area and cleaning the heavily soiled area with the mop in a reverse traveling manner includes:

[0043] Proceed to at least one heavily soiled area in sequence according to the cleaning order displayed by the application program APP of the terminal device, and clean at least one heavily soiled area with a mop in a reverse travel mode; establish a communication connection between the terminal device and the cleaning robot.

[0044] In this way, through a clear cleaning order, the cleaning robot can concentrate resources and time on cleaning heavily soiled areas, ensuring that these heavily soiled areas are thoroughly treated. Moreover, cleaning in the planned order can also avoid frequent movement of the cleaning robot between heavily soiled areas and areas that have already been cleaned, reducing the risk of cross-contamination. In addition, users can view and adjust the cleaning order through the APP, providing higher customization and control, meeting different cleaning needs, enhancing the user experience and satisfaction. And through the cleaning order planned by the APP, the cleaning robot can complete the cleaning task more efficiently, reducing unnecessary path duplication and time waste.

[0045] Optionally, the cleaning order is determined by at least one of the following methods:

[0046] The distance between the position of the cleaning robot after cleaning the areas in the area to be cleaned except for at least one heavily soiled area and at least one heavily soiled area;

[0047] The distance between at least one heavily soiled area and the cleaning base station;

[0048] The degree of dirtiness corresponding to at least one heavily soiled area;

[0049] The order of marking at least one heavily soiled area by the cleaning robot during the cleaning process;

[0050] In response to the first operation of the user on the APP of the terminal device.

[0051] Therefore, by determining the cleaning order in multiple ways, the cleaning robot can more intelligently optimize its cleaning path and strategy. For example, giving priority to cleaning the nearest heavily soiled area can reduce unnecessary movement, save time and electricity, and improve cleaning efficiency. Giving priority to cleaning the area closer to the cleaning base station can quickly return to the base station for charging or self-cleaning when the battery is low or the mop is dirty, ensuring the continuity of the cleaning task. Determining the cleaning order according to the degree of dirtiness of the heavily soiled area, giving priority to treating the dirtiest areas, can ensure that these areas are cleaned in a timely and thorough manner, improving the overall cleaning effect. Giving priority to treating the areas with the lightest degree of dirtiness can quickly improve the cleanliness of the environment, improve cleaning efficiency, and reduce resource consumption. Cleaning in the order of marking by the cleaning robot during the cleaning process can ensure that tasks are executed according to the preset logic and plan, avoiding omission or repeated cleaning. Determining the cleaning order according to the first operation of the user on the APP can provide a personalized cleaning experience, meeting the specific needs and preferences of users.

[0052] In this way, by combining multiple factors to determine the cleaning order, the cleaning robot can flexibly adapt to different cleaning surface conditions and user needs, providing a more intelligent cleaning service.

[0053] Optionally, the method further includes:

[0054] After cleaning the area other than the heavily soiled area in the area to be cleaned and before controlling the cleaning robot to move to the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop.

[0055] Therefore, by cleaning the mop before dealing with the heavily soiled area, the risk of dirt in the non-heavily soiled area being brought into the heavily soiled area can be reduced, preventing cross-contamination. Moreover, the cleaned mop can more effectively adsorb and remove stubborn dirt in the heavily soiled area, improving the dirt removal ability and cleaning effect. In addition, using a clean mop to clean the heavily soiled area can also reduce the number of repeated cleanings and improve the overall cleaning efficiency.

[0056] Optionally, controlling the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area includes:

[0057] Controlling the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to perform multiple repeated cleanings on at least part of the heavily soiled area.

[0058] Repeated cleaning helps to improve the dirt removal rate. Especially when the first cleaning fails to completely remove the dirt, the cleaning effect can be further improved through multiple coverages. And multiple repeated cleanings can ensure that the entire heavily soiled area is evenly treated, avoiding omissions or uneven cleaning. Therefore, through the optimized preset cleaning path and repeated cleaning strategy, while ensuring the thorough cleaning of the heavily soiled area, it can also reduce the user's operation burden, improve the automation and intelligence level of the cleaning robot, and thus enhance the user's satisfaction with the cleaning effect.

[0059] Optionally, the method further includes:

[0060] After each cleaning of at least part of the heavily soiled area is completed, control the cleaning robot to return to the cleaning base station to clean the mop.

[0061] Since the cleaned mop can more effectively adsorb and remove dirt, ensuring the effect of each cleaning task. Therefore, by cleaning the mop after each cleaning of at least part of the heavily soiled area, the risk of cross-contamination of dirt between different areas is reduced. And using a clean mop for cleaning can reduce the number and time of repeated cleanings, improving the overall cleaning efficiency.

[0062] Optionally, when a heavily soiled area is detected, the cleaning robot is controlled to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area, including:

[0063] When a heavily soiled area is detected, the cleaning robot is controlled to adjust its direction at the second position or the third position, and based on the preset cleaning path, travel in reverse through the mopping cloth to clean at least part of the heavily soiled area;

[0064] Wherein, the second position is the position where the cleaning robot is located when it detects a heavily soiled area; the third position is a position determined during the process of the cleaning robot walking around the heavily soiled area and is suitable for entering the heavily soiled area.

[0065] In this way, by adjusting the direction at the second position or the third position, the cleaning robot can flexibly select a suitable entry point to adapt to different environments and the shapes of heavily soiled areas. Adjusting the direction at a suitable position and reversing into the heavily soiled area can optimize the cleaning path, ensure that the cleaning robot covers the heavily soiled area in an effective manner. By selecting a suitable entry point and path, unnecessary movement and adjustment can also be reduced, saving time and power, and improving the overall cleaning efficiency. In addition, adjusting the direction at a suitable position can reduce interference with the surrounding environment, especially in narrow or complex spaces. Therefore, this method demonstrates the ability of the cleaning robot to make intelligent decisions in complex environments and improves its automation and intelligence level.

[0066] Optionally, the cleaning robot further includes a rotary brush assembly and a rotary brush cavity. A dust suction port is provided on one side of the rotary brush cavity facing the cleaning surface. The rotary brush cavity is used to accommodate the rotary brush assembly; the mopping cloth further has a fourth position. At the fourth position, at least part of the mopping cloth is located outside the body of the cleaning robot, and the area covered by the mopping cloth during the cleaning process covers the area covered by the dust suction port during the cleaning process; the method further includes:

[0067] During the process of the cleaning robot controlling the mopping cloth to switch from the first position to the fourth position for cleaning, when a heavily soiled area is detected, the cleaning robot is controlled to travel in reverse to clean at least part of the heavily soiled area through the mopping cloth.

[0068] In this way, part of the mopping cloth is located outside the body of the cleaning robot, which can cover a larger area than the dust suction port, ensuring that a larger area of the cleaning surface is cleaned. Especially in the area along the wall, by allowing the mopping cloth to cover a larger area, it can effectively prevent the dirt in the heavily soiled area from entering the rotary brush cavity, the rotary brush assembly, and the drive wheels, thereby reducing the wear and pollution of these key components. In particular, it can prevent the bristles of the rotary brush in the rotary brush cavity from being stained with liquid dirt, and the reverse travel mode can ensure that the mopping cloth contacts the dirt first, providing a stronger cleaning force. Especially in the heavily soiled area, it can more effectively remove stubborn stains.

[0069] Optionally, the method further includes:

[0070] During the process of the cleaning robot cleaning the area to be cleaned, a first control instruction is received, where the first control instruction is an instruction for the terminal device to temporarily clean the heavily contaminated area; the terminal device establishes a communication connection with the cleaning robot;

[0071] Based on the first control instruction, the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area by mopping.

[0072] In this way, users can temporarily adjust the cleaning order according to actual conditions and flexibly respond to emergencies in family life. By giving priority to cleaning heavily contaminated areas, they can ensure that heavily contaminated areas are cleaned in a timely manner and improve overall cleaning efficiency. By temporarily adjusting the cleaning order of heavily contaminated areas, cleaning tasks can be more effectively managed and personalized cleaning services can be provided. In this application, the cleaning robot can respond quickly to user instructions and adapt to dynamically changing cleaning needs. Users can directly participate in and control the cleaning process through terminal devices, which enhances their sense of control and satisfaction with the cleaning robot.

[0073] Optionally, the method further includes:

[0074] During the process of the cleaning robot cleaning the area to be cleaned, a second control instruction is received, where the second control instruction is an instruction for the terminal device to clean the heavily contaminated area multiple times; the terminal device establishes a communication connection with the cleaning robot;

[0075] Based on the second control instruction, the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area multiple times by mopping.

[0076] In this way, users can adjust the working area of ​​the cleaning robot at any time according to actual conditions and respond flexibly to emergencies in family life, which provides higher flexibility and control. In particular, users can perform multiple cleanings on heavily contaminated areas. Through multiple cleaning operations, it can be ensured that the heavily contaminated areas are thoroughly cleaned, especially when the first cleaning fails to completely remove the dirt, thereby improving the overall cleaning quality. In this application, users can conveniently control the cleaning robot through terminal devices to ensure that the cleaning effect meets expectations and improve user satisfaction and usage experience.

[0077] Optionally, the method further includes:

[0078] During the process of the cleaning robot cleaning at least part of the heavily contaminated area, a third control instruction is received, the third control instruction is an instruction for the terminal device to temporarily clean the second area, the second area is an area delineated on the display interface of the terminal device, and the terminal device establishes a communication connection with the cleaning robot;

[0079] Based on the third control instruction, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to move to the second area to clean the second area.

[0080] In this way, the user can immediately delimit the second area through the terminal device and send a cleaning instruction, enabling the cleaning robot to quickly respond to new cleaning needs and flexibly adjust the cleaning task. Moreover, the user can also specify a new second area at any time according to actual needs to ensure that the second area is processed in a timely manner and provide personalized cleaning services. Therefore, by directly controlling the cleaning robot to go to the second area through an instruction, the area specified by the user can be quickly processed, avoiding unnecessary path planning and time waste, and can also more effectively allocate cleaning resources to ensure that the second area is given priority.

[0081] In addition, since the user can directly participate in and control the cleaning process through the terminal device, the sense of control and satisfaction with the cleaning robot are enhanced, especially when the second area needs to be quickly processed.

[0082] Optionally, the method further includes:

[0083] During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to perform temporary cleaning on the second area, and the second area is the area delimited on the display interface of the terminal device. The terminal device establishes a communication connection with the cleaning robot;

[0084] Based on the third control instruction, after determining that the heavily soiled area has been passed, control the cleaning robot to continue cleaning the corresponding part of the area passing through the heavily soiled area;

[0085] After the cleaning of the partial area is completed, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to move to the second area to clean the second area.

[0086] Therefore, after receiving a new third control instruction, the cleaning of the heavily soiled area is still continued to ensure that the area corresponding to the necessary path is thoroughly processed and prevent the contamination of the roller brush and other components. In this way, by turning to the second area after completing the cleaning of the required area passing through the heavily soiled area, the risk of cross-contamination between different areas is reduced, and the user's satisfaction with the cleaning effect is improved.

[0087] Optionally, the determination method for the end of the cleaning of the partial area includes at least one of the following:

[0088] The cleaning robot performs cleaning for a preset duration;

[0089] The cleaning robot travels a preset distance;

[0090] It is detected that the cleaning robot has exited a partial area based on sensor information.

[0091] In this way, through the settings of the preset duration and the preset distance, the cleaning robot can perform sufficient cleaning within the heavily soiled area. By thoroughly cleaning the heavily soiled area before entering the second area, it can ensure that the dirt in the heavily soiled area will not be brought to other areas by the mop or other means, ensuring the cleaning effect. And by precisely controlling the cleaning time and cleaning distance of the partial area, unnecessary energy and resource consumption can also be reduced. In addition, the sensor information and intelligent path planning can be utilized to ensure that the cleaning robot performs cleaning on an effective path, reducing unnecessary repetition and time waste. The use of this sensor information enables the cleaning robot to flexibly adapt to environmental changes and adjust the cleaning strategy in real time. Therefore, by combining multiple determination methods, the reliability and adaptability of the cleaning robot's cleaning are enhanced, ensuring that it can work effectively in different environments.

[0092] Optionally, the cleaning robot further includes a roller brush assembly, and the method further includes:

[0093] After controlling the cleaning robot to stop cleaning at least a partial heavily soiled area, control the mop to be in the first lifting position and the roller brush assembly to stop rotating, so as to drive out of the heavily soiled area in a forward manner; the first lifting position is a position spaced a first distance from the cleaning surface.

[0094] In this way, after stopping cleaning at least a partial heavily soiled area, lifting the mop can effectively prevent the dirt in the heavily soiled area from being brought to other areas, reducing the risk of cross-contamination and maintaining the cleanliness and hygiene of other areas. Stopping the rotation of the roller brush assembly can prevent the dirt in the heavily soiled area from contaminating and wearing the roller brush. In addition, stopping the operation of unnecessary components such as the roller brush and the vacuuming function can also save electricity and improve the energy efficiency of the cleaning robot. Therefore, this method demonstrates the ability of the cleaning robot to make intelligent decisions and flexibly adjust in a dynamic environment, and thus can adapt to different cleaning requirements and environmental changes, as well as provide an efficient, thorough and cross-contamination-free cleaning service, thereby improving the user experience and satisfaction.

[0095] Optionally, the cleaning robot further includes a roller brush assembly and a side brush assembly, and the method further includes:

[0096] During the process of the cleaning robot cleaning at least a partial heavily soiled area, control the side brush assembly to be in the second lifting position and the roller brush assembly to stop rotating; the second lifting position is a position spaced a second distance from the cleaning surface.

[0097] In this way, during the cleaning process in a heavily soiled area, stopping the rotation of the roller brush assembly and raising the side brush assembly can prevent the dirt in the heavily soiled area from contaminating these components, and can also prevent the dirt in the heavily soiled area from being carried to other areas, reducing the risk of cross-contamination and maintaining the cleanliness of other areas. In addition, stopping the operation of the roller brush assembly and the side brush assembly when they are not needed can save electricity and improve the energy efficiency of the cleaning robot. Therefore, by intelligently adjusting the states of the components, different types of dirt and cleaning requirements can be processed more efficiently, improving the cleaning effect and efficiency.

[0098] Optionally, the method further includes:

[0099] Detecting the presence of a heavily soiled area and determining the area size and / or dryness / wetness degree of the heavily soiled area;

[0100] Adjusting the humidity of the mop based on the area size and / or dryness / wetness degree.

[0101] Therefore, by dynamically adjusting the humidity of the mop according to the area size and / or dryness / wetness degree of the heavily soiled area, it can ensure that the mop can achieve an ideal cleaning effect under different types of dirt and surface conditions. In addition, by adjusting the humidity as needed, unnecessary water usage can be avoided, saving water resources. In this way, by specifically adjusting the humidity of the mop, the cleaning robot can complete the cleaning task more quickly and effectively, and by intelligently managing water and cleaning resources, the overall resource usage can be optimized and unnecessary waste can be reduced.

[0102] Optionally, the method further includes:

[0103] During the process of the cleaning robot cleaning at least part of the heavily soiled area, adjusting the contact pressure between the mop and the cleaning surface.

[0104] Therefore, by dynamically adjusting the mop pressure, it can ensure that the mop can achieve an ideal cleaning effect under different types of dirt and surface conditions. Appropriate pressure adjustment can not only prevent excessive wear or damage to the cleaning surface, but also enhance the cleaning effect on the cleaning surface. By such specifically adjusting the contact pressure between the mop and the cleaning surface, the cleaning robot can complete the cleaning task more quickly and effectively. In addition, through reasonable pressure management, excessive wear of the mop can also be reduced, thereby extending its service life.

[0105] Optionally, the cleaning robot further includes: a sensor assembly and / or an artificial intelligence AI camera module, the sensor assembly and / or the AI camera module is arranged at the rear end of the body of the cleaning robot; the method further includes:

[0106] Driving the rear end of the cleaning robot to deflect towards the heavily soiled area multiple times to control the cleaning robot to clean at least part of the heavily soiled area by the mop in a reverse traveling manner.

[0107] In this way, through multiple deflections and backward movements, the cleaning robot can adjust the cleaning path more flexibly, ensuring that heavily soiled areas are fully covered and processed. Moreover, the combined use of the sensor assembly and the AI module can help the cleaning robot identify heavily soiled areas that have not been cleaned, reducing cleaning omissions and ensuring that each area can meet the expected cleaning standards. In addition, the backward movement reduces unnecessary repeated cleaning. Therefore, through precise cleaning and path optimization, the cleaning effect on heavily soiled areas can also be improved, saving time and resources, and thus improving the overall cleaning efficiency.

[0108] In a second aspect, the present application provides a cleaning robot, which includes a mopping assembly and driving wheels. The mopping assembly includes a mop and a driving member for driving the mop to rotate. The mop is a roller mop or a tracked mop. Based on the forward direction of the cleaning robot's movement, the driving wheels are located in front of the mop; the cleaning robot is used to execute the method according to any one of the first aspect.

[0109] It should be noted that the technical solutions of the second aspect of the present application correspond to those of the first aspect of the present application. The beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar and will not be elaborated here.

[0110] In a third aspect, the present application provides a cleaning system, which includes the cleaning robot as described in the second aspect and a terminal device;

[0111] The terminal device establishes a communication connection with the cleaning robot and is used to receive and visually display the feedback information of the cleaning robot during the cleaning process.

[0112] In this way, the user can understand the status and working progress of the cleaning robot at any time without having to check the cleaning robot in person. This real-time monitoring improves the convenience of the user, and the visual feedback information and intuitive user interface enhance the user experience, making the operation of the cleaning robot simpler and more intuitive. For example, the user can timely understand that the cleaning robot is cleaning a heavily soiled area during backward movement, preventing the user from mistakenly thinking that the behavior of the cleaning robot is abnormal.

[0113] It should be noted that even if the user is not at home, the cleaning robot can be remotely controlled through the terminal device to arrange cleaning tasks or adjust cleaning strategies. This flexibility makes the cleaning process more efficient.

[0114] Optionally, the number of heavily soiled areas is at least one, and the terminal device is specifically used for:

[0115] Receiving and visually displaying the sequence of marking of at least one heavily soiled area by the cleaning robot during the cleaning process; or, the terminal device is further used to generate a cleaning sequence in response to a first operation of the user and visually display the cleaning sequence in the APP of the terminal device.

[0116] In this way, by marking and managing heavily soiled areas, users can better understand the heavily soiled areas that require special attention, take timely measures for deep cleaning or maintenance, ensure that the heavily soiled areas are effectively cleaned, thereby improving the overall cleaning efficiency and effect. In addition, the visual cleaning data and interactive APP interface increase user participation, enabling users to more actively manage cleaning tasks. Moreover, users can customize and adjust the cleaning order according to their personal needs and preferences. This customized control makes the cleaning process more flexible and personalized.

[0117] Optionally, the terminal device is further configured to:

[0118] Display the number of times options for repeatedly cleaning at least part of the heavily soiled areas;

[0119] In response to a second operation by the user on the number of times option, determine the upper limit of the number of times for repeated cleaning and visually display it in the APP of the terminal device.

[0120] In this way, allowing users to set the upper limit of the number of times for repeated cleaning provides greater flexibility and control, enabling users to adjust the cleaning strategy according to specific needs, significantly improving the cleaning effect by repeatedly cleaning the heavily soiled areas to ensure that stubborn dirt is effectively removed, and also avoiding repeated misjudgment of dirt, repeated cleaning, and returning to the cleaning base to wash the mop. Therefore, by providing detailed cleaning options and an intuitive interface, the user experience can be enhanced, and the user's satisfaction with the cleaning system can also be improved. In addition, users can automatically arrange multiple cleanings by setting once, reducing the need for manual intervention and saving time and effort.

[0121] Optionally, the terminal device is specifically configured to:

[0122] Receive the first prompt message sent by the cleaning robot and visually display the first prompt message to remind the user of the working status of the cleaning robot; the first prompt message is the feedback information generated by the cleaning robot when cleaning at least part of the heavily soiled areas.

[0123] In this way, users can understand the current working status of the cleaning robot by viewing the prompt message on the terminal device, obtain immediate feedback on the cleaning progress and effect, enabling users to more intuitively understand the status and needs of the cleaning robot, enhancing the user experience and satisfaction. And by receiving and displaying the first prompt message in a timely manner, users can quickly respond to any situation that requires intervention, such as when the cleaning robot encounters a heavily soiled area and needs to switch the cleaning mode, etc. Furthermore, by promptly handling the problems pointed out in the first prompt message, users can ensure that the cleaning robot operates in an ideal state, thereby improving the cleaning efficiency and effect.

[0124] Optionally, the terminal device is further configured to:

[0125] Receive a second prompt message sent by the cleaning robot and visually display the second prompt message to remind the user to switch the cleaning mode; the second prompt message is a feedback message generated when a heavily soiled area is detected;

[0126] In response to a third operation of the user, generate a fourth control instruction to control the cleaning robot to reverse and travel to clean at least part of the heavily soiled area with a mop.

[0127] In this way, through the visual second prompt message and the interactive control interface, the user can adjust the cleaning mode in a timely manner. Furthermore, the cleaning robot can handle the heavily soiled area more effectively, ensuring that the heavily soiled area is effectively cleaned. By allowing the user to determine the switching of the cleaning mode, it is also possible to prevent misjudgment of dirt and improve the emergency handling ability. In this way, not only is the user experience improved, making the cleaning process more intuitive and convenient, but also by specifically adjusting the cleaning mode, the cleaning system can more efficiently utilize power and cleaning resources, extending the working time of the cleaning robot. Due to the flexibility provided by the cleaning system, the user can dynamically adjust the cleaning mode according to different environments and dirt conditions, thereby improving the adaptability of the cleaning system.

[0128] Optionally, the terminal device is specifically configured to:

[0129] Receive and visually display a bounding box corresponding to the heavily soiled area identified by the cleaning robot during the cleaning process;

[0130] The terminal device is further configured to:

[0131] In response to a fourth operation of the user in the APP of the terminal device, display a third prompt message to remind the user to switch the cleaning mode;

[0132] In response to a fifth operation of the user, generate a fifth control instruction to control the cleaning robot to identify the heavily soiled area again, and receive and visually display a required cleaning box corresponding to the heavily soiled area identified again by the cleaning robot.

[0133] In this way, through the visual display of the marking frame, the user can initially understand the location of the heavily soiled areas, ensuring that these areas receive appropriate attention and cleaning. Further, by re-identifying the heavily soiled areas, the specific location and size of the heavily soiled areas can be calibrated to ensure that the cleaning robot precisely processes the heavily soiled areas in a suitable manner. By accurately identifying and processing the heavily soiled areas, the cleaning system can utilize resources more efficiently, improving the cleaning efficiency and effect. In addition, the user can also actively participate in the adjustment of the cleaning strategy through interactive operations according to actual needs, enhancing the control over the cleaning process. This visual marking frame and interactive prompting method enhance the user experience, making the cleaning process more intuitive and convenient.

[0134] In summary, the present application provides a cleaning method, a cleaning robot, and a cleaning system for a cleaning robot. When a heavily soiled area is detected, the cleaning robot does not continue to move forward but moves backward based on a preset cleaning path. This enables the mopping assembly to first come into contact with the heavily soiled area, thereby removing most of the dirt before the side brush and the roller brush come into contact. This backward movement ensures that the mop is always in front of the cleaning robot during the cleaning process, effectively covering and cleaning the heavily soiled area. Among them, during the backward movement, the rotation direction of the mop is opposite to the rotation direction of the drive wheels, increasing the relative friction between the mop and the cleaning surface, causing the mopping assembly to exert a greater frictional force on the heavily soiled area. In this way, when the mop passes through the heavily soiled area, it can more effectively wipe and remove stains instead of simply sliding over the stains, further enhancing the cleaning effect. And during the backward movement, the mop is adjusted to the first position so that its cleaning area can cover the walking area of the drive wheels. This adjustment ensures that during the backward movement, the cleaning area of the mop can cover and clean the walking area of the drive wheels, further reducing the risk of cross-contamination caused by the heavily soiled area, for example, reducing the contamination of the drive wheels and the roller brush assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0135] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0136] Figure 1 It is a partial structural schematic diagram of a cleaning robot provided by an embodiment of the present application;

[0137] Figure 2 It is a corresponding structural schematic diagram of a cleaning robot provided by an embodiment of the present application during backward movement;

[0138] Figure 3 It is a corresponding structural schematic diagram of a cleaning robot provided by an embodiment of the present application when cleaning along a wall;

[0139] Figure 4 Partial structural schematic diagram of a cleaning system provided by an embodiment of the present application;

[0140] Figure 5 Interface schematic diagram of a terminal device provided by an embodiment of the present application;

[0141] Figure 6 Interface switching schematic diagram of a terminal device provided by an embodiment of the present application;

[0142] Figure 7 Schematic diagram of an application scenario provided by an embodiment of the present application;

[0143] Figure 8 Flow schematic diagram of a cleaning method of a cleaning robot provided by an embodiment of the present application;

[0144] Figure 9 Route map of a preset cleaning path provided by an embodiment of the present application;

[0145] Figure 10 Another route map of a preset cleaning path provided by an embodiment of the present application;

[0146] Figure 11 Another route map of a preset cleaning path provided by an embodiment of the present application;

[0147] Figure 12 Structural schematic diagram of a cleaning device of a cleaning robot provided by an embodiment of the present application;

[0148] Figure 13 Structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0149] Through the above-mentioned drawings, the specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0150] For the convenience of clearly describing the technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. For example, the first device and the second device are only used to distinguish different devices, and do not limit their sequence. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0151] It should be noted that in this application, words such as "exemplary" or "for example" are used to give examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0152] In this application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of a single item or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0153] In the prior art, the cleaning robot moves by relying on driving wheels and cleans along a pre - planned path. During the movement, the rotation direction of the driving wheels is the same as that of the mopping assembly to enhance the cleaning effect.

[0154] However, when the cleaning robot encounters a heavily soiled area, if the driving wheels and the mopping assembly rotate in the same direction, the friction of the mop on the cleaning surface may not be sufficient to effectively remove stubborn stains, resulting in the mop sliding on the stains and affecting the cleaning effect.

[0155] In view of the above problems, the present application provides a cleaning method for a cleaning robot. When a heavily soiled area is detected, the cleaning robot does not continue to move forward, but moves backward based on a preset cleaning path. This enables the mop assembly to first come into contact with the heavily soiled area, thereby removing most of the dirt before the side brush and the roller brush come into contact. This backward movement ensures that the mop is always in front of the cleaning robot during the cleaning process, effectively covering and cleaning the heavily soiled area. During the backward movement, the rotation direction of the mop is opposite to the rotation direction of the drive wheels, increasing the relative friction between the mop and the cleaning surface, causing the mop assembly to exert a greater frictional force on the heavily soiled area. In this way, the mop can more effectively wipe and remove stains when passing through the heavily soiled area, rather than simply sliding over the stains, further improving the cleaning effect. During the backward movement, the mop is adjusted to the first position so that its cleaning area can cover the walking area of the drive wheels, that is, the area between the outer edges of the two drive wheels. This adjustment ensures that when moving backward, the cleaning area of the mop can cover and clean the walking area of the drive wheels, further reducing the risk of cross-contamination caused by the heavily soiled area, such as reducing the contamination of the drive wheels and the roller brush assembly.

[0156] Among them, the heavily soiled area can be an area where the degree of dirtiness is greater than the first threshold. The present application embodiment does not specifically limit the size of the first threshold, which can be set according to the actual application scenario requirements.

[0157] Optionally, the stains in the heavily soiled area include but are not limited to liquid dirt, solid-liquid mixed dirt, etc.; for example, the stains can be milk, soy sauce, coffee liquid, urine, and solid-liquid dirt that is a mixture of these liquid dirt and particles.

[0158] It should be noted that the cleaning method of the cleaning robot provided by the present application is applied to the cleaning robot. Exemplarily, Figure 1 is a partial structural schematic diagram of a cleaning robot provided by an embodiment of the present application. As Figure 1 shown, the cleaning robot 100 includes a mop assembly 102 and drive wheels 101. The mop assembly 102 includes a mop 11 and a driving member 12 for driving the mop 11 to rotate. The mop 11 is a roller mop or a track mop. Based on the forward direction of the cleaning robot 100, the drive wheels 101 are located in front of the mop 11.

[0159] Among them, the roller mop wipes the cleaning surface through rotational motion, and the track mop cleans the cleaning surface through continuous cyclic motion. The track mop can provide a larger contact area, which is particularly suitable for dealing with stubborn dirt.

[0160] Optionally, Figure 2 is a structural schematic diagram corresponding to a cleaning robot during backward movement provided by an embodiment of the present application. AsFigure 2 As shown, the cleaning robot further includes a rotary brush assembly 103 and a rotary brush cavity (not shown in the figure). A dust suction port 104 is provided on one side of the rotary brush cavity facing the cleaning surface. The rotary brush cavity is used to accommodate the rotary brush assembly 103. In Figure 2 FIG. [3], the mopping cloth 11 is in the first position. At this time, the cleaning area of the mopping cloth 11 covers the walking area of the driving wheel 101.

[0161] It should also be noted that when the mopping cloth 11 is in the first position, the area covered by the mopping cloth 11 can cover up to the outermost edge of the driving wheel 101. Optionally, the area covered by the mopping cloth 11 can also be larger than the travel track or the covered area of the driving wheel 101. For example, Figure 2 as shown, the dotted line length in the mopping cloth 11 is greater than the dotted line length from the leftmost end to the rightmost end of the driving wheel 101.

[0162] Optionally, as Figure 3 shown, the mopping cloth also has a fourth position. At the fourth position, at least part of the mopping cloth 11 is located outside the body of the cleaning robot 100, and the area covered by the mopping cloth 11 during the cleaning process covers the area covered by the dust suction port 104 during the cleaning process. For example, Figure 3 as shown, at the fourth position, the mopping cloth expands outward, and the length of the mopping cloth to the left of the dotted line represents the length of the outward expansion of the mopping cloth.

[0163] Optionally, the cleaning robot further includes a side brush assembly (not shown in the figure).

[0164] Optionally, the cleaning robot 100 further includes: a sensor assembly and / or an artificial intelligence (AI) camera module. The sensor assembly and / or the AI camera module are provided at the rear end of the body of the cleaning robot 100.

[0165] The sensor assembly is used to detect environmental information, including obstacles, cleaning surface type, dirt degree, etc. The sensor assembly may include an infrared sensor, an ultrasonic sensor, a lidar, etc. The embodiments of the present application do not make specific limitations on the type of the sensor assembly.

[0166] The AI camera module captures environmental images through a camera and performs image processing and analysis using artificial intelligence algorithms, and can be used to identify cleaning surface dirt, obstacles, and other environmental features that need attention.

[0167] By integrating the sensor assembly and / or the AI camera module at the rear end, the cleaning robot 100 can more intelligently sense the working environment at the rear end, thereby providing a more efficient and thorough cleaning service.

[0168] Exemplarily, Figure 4 is a partial structural schematic diagram of a cleaning system provided by an embodiment of the present application. As Figure 4As shown, the cleaning system 300 includes a cleaning robot and a terminal device 200 as Figures 1-3 shown;

[0169] The terminal device 200 establishes a communication connection with the cleaning robot 100, and is used to receive and visually display the feedback information of the cleaning robot 100 during the cleaning process.

[0170] The cleaning robot 100 and the terminal device 200 can establish a communication connection through wireless communication technologies such as Wireless Fidelity (Wi-Fi), Bluetooth, or Zigbee. This communication connection enables the two to exchange information in real time. That is, after the communication connection is established, the terminal device 200 can receive data sent from the cleaning robot 100 at any time.

[0171] Exemplarily, during the cleaning process, the cleaning robot 100 collects various feedback information, including the cleaning path, the cleaned area, encountered obstacles, heavily soiled areas, etc., and then transmits it to the terminal device 200 in real time through wireless communication. After receiving the feedback information of the cleaning robot 100, the terminal device 200 visualizes and displays this data to the user through an application or interface. The user can view the current position, cleaning progress, path planning of the cleaning robot 100, and any issues that need attention on the terminal device 200, such as discovering heavily soiled areas or obstacle blockages.

[0172] Optionally, the user can also remotely control the cleaning robot 100 through the terminal device 200, such as starting or pausing the cleaning task, adjusting the cleaning mode or path, etc. The embodiments of the present application do not specifically limit the operations performed by the user to control the cleaning robot 100 based on the terminal device 200, and it can be determined based on the application scenario requirements at that time.

[0173] In this way, the user can understand the status and working progress of the cleaning robot 100 at any time without having to check the cleaning robot 100 in person. This real-time monitoring improves the convenience of the user, and the visual feedback information and intuitive user interface enhance the user experience, making the operation of the cleaning robot simpler and more intuitive. For example, the user can timely understand that the cleaning robot 100 is cleaning a heavily soiled area while moving backward, preventing the user from misinterpreting the abnormal behavior of the cleaning robot.

[0174] It should be noted that even if the user is not at home, the cleaning robot 100 can be remotely controlled through the terminal device 200 to arrange cleaning tasks or adjust cleaning strategies. This flexibility makes the cleaning process more efficient.

[0175] Optionally, the number of heavily soiled areas is at least one, and the terminal device 200 is specifically used for:

[0176] Receive and visually display the order in which the cleaning robot 100 marks at least one heavily soiled area during the cleaning process; alternatively, the terminal device 200 is further configured to generate a cleaning order in response to a first operation by the user and visually display the cleaning order in an application (APP) of the terminal device 200.

[0177] Exemplarily, during the cleaning process, the cleaning robot 100 can detect heavily soiled areas on the cleaning surface. Once a heavily soiled area is detected, the cleaning robot 100 marks these areas and records their positions and the order of cleaning. Further, the cleaning robot 100 transmits the information of the marked heavily soiled areas, including their quantity and cleaning order, to the terminal device 200. The terminal device 200 visually displays this information to the user through an application (APP) so that the user can see the positions of each heavily soiled area and the order of cleaning.

[0178] Optionally, the user can view the working progress of the cleaning robot through the terminal device 200 and adjust the cleaning order of the heavily soiled areas as needed. For example, the terminal device 200 allows the user to generate or modify the cleaning order through a first operation such as dragging and dropping, clicking, etc. That is, the user can prioritize the cleaning of certain heavily soiled areas, generate a cleaning order through the APP and visually display it in the APP so that the user can intuitively see the new cleaning plan.

[0179] Further, the terminal device 200 can send the cleaning order set by the user back to the cleaning robot 100. The cleaning robot 100 performs the cleaning task according to the new cleaning order. After the cleaning is completed, the cleaning robot 100 transmits the feedback information back to the terminal device 200, and the user can view the cleaning results and efficiency.

[0180] In this way, by marking and managing the heavily soiled areas, the user can better understand the heavily soiled areas that need special attention, take timely measures for deep cleaning or maintenance, ensure that the heavily soiled areas are effectively cleaned, thereby improving the overall cleaning efficiency and effect. In addition, the visual cleaning data and the interactive APP interface improve the user's participation, enabling the user to more actively manage the cleaning tasks. Moreover, the user can customize and adjust the cleaning order according to personal needs and preferences. This customized control makes the cleaning process more flexible and personalized.

[0181] Optionally, the terminal device 200 is further configured to:

[0182] Display the number of times options for repeatedly cleaning at least some of the heavily soiled areas;

[0183] In response to a second operation by the user on the number of times option, determine the upper limit of the number of times for repeated cleaning and visually display it in the APP of the terminal device 200.

[0184] In the APP of the terminal device 200, the user can see multiple repeat cleaning times options for at least some of the heavily soiled areas. These times options can be presented in the form of a list, option buttons, or custom input, facilitating the user to easily select. Exemplarily, Figure 5 FIG. is a schematic diagram of an interface of a terminal device provided by an embodiment of the present application. As Figure 5 shown, the APP includes a setting for the upper limit of the number of times of stain cleaning. The user can select or adjust the upper limit of the number of times of repeated cleaning of the heavily soiled area through a second operation such as clicking or inputting. Furthermore, the terminal device 200 determines the upper limit of the number of times of repeated cleaning according to the user's selection, and the set upper limit of the number of times of repeated cleaning is visually displayed in the APP, so that the user can intuitively see the cleaning plan for each heavily soiled area, including the planned number of repetitions. This visualization helps the user better understand and manage the cleaning tasks.

[0185] Optionally, the cleaning robot 100 can also execute tasks according to the set cleaning plan and feedback the results to the terminal device 200 after completion. Furthermore, the user can view the cleaning progress and results in the APP to ensure that the cleaning tasks are completed as expected.

[0186] In this way, allowing the user to set the upper limit of the number of times of repeated cleaning provides greater flexibility and control, enabling the user to adjust the cleaning strategy according to specific needs, significantly improving the cleaning effect by performing multiple repeated cleanings on heavily soiled areas, ensuring that stubborn dirt is effectively removed, and also avoiding repeated misjudgments of dirt, repeated cleaning, and returning to the cleaning base to wash the mop. Therefore, by providing detailed cleaning options and an intuitive interface, the user experience can be improved, and the user's satisfaction with the cleaning system 300 also increases. In addition, the user can also automatically arrange multiple cleanings by setting once, reducing the need for manual intervention and saving time and effort.

[0187] Optionally, the terminal device 200 is specifically configured to:

[0188] Receive the first prompt message sent by the cleaning robot and visually display the first prompt message to remind the user of the working status of the cleaning robot; the first prompt message is a feedback message generated by the cleaning robot when cleaning at least some of the heavily soiled areas.

[0189] Exemplarily, during the cleaning process, especially when dealing with heavily soiled areas, the cleaning robot 100 can generate the first prompt message, which may include the current cleaning progress, encountered obstacles, cleaning effect evaluation, device status, etc., to remind the user that a heavily soiled area has been encountered.

[0190] Further, the cleaning robot 100 transmits the first prompt message to the terminal device 200 through wireless communication technology. After receiving the first prompt message, the terminal device 200 visually displays the first prompt message to the user through its APP. The visual display method can be in the form of a notification, a pop-up window, or a dashboard, ensuring that the user can intuitively understand the content of the message. The embodiments of the present application do not specifically limit the visual display method.

[0191] In this way, the user can understand the current working status of the cleaning robot 100 by viewing the prompt message on the terminal device 200, obtain immediate feedback on the cleaning progress and effect, enabling the user to more intuitively understand the status and requirements of the cleaning robot 100, enhancing the user experience and satisfaction. And by receiving and displaying the first prompt message in a timely manner, the user can quickly respond to any situation that requires intervention, such as when the cleaning robot encounters a heavily soiled area and needs to switch the cleaning mode, etc. Furthermore, by promptly handling the problems pointed out in the first prompt message, the user can ensure that the cleaning robot 100 operates in an ideal state, thereby improving the cleaning efficiency and effect.

[0192] Optionally, the terminal device 200 is further configured to:

[0193] Receive the second prompt message sent by the cleaning robot and visually display the second prompt message to remind the user to switch the cleaning mode; the second prompt message is a feedback message generated when a heavily soiled area is detected;

[0194] In response to the user's third operation, generate a fourth control instruction to control the cleaning robot to reverse and clean at least part of the heavily soiled area with a mop.

[0195] In the embodiments of the present application, when the cleaning robot detects a heavily soiled area during the cleaning process, a second prompt message can also be generated. The second prompt message can include the location, area of the heavily soiled area, and the recommended cleaning mode, such as the mode that needs to be switched or repeated cleaning multiple times. For example, it can display Figure 6 the prompt message shown in B in: "There is a heavily soiled area in this cleaning. The robot did not clean this heavily soiled area. Do you want to switch the cleaning mode to clean this heavily soiled area?" The embodiments of the present application do not specifically limit the content of the second prompt message. The second prompt message is mainly used to remind the user that the cleaning mode may need to be adjusted.

[0196] Exemplarily, the cleaning robot 100 transmits the second prompt information to the terminal device 200 through wireless communication technology. After receiving the second prompt information, the terminal device 200 visually displays the second prompt information to the user through the APP. The form of this visual display can be in the form of a notification, a pop-up window, or a map marker, helping the user intuitively understand the situation of the heavily soiled area and the recommended cleaning mode. Further, by viewing the second prompt information on the terminal device 200, the user understands the situation of the heavily soiled area and decides whether to switch the cleaning mode.

[0197] Optionally, the user can confirm or adjust the cleaning mode through a third operation in the APP, such as clicking, swiping, or selecting. Then, the terminal device 200 generates a fourth control instruction according to the user's third operation, instructing the cleaning robot 100 to reverse and travel to clean at least part of the heavily soiled area through the mop. After receiving the fourth control instruction, the cleaning robot 100 adjusts its cleaning mode and path to more effectively clean the heavily soiled area in a reverse traveling manner. After the cleaning is completed, the cleaning robot 100 can also feedback the result to the terminal device 200 so that the user can view the cleaning effect; wherein, during the traveling process, the rotation direction of the driving wheel is opposite to the rotation direction of the mop.

[0198] In this way, through the visual second prompt information and the interactive control interface, the user can adjust the cleaning mode in a timely manner. Then, the cleaning robot 100 can more effectively handle the heavily soiled area, ensuring that the heavily soiled area is effectively cleared. By the user determining the switching of the cleaning mode, it can also prevent misjudgment of dirt and improve the emergency handling ability. In this way, not only the user experience is improved, making the cleaning process more intuitive and convenient, but also through targeted adjustment of the cleaning mode, the cleaning system 300 can more efficiently utilize electric power and cleaning resources, extending the working time of the cleaning robot 100. Due to the flexibility provided by the cleaning system 300, the user can dynamically adjust the cleaning mode according to different environments and dirt conditions, thereby improving the adaptability of the cleaning system 300.

[0199] Optionally, the terminal device 200 is specifically used for:

[0200] Receiving and visually displaying the marking frame corresponding to the heavily soiled area identified by the cleaning robot 100 during the cleaning process;

[0201] The terminal device 200 is further used for:

[0202] Responding to a fourth operation of the user in the APP of the terminal device 200, displaying a third prompt information to remind the user to switch the cleaning mode;

[0203] In response to the user's fifth operation, a fifth control instruction is generated to control the cleaning robot to identify the heavily soiled area again, and the required cleaning frame corresponding to the heavily soiled area identified again by the cleaning robot is received and visually displayed.

[0204] In the embodiments of the present application, after the cleaning robot 100 identifies a heavily soiled area during the cleaning process, it can perform edge cleaning and transmit the edge cleaning path to the terminal device 200 and / or the cloud. Optionally, the cleaning robot can generate a marking frame based on the edge cleaning path, and / or the cloud generates a marking frame based on the edge cleaning path, and / or the terminal device 200 generates a marking frame based on the edge cleaning path. The marking frame is used to preliminarily represent the position and size of the heavily soiled area.

[0205] Among them, the cleaning robot 100 or the cloud transmits the information of these marking frames to the terminal device 200.

[0206] The terminal device visually displays the received marking frame information to the user through the APP, so that the user can see these marking frames on the map or interface of the APP and understand the specific position and scope of the heavily soiled area. Exemplarily, Figure 6 is a schematic diagram of the interface switching of a terminal device provided in the embodiments of the present application. As Figure 6 shown in A, the terminal device 200 receives and visually displays the marking frame 1 corresponding to the heavily soiled area identified by the cleaning robot 100 during the cleaning process.

[0207] Further, the user can perform a fourth operation in the APP, such as clicking on the marking frame or clicking on an icon, to pop up the third prompt message shown in Figure 6 B, to remind the user whether to switch the cleaning mode to more effectively process these areas. Further, the user can perform a fifth operation such as clicking to confirm to instruct the cleaning robot to identify the heavily soiled area again. Then, the terminal device 200 generates a fifth control instruction to instruct the cleaning robot 100 to re-scan and identify at least part of the heavily soiled area. After the cleaning robot 100 executes the fifth control instruction, it transmits the information of the heavily soiled area identified again to the terminal device 200 and updates the visually displayed required cleaning frame 2. As Figure 6 shown in C, the required cleaning frame 2 is a display frame obtained by correcting the marking frame 1.

[0208] Optionally, the fifth control instruction is also used to instruct the cleaning of the heavily soiled area in the required cleaning frame 2. Or, after the terminal device 200 receives and visually displays the required cleaning frame 2 corresponding to the heavily soiled area identified again by the cleaning robot 100, the terminal device 200 can also generate a sixth control instruction to instruct the cleaning of the heavily soiled area in the required cleaning frame 2.

[0209] It should be noted that the generation method of the required cleaning frame 2 is similar to that of the marking frame 1. For details, please refer to the description of the marking frame 1 and will not be elaborated here.

[0210] Optionally, after the terminal device 200 receives and visually displays the required cleaning frame 2 corresponding to the heavily soiled area re-identified by the cleaning robot 100, a third prompt message can be displayed again to remind the user to confirm whether to switch the cleaning mode.

[0211] In this way, through the visual display of the marking frame, the user can initially understand the location of the heavily soiled areas, ensuring that these areas receive appropriate attention and cleaning. Further, by re-identifying the heavily soiled areas, the specific location and size of the heavily soiled areas can be calibrated to ensure that the cleaning robot 100 precisely processes the heavily soiled areas in a suitable manner. By accurately identifying and processing the heavily soiled areas, the cleaning system 300 can utilize resources more efficiently, improving the cleaning efficiency and effect. In addition, the user can also actively participate in the adjustment of the cleaning strategy through interactive operations according to actual needs, improving the control over the cleaning process. This visual marking frame and interactive prompt method enhance the user experience, making the cleaning process more intuitive and convenient.

[0212] It should be noted that the embodiments of the present application do not limit the specific user operation methods corresponding to the first operation, second operation, third operation, fourth operation, and fifth operation described in the above embodiments. It can be touch operations such as clicking, double-clicking, and long-pressing, or voice operations.

[0213] Among them, the terminal device can also be referred to as a user equipment (UE), mobile station (MS), mobile terminal, terminal, smart terminal, etc. In practical applications, the terminal device is, for example: desktop computer, notebook, personal digital assistant (PDA), smart phone, tablet computer, in-vehicle device, wearable device (such as smart watch, smart bracelet), smart home device (such as smart display device), etc. The embodiments of the present application do not specifically limit the type of the terminal device.

[0214] The types of cleaning robots can include floor-sweeping robots, sweeping and mopping robots, etc. The embodiments of the present application do not specifically limit the type of the cleaning robot.

[0215] Exemplarily, Figure 7 is a schematic diagram of an application scenario provided by the embodiments of the present application, as Figure 7As shown, the cleaning method of the cleaning robot provided in the present application can be applied in a household scenario, and the application scenario includes a cleaning robot 100 and a terminal device 200.

[0216] During the process of the cleaning robot 100 cleaning the cleaning surface of the living room, a heavily contaminated area is detected. At this time, the cleaning robot 100 can be controlled to move backward based on a preset cleaning path to clean the heavily contaminated area with a mop, wherein, during the backward cleaning process, the mop is located at the first position, and the rotation direction of the driving wheel of the cleaning robot 100 is opposite to the rotation direction of the mop. In this way, since the mop can cover the path of the driving wheel when moving backward, the cleaning robot can effectively clean the heavily contaminated area in one pass, reducing the need for repeated cleaning and improving the overall cleaning efficiency. In addition, the relative movement direction of the mop and the cleaning surface is changed by moving backward, and the friction is increased, thereby improving the ability to remove stubborn stains. Furthermore, moving backward can also allow the mop to be cleaned first. Before the side brush and the roller brush contact the heavily contaminated area, most of the dirt has been removed, thereby reducing the possibility of contamination. In this way, the backward method combined with the appropriate rotation direction reduces the sliding of the mop on the stains and improves the cleaning effect.

[0217] Optionally, after the cleaning robot 100 detects the presence of a heavily contaminated area, the detected information can be sent to the user's terminal device 200 for visual display to prompt the user to switch modes for the heavily contaminated area and select a suitable cleaning mode to clean the heavily contaminated area. Alternatively, when the cleaning robot 100 is cleaning the heavily contaminated area, the cleaning status at this time can be sent to the user's terminal device 200 for visual display to remind the user of the status of the cleaning robot 100 at this time and prevent the user from mistakenly believing that the action of the cleaning robot 100 is abnormal.

[0218] Optionally, the terminal device 200 can also generate control instructions in response to user operations to control the cleaning robot to perform corresponding operations. The embodiment of the present application does not specifically limit the content visually displayed on the terminal device 200 and the control instructions sent by the terminal device 200, which can be set based on the actual application scenario requirements.

[0219] It should be noted that the present application can also be applied to shopping mall scenarios, school scenarios, and office scenarios. The embodiments of the present application do not limit the specific application scenarios, and the above are only examples.

[0220] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0221] Exemplarily, Figure 8 is a schematic flowchart of a cleaning method for a cleaning robot provided by an embodiment of the present application. The cleaning method of the cleaning robot is applied to Figure 1 the cleaning robot shown as Figure 8 shown. The cleaning method of the cleaning robot includes the following steps:

[0222] S801. During the process of cleaning the area to be cleaned in front of the cleaning robot, when a heavily soiled area is detected, control the cleaning robot to travel at least partially in a reverse manner along a preset cleaning path to clean at least part of the heavily soiled area through a mopping cloth; wherein, during the reverse travel, the rotation direction of the drive wheels is opposite to the rotation direction of the mopping cloth.

[0223] In an embodiment of the present application, during the forward movement of the cleaning robot, sensors provided at the front end are used to detect the heavily soiled area on the cleaning surface. When a heavily soiled area is detected, the cleaning robot switches to the reverse travel mode, which means that the cleaning robot will move in the reverse direction along the preset cleaning path. In the embodiment of the present application, the type and quantity of the sensors provided at the front end are not specifically limited. It can refer to the existing sensor designs or re-layout the type and quantity of new sensors.

[0224] In this step, when the cleaning robot detects a heavily soiled area, it can immediately control the cleaning robot to travel at least partially in a reverse manner along the preset cleaning path to clean the heavily soiled area, as Figure 2 shown. During the reverse travel, the mopping cloth 11 is located in front of the cleaning robot 100, so as to come into contact with the heavily soiled area first. And during the reverse travel, the rotation direction of the drive wheels 101 is opposite to that of the mopping cloth 11. This setting helps to enhance the frictional force and shear force between the mopping cloth and the cleaning surface, that is, the reverse rotation makes the mopping cloth generate a greater "pulling and rubbing force" when contacting the cleaning surface. This is a shear effect, which can effectively peel off and remove stubborn stains.

[0225] It should be noted that this reverse rotation setting can ensure that the mopping cloth can effectively exert a cleaning force during the reverse travel, especially when dealing with adhesive stains. Because the reverse rotation increases the number of times the mopping cloth contacts the cleaning surface per unit time, and then increases the relative movement between the mopping cloth and the cleaning surface, so that the mopping cloth can contact the heavily soiled area more frequently, apply sufficient frictional force to remove the stains, and thus improve the cleaning effect. Optionally, when the cleaning robot detects a heavily soiled area, it can also first control the cleaning robot to return to the cleaning base station to clean the mopping cloth, and then control the cleaning robot to return to the heavily soiled area and travel at least partially in a reverse manner along the preset cleaning path to clean at least part of the heavily soiled area.

[0226] It should be noted that the preset cleaning path is a path preset in advance for cleaning heavily soiled areas. Optionally, there are various optional ways for the preset cleaning path, such as a zigzag cleaning path, a custom cleaning path, a zigzag cleaning path after edge cleaning, etc. The embodiments of the present application do not limit the specific path corresponding to the preset cleaning path, and it can be determined or adaptively adjusted based on the requirements of the actual application scenario.

[0227] Optionally, when the cleaning robot detects the existence of a heavily soiled area, it can immediately clean the heavily soiled area based on paths such as a zigzag cleaning path, a grid cleaning path, a square cleaning path, etc. The embodiments of the present application do not specifically limit the path for the cleaning robot to clean the heavily soiled area.

[0228] It can be understood that during the process of cleaning the heavily soiled area by moving backward, part of the heavily soiled area can be cleaned, then return to the cleaning base station to wash the mop and then return to clean the remaining part of the heavily soiled area, or only clean the corresponding part of the heavily soiled area on the original cleaning path according to the original cleaning path, and then when passing through the heavily soiled area again based on the original cleaning path next time, clean the remaining part of the heavily soiled area. Therefore, the preset cleaning path for cleaning the heavily soiled area is not unique.

[0229] S8011. During the process of controlling the cleaning robot to move at least partially backward based on the preset cleaning path to clean at least part of the heavily soiled area through the mop, adjust the mop to the first position so that the cleaning area of the mop covers the walking area of the driving wheel.

[0230] In this step, during the backward movement, the cleaning robot will adjust the position of the mop to the first position. This adjustment of the first position is to ensure that the cleaning area of the mop can cover the walking area of the driving wheel. By adjusting the position of the mop, the cleaning area of the mop can completely cover the walking path of the driving wheel, which means that not only can it prevent the heavily soiled area from polluting the driving wheel, reducing the pollution risk caused by the heavily soiled area, but also it can remove any residual dirt that the driving wheel may bring.

[0231] Optionally, the mop may be adjusted in position by mechanical structures such as sliding rails or hinges, etc. The embodiments of the present application do not specifically limit the adjustment method.

[0232] In this way, when encountering a heavily soiled area, by controlling the cleaning robot to move backward, the mop contacts the heavily soiled area first, thereby reducing the risk of contamination of the drive wheels, side brushes, bottom of the roller brush chamber, and roller brush. The rotation directions of the drive wheels and the mop are controlled to rotate in the reverse direction during backward movement to increase the relative movement between the mop and the cleaning surface, thereby enhancing the frictional force. This enhanced frictional force helps to more effectively remove stubborn stains, and the reverse rotation can also reduce the sliding of the mop on the stains, enabling the mop to more stably contact the cleaning surface and perform cleaning. Because the inventor found that for the same position, by the reverse rotation of the drive wheels and the mop during backward movement, the number of contacts between the mop and the heavily soiled area per unit time can be increased, thereby increasing the relative movement between the mop and the cleaning surface. Due to the increase in the relative movement between the mop and the cleaning surface, the mop can exert a greater "pulling friction force" or shear force, which can effectively peel off and remove adhesive stains such as oil stains, shoe prints, and water stains. Therefore, the inventor sets the rotation directions of the drive wheels and the mop to be opposite, enabling the cleaning robot to more effectively handle heavily soiled areas, especially oil stains, shoe prints, water stains, liquid dirt, etc. in the heavily soiled areas, thereby improving the overall cleaning efficiency and effect and meeting the user's demand for efficient cleaning.

[0233] It should be noted that compared with the same rotation direction of the drive wheels and the mop during the cleaning process, in this application, the mop and the drive wheels are controlled to rotate in opposite directions, increasing the number of contacts between the mop and the cleaning surface per unit time. This increased contact frequency enables the mop to act on the same position more frequently, thereby improving the cleaning efficiency. Moreover, the relative movement generated by the reverse rotation forms a "pulling friction force" between the mop and the cleaning surface, which is a type of frictional force and can also be understood as a shear force. This force can effectively act on adhesive stains such as oil stains, shoe prints, and water stains. Further, through the shearing action, it helps to peel and decompose these stubborn stains, making them easier to be carried away by the mop. This shearing action changes the adhesion state of the stains, reduces their adhesion force, and makes the stains easier to be removed.

[0234] In addition, during the process of controlling the cleaning robot to move backward based on a preset cleaning path to clean at least part of the heavily soiled area with the mop, the mop is adjusted to the first position to ensure that the cleaning area of the mop covers the walking area of the drive wheels, that is, the mop contacts the heavily soiled area first, and the drive wheels and the roller brush assembly contact the heavily soiled area later. This can not only avoid the contamination of the drive wheels and the roller brush assembly by the heavily soiled area but also effectively remove any residual dirt that the drive wheels may bring, reducing the cross-contamination that may be caused by the rolling of the wheels and ensuring the cleanliness of the cleaning area. Therefore, by precisely adjusting the mop to the first position, the cleaning robot can more effectively handle the heavily soiled areas and ensure that these areas are effectively cleaned.

[0235] It should also be noted that during the process of cleaning the area to be cleaned before cleaning the cleaning robot, if the mopping cloth is already in the first position, then when cleaning the heavily soiled area in a reverse manner, the mopping cloth does not need to be adjusted, that is, it continues to remain in the first position, thereby reducing unnecessary movement and adjustment time. If the mopping cloth is not in the first position, for example, in the fourth position where it expands outwards, the cleaning robot can activate the adjustment mechanism and adjust the mopping cloth to the first position when cleaning the heavily soiled area in a reverse manner to ensure an ideal cleaning effect during reverse cleaning.

[0236] Optionally, when it is detected that there is a heavily soiled area, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mopping cloth includes:

[0237] When it is detected that there is a heavily soiled area, controlling the cleaning robot to perform edge cleaning on the heavily soiled area, and after the edge cleaning is completed, controlling the cleaning robot to clean the remaining heavily soiled area inside after the edge cleaning through the mopping cloth in a reverse traveling manner.

[0238] In this step, when a heavily soiled area is detected, the cleaning robot first performs edge cleaning, which means that the cleaning robot cleans along the edge of the heavily soiled area to ensure that the dirt on the edge part is effectively removed. After the edge cleaning is completed, the cleaning robot switches to the reverse traveling mode to clean the remaining part inside the heavily soiled area with the mopping cloth.

[0239] Among them, the edge cleaning can include edge cleaning in a forward traveling manner before, or edge cleaning in a reverse traveling manner. The embodiments of the present application do not make specific limitations on this.

[0240] Exemplarily, Figure 9 is a roadmap of a preset cleaning path provided by an embodiment of the present application. As Figure 9 shown, the cleaning robot 100 cleans the area to be cleaned according to the bow-shaped cleaning path. After detecting a heavily soiled area, the cleaning robot 100 performs edge cleaning along the periphery of the heavily soiled area. After the edge cleaning is completed, the cleaning robot 100 is controlled to clean the remaining heavily soiled area inside after the edge cleaning through the mopping cloth in a reverse traveling manner. Further, after cleaning the heavily soiled area is completed, continue to clean the remaining area in the area to be cleaned according to the original bow-shaped cleaning path.

[0241] Optionally, during the process of the cleaning robot 100 cleaning the remaining heavily soiled area inside after the edge cleaning through the mopping cloth in a reverse traveling manner, it can be according to the bow-shaped cleaning path or the well-shaped cleaning path. The embodiments of the present application do not make specific limitations on the cleaning path of the cleaning robot in the heavily soiled area.

[0242] Optionally, after cleaning the heavily soiled area once according to a preset cleaning path, the cleaning robot can be controlled to return to the cleaning base station to wash the mop, and then the cleaning robot can be controlled to return to the heavily soiled area for re-cleaning. The above process can be repeated multiple times until the soiled area is cleaned up. Alternatively, after the cleaning robot returns to the cleaning base station to wash the mop, the cleaning robot can be controlled to clean other remaining areas in the area to be cleaned. After the cleaning is completed, it returns to the heavily soiled area for re-cleaning again. The embodiments of the present application do not specifically limit the number of times and the timing of cleaning the heavily soiled area.

[0243] In this way, through edge cleaning, the cleaning robot can effectively remove the dirt on the edge of the heavily soiled area, and the backward movement ensures the thorough cleaning of the heavily soiled area inside, achieving comprehensive coverage of the cleaning. Therefore, through the combination of edge cleaning and backward movement, the omissions that may occur during the cleaning process are reduced, ensuring that every part of the heavily soiled area is cleaned. This strategy not only optimizes the cleaning path, reduces the need for repeated cleaning, improves the cleaning efficiency, but also can further reduce the repeated actions, reduce the energy consumption of the cleaning robot, and extend the service life.

[0244] Optionally, controlling the cleaning robot to perform edge cleaning on the heavily soiled area includes:

[0245] Controlling the cleaning robot to perform edge cleaning on the first area, the first area has a preset shape and the first area at least includes the heavily soiled area;

[0246] Or, controlling the cleaning robot to perform edge cleaning at a position with a preset distance from the edge of the heavily soiled area.

[0247] In the embodiments of the present application, the cleaning robot is controlled to perform edge cleaning according to a preset shape. The first area formed by the preset shape at least includes the heavily soiled area. The preset shape can be a rectangle, a circle or other geometric shapes. The cleaning robot moves along the edge of this preset shape to ensure that the dirt on the edge is effectively removed. For example, the preset shape is Figure 9 the rectangle shown.

[0248] Optionally, the cleaning robot can also perform edge cleaning at a position with a preset distance from the edge of the heavily soiled area. This method allows the robot to remove the surrounding dirt without directly contacting the edge of the heavily soiled area. The preset distance can be accurately measured by a sensor, or a fixed distance can be preset in advance. For example, the fixed distance is 1 cm from the edge of the heavily soiled area. The embodiments of the present application do not specifically limit the size of the preset distance.

[0249] Therefore, by providing two edge cleaning strategies, the cleaning robot can adapt to different shapes and sizes of heavily soiled areas, improving the flexibility of the application. In addition, edge cleaning can ensure that the dirt in the edge area is effectively removed, reducing possible omissions during the cleaning process. It can also effectively prevent the spread of dirt from the heavily soiled area to other areas, maintaining the cleanliness of the overall environment. In this way, through precise edge cleaning, the cleaning robot can more thoroughly handle the heavily soiled area, ensuring the comprehensiveness of the cleaning effect.

[0250] Optionally, when a heavily soiled area is detected, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area includes:

[0251] When a heavily soiled area is detected, controlling the cleaning robot to continue traveling along the original cleaning path. Before the cleaning robot passes through at least part of the heavily soiled area, controlling the cleaning robot to rotate its direction and clean at least part of the heavily soiled area in a reverse traveling manner through the mopping cloth.

[0252] Exemplarily, Figure 10 FIG. is a roadmap of another preset cleaning path provided by an embodiment of the present application. As Figure 10 shown, the cleaning robot 100 cleans the area to be cleaned according to the bow-shaped cleaning path. After detecting the heavily soiled area, the cleaning robot 100 continues to clean part of the heavily soiled area in area 1 according to the bow-shaped cleaning path. Just before entering the heavily soiled area, the cleaning robot 100 adjusts its direction and prepares to enter the heavily soiled area in a reverse manner. This rotational adjustment ensures that the mopping cloth 11 can first contact the heavily soiled area when traveling in reverse. After cleaning area 1, the cleaning robot adjusts its direction again to continue cleaning the remaining uncleaned area in the area to be cleaned according to the bow-shaped cleaning path based on the forward traveling manner. After encountering part of the heavily soiled area in area 2, the cleaning robot 100 is again controlled to adjust its direction and clean part of the heavily soiled area in area 2 in a reverse traveling manner through the mopping cloth 11. The above process is repeated until the cleaning of the area to be cleaned is completed.

[0253] It can be understood that the cleaning process of part of the heavily soiled area in area 3 is similar to that in area 1 and area 2, and will not be described in detail here.

[0254] In this way, when cleaning the heavily soiled area, by controlling the rotation direction of the cleaning robot and moving backward, cross - contamination caused by wheels or other components during forward movement can be reduced. Moreover, the heavily soiled area is cleaned along the original cleaning path, which does not affect the overall path planning, reduces the complexity of path planning, lowers energy consumption, simplifies the operation process, eliminates the need for additional settings or adjustments, and enhances the user experience. Additionally, by using the original cleaning path, the cleaning robot does not need to recalculate and plan a new path, thus saving time and computing resources, improving cleaning efficiency. Also, following the original path can ensure that the cleaning parts cover all areas that need to be cleaned, avoiding omission or repeated cleaning, and maintaining the consistency and comprehensiveness of cleaning.

[0255] Optionally, when it is detected that there is a heavily soiled area, controlling the cleaning robot to move at least partially backward along a preset cleaning path to clean at least part of the heavily soiled area through a mopping cloth, includes:

[0256] When it is detected that there is a heavily soiled area, controlling the cleaning robot to clean the entire heavily soiled area through a mopping cloth in an alternating manner of backward movement and forward movement.

[0257] In this step, after detecting the heavily soiled area, the cleaning robot first enters the heavily soiled area in a backward manner. The backward movement enables the mopping cloth to come into contact with the dirt first, providing preliminary in - depth cleaning. After completing the backward movement, the cleaning robot switches to the forward mode and passes through the heavily soiled area again. Then, the cleaning robot alternates between backward and forward cleaning within the heavily soiled area. This alternating cleaning method ensures that each part is covered and cleaned multiple times, improving the cleaning effect.

[0258] It can be understood that the above - mentioned cleaning process is similar to the process of a user pushing a floor washer to clean back and forth. By mimicking the continuous pushing and pulling of human hands for cleaning, it can adapt to different surfaces and corners, providing a more flexible cleaning solution. Especially in the cleaning of complex or irregular heavily soiled areas, a larger cleaning area can be covered in a shorter time.

[0259] Therefore, by alternately using backward and forward cleaning methods, ensuring that the heavily soiled area is covered and cleaned multiple times, stubborn dirt can be removed more thoroughly. Through alternating cleaning, the cleaning robot can ensure that every corner of the heavily soiled area is cleaned, reducing omissions. This strategy reduces the possible repeated requirements during the cleaning process and improves the overall cleaning efficiency. In this way, through effective path planning and cleaning strategies, the cleaning robot can utilize electric power and cleaning resources more efficiently and extend the working time.

[0260] Optionally, when it is detected that there is a heavily soiled area, controlling the cleaning robot to clean the entire heavily soiled area through a mopping cloth in an alternating manner of backward movement and forward movement, includes:

[0261] A heavily soiled area is detected, and the cleaning robot is controlled to enter from the first end of the heavily soiled area in a reverse traveling manner, and at least part of the heavily soiled area is cleaned by a mop until it travels to the second end of the heavily soiled area;

[0262] After reversing to the second end of the heavily soiled area, control the cleaning robot to travel to the first end of the heavily soiled area in a forward traveling manner, control the cleaning robot to adjust its direction and / or position, and continue to clean the remaining part of the heavily soiled area by alternately reversing and forward traveling through the mop.

[0263] Exemplarily, Figure 11 Another route map of the preset cleaning path provided by the embodiment of the present application is shown in Figure 11 As shown, after detecting the heavily soiled area, the cleaning robot 100 enters from the first end of the heavily soiled area in a reverse manner. Then, the cleaning robot 100 travels backward along the preset path until it reaches the second end of the heavily soiled area. After reaching the second end, the cleaning robot 100 switches to the forward mode and returns to the first end of the heavily soiled area along the same path. After returning to the first end, the cleaning robot 100 adjusts its direction and / or position to cover other parts of the heavily soiled area. This adjustment ensures that the cleaning robot 100 can cover the previously uncleaned parts during the next backward and forward processes. Further, the cleaning robot 100 continues to clean in an alternating manner of backward and forward until the entire heavily soiled area is thoroughly cleaned.

[0264] In this way, by alternately using the backward and forward cleaning methods, the mop can cover the same heavily soiled area multiple times. This repeated frictional action helps to more thoroughly remove stubborn stains and ensures that each part of the heavily soiled area can be evenly cleaned by the cleaning robot, avoiding omissions or uneven cleaning. In addition, by adjusting the direction and position, the cleaning robot can optimize its cleaning path to adapt to different dirt distributions and terrain features, ensuring efficient use of resources, reducing possible repeated requirements during the cleaning process, and improving the overall cleaning efficiency.

[0265] Optionally, detecting that there is a heavily soiled area, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area includes:

[0266] Detecting that there is a heavily soiled area, and controlling the cleaning robot to avoid the heavily soiled area;

[0267] After the cleaning robot avoids the heavily soiled area, clean the area in the area to be cleaned except the heavily soiled area, and then control the cleaning robot to travel to the heavily soiled area and clean the heavily soiled area by a mop in a reverse traveling manner.

[0268] Exemplarily, after detecting a heavily soiled area, the cleaning robot temporarily avoids these heavily soiled areas and continues to clean other non-heavily soiled areas along the preset cleaning path. After completing the cleaning of other non-heavily soiled areas, the cleaning robot returns to the heavily soiled area and enters the heavily soiled area in a reverse traveling manner to perform deep cleaning using a mop; wherein, the cleaning robot preferentially completes all areas in the area to be cleaned except the heavily soiled areas to ensure that the basic cleaning work of the entire environment is completed. The non-heavily soiled area is an area where the degree of dirtiness is less than or equal to the first threshold.

[0269] Optionally, after the cleaning robot completes the cleaning of all areas in the area to be cleaned except the heavily soiled areas, it can return to the cleaning base station to wash the mop and then return to the heavily soiled area for cleaning, or it can directly return to the heavily soiled area for cleaning. The embodiments of the present application do not make specific limitations in this regard.

[0270] Optionally, when the areas in the area to be cleaned except the heavily soiled areas are cleaned and then the cleaning robot is controlled to travel to the heavily soiled area to clean the heavily soiled area, the heavily soiled area can also be cleaned based on paths such as a bow-shaped cleaning path, a grid-shaped cleaning path, a square cleaning path, etc. The embodiments of the present application do not make specific limitations on the path for cleaning the heavily soiled area.

[0271] In this way, by preferentially cleaning the areas with lighter dirt, the cleaning robot can quickly complete most of the cleaning tasks, avoid delaying the overall cleaning progress due to the complexity of the heavily soiled areas, and after the cleaning of other areas is completed, the cleaning robot can concentrate resources and time on the cleaning of the heavily soiled areas to ensure that these heavily soiled areas are thoroughly treated. In addition, by avoiding the heavily soiled areas first, the cleaning robot can avoid spreading the dirt in the heavily soiled areas to other already cleaned areas, keep the overall environment clean, and can also prevent the cleaning components from moving back and forth between the un-cleaned heavily soiled areas and the already cleaned areas, thereby reducing the risk of cross-contamination.

[0272] It should also be noted that cleaning the simple areas first can simplify the path planning, avoid complex path adjustments and recalculations, and improve the fluency of the overall cleaning process.

[0273] Optionally, detecting that there is a heavily soiled area and controlling the cleaning robot to avoid the heavily soiled area includes:

[0274] Detecting that there is a heavily soiled area and controlling the cleaning robot to perform edge cleaning around the heavily soiled area to form a target area surrounding the heavily soiled area;

[0275] Controlling the cleaning robot to avoid the target area;

[0276] Controlling the cleaning robot to travel to the heavily soiled area and performing cleaning on the heavily soiled area through the mop in a reverse traveling manner includes:

[0277] Control the cleaning robot to move to the target area, and control the cleaning robot to move backward within the target area based on a preset cleaning path to clean at least part of the heavily soiled area through a mop.

[0278] Exemplarily, after detecting the heavily soiled area, the cleaning robot first performs edge cleaning around the heavily soiled area to remove the dirt on the edge, and at the same time forms a target area surrounding the heavily soiled area. After forming the target area, the cleaning robot temporarily avoids this target area and continues to clean other non-heavily soiled areas. This avoidance strategy ensures that other non-heavily soiled areas can be quickly cleaned without being affected by the heavily soiled area. Further, after completing the cleaning of other non-heavily soiled areas, the cleaning robot returns to the target area. Within the target area, the cleaning robot moves backward based on the preset cleaning path to ensure that the mop first contacts the dirt, providing a stronger cleaning force.

[0279] Wherein, after the cleaning robot performs edge cleaning around the heavily soiled area to form a target area surrounding the heavily soiled area, and before the cleaning robot moves to the target area, the cleaning robot can perform other operations, such as returning to the cleaning base station to clean the mop, cleaning other non-heavily soiled areas, or temporarily driving to other areas for cleaning. The embodiments of the present application do not make specific limitations on this.

[0280] In this way, through edge cleaning, the cleaning robot can accurately identify and locate the boundary of the heavily soiled area, ensuring that the heavily soiled area can be completely covered during subsequent cleaning. Cleaning around the heavily soiled area can also prevent the dirt from spreading outward, ensuring that the dirt in the heavily soiled area does not contaminate the surrounding cleaned areas. By first cleaning around the heavily soiled area, the cleaning sequence can be optimized, and then the cleaning robot can effectively plan the cleaning path, making the cleaning of the heavily soiled area more concentrated and effective, and reducing unnecessary repeated movement. Therefore, this method simplifies the path planning process, enables the cleaning robot to clean according to the preset path, reduces complex path adjustments, and by first processing simple areas and edges, the cleaning robot can quickly complete most of the cleaning tasks, allocate more time and resources to thoroughly clean the heavily soiled area, and through clear area division and cleaning sequence, reduce the back-and-forth movement of the cleaning components between the heavily soiled area and other areas, reducing the risk of cross-contamination.

[0281] Optionally, the number of heavily soiled areas is at least one. Controlling the cleaning robot to move to the heavily soiled area and cleaning the heavily soiled area through the mop in a backward movement manner includes:

[0282] Sequentially move to at least one heavily soiled area according to the cleaning sequence displayed by the application APP of the terminal device, and clean at least one heavily soiled area through the mop in a backward movement manner; the terminal device establishes a communication connection with the cleaning robot.

[0283] Exemplarily, after the cleaning robot detects multiple heavily soiled areas in the area to be cleaned, it can transmit this information to the APP of the terminal device. The APP of the terminal device displays the locations of the detected heavily soiled areas and provides a suggestion on the cleaning order. Optionally, the user can view this information and adjust the cleaning order as needed.

[0284] Furthermore, the cleaning robot travels to each heavily soiled area in turn according to the cleaning order shown in the APP. In each heavily soiled area, the cleaning robot uses a mop to perform deep cleaning in a reverse travel mode. Optionally, during the cleaning process, the cleaning robot can feedback the progress and status to the APP so that the user can view it in real time and make necessary adjustments.

[0285] In this way, through a clear cleaning order, the cleaning robot can concentrate resources and time on cleaning the heavily soiled areas, ensuring that these heavily soiled areas are thoroughly treated. Moreover, cleaning in the planned order can also avoid the frequent movement of the cleaning robot between the heavily soiled areas and the already cleaned areas, reducing the risk of cross-contamination. In addition, the user can view and adjust the cleaning order through the APP, providing higher customization and control, meeting different cleaning needs, improving the user experience and satisfaction, and through the cleaning order planned by the APP, the cleaning robot can complete the cleaning task more efficiently, reducing unnecessary path repetition and time waste.

[0286] Optionally, the cleaning order is determined by at least one of the following methods:

[0287] The distance between the position of the cleaning robot after cleaning the area in the area to be cleaned except for at least one heavily soiled area and at least one heavily soiled area;

[0288] The distance between at least one heavily soiled area and the cleaning base station;

[0289] The degree of dirtiness corresponding to at least one heavily soiled area;

[0290] The order in which the cleaning robot marks at least one heavily soiled area during the cleaning process;

[0291] In response to the first operation of the user on the APP of the terminal device.

[0292] Exemplarily, after completing the cleaning of other non-heavily soiled areas, the cleaning robot decides the next cleaning target according to the distance between its current position and each heavily soiled area. For example, the closer the distance, the higher the cleaning priority, because choosing the nearest heavily soiled area can reduce the movement time and energy consumption.

[0293] In some embodiments, at the start of the cleaning task, the cleaning robot can also preferentially clean the heavily soiled areas closest to the base station, so as to quickly return to the cleaning base station when the battery power is insufficient or the mopping cloth is dirty.

[0294] In other embodiments, according to the detected degree of soiling, the cleaning robot can preferentially process the dirtiest areas to ensure that cleaning resources are used where they are most needed, improving the cleaning effect. Or it can preferentially process the areas with the lightest degree of soiling, which can prevent dirt from being brought to the already cleaned areas when cleaning heavily soiled areas, thus reducing the risk of cross-contamination. In addition, cleaning lightly soiled areas usually requires less time and resources, so it can be completed quickly. The embodiments of the present application do not specifically limit the cleaning order determined according to the degree of soiling.

[0295] In still other embodiments, during the cleaning process, the cleaning robot can also determine the cleaning order according to the order of the detected heavily soiled areas. Or, the user can operate through the APP of the terminal device to specify the cleaning order. This method provides a high degree of flexibility and user control, suitable for personalized needs.

[0296] Therefore, by determining the cleaning order in multiple ways, the cleaning robot can more intelligently optimize its cleaning path and strategy. For example, preferentially cleaning the heavily soiled areas closest in distance can reduce unnecessary movement, save time and power, and improve cleaning efficiency. Preferentially cleaning the areas closer to the cleaning base station can quickly return to the base station for charging or self-cleaning when the battery power is insufficient or the mopping cloth is dirty, ensuring the continuity of the cleaning task. Determining the cleaning order according to the degree of soiling of the heavily soiled areas and preferentially processing the dirtiest areas can ensure that these areas are cleaned in a timely and thorough manner, improving the overall cleaning effect. Preferentially processing the areas with the lightest degree of soiling can quickly improve the cleanliness of the environment, improve cleaning efficiency, and reduce resource consumption. Cleaning in the order marked by the cleaning robot during the cleaning process can ensure that tasks are executed according to the preset logic and plan, avoiding missed or repeated cleaning. Determining the cleaning order according to the user's first operation on the APP can provide a personalized cleaning experience and meet the specific needs and preferences of the user.

[0297] In this way, by combining multiple factors to determine the cleaning order, the cleaning robot can flexibly adapt to different cleaning surface conditions and user needs, providing a more intelligent cleaning service.

[0298] Optionally, the method further includes:

[0299] After cleaning the areas in the area to be cleaned except for the heavily soiled areas, and before controlling the cleaning robot to move to the heavily soiled areas, control the cleaning robot to return to the cleaning base station to clean the mopping cloth.

[0300] In the embodiments of the present application, the cleaning robot can first clean all non-heavily soiled areas in the area to be cleaned except for the heavily soiled areas. After the non-heavily soiled areas are cleaned, the cleaning robot is controlled to return to the cleaning base station to wash the mop. After the mop is washed, the cleaning robot is ready to move to the heavily soiled area. At this time, the mop is in a clean state and can effectively cope with the cleaning challenges of the heavily soiled area.

[0301] Therefore, by washing the mop before dealing with the heavily soiled area, the risk of dirt in the non-heavily soiled area being brought into the heavily soiled area can be reduced, cross-contamination can be prevented, and the washed mop can more effectively adsorb and remove stubborn dirt in the heavily soiled area, improving the dirt removal ability and cleaning effect. In addition, using a clean mop to clean the heavily soiled area can also reduce the number of repeated cleanings and improve the overall cleaning efficiency.

[0302] Optionally, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area with the mop includes:

[0303] Controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to repeatedly clean at least part of the heavily soiled area with the mop multiple times.

[0304] Optionally, each repeated cleaning can be performed along the same or slightly adjusted path to ensure that each part of the heavily soiled area is covered multiple times. The embodiments of the present application do not specifically limit the path of the multiple repeated cleanings.

[0305] Repeated cleaning helps to improve the dirt removal rate. Especially in the case where the first cleaning fails to completely remove the dirt, the cleaning effect can be further improved by multiple coverages. And multiple repeated cleanings can ensure that the entire heavily soiled area is evenly treated, avoiding omissions or uneven cleaning. Therefore, through the optimized preset cleaning path and repeated cleaning strategy, while ensuring the thorough cleaning of the heavily soiled area, the operation burden of the user can be reduced, the automation and intelligence level of the cleaning robot can be improved, and thus the user's satisfaction with the cleaning effect can be enhanced.

[0306] Optionally, the method further includes:

[0307] After each cleaning of at least part of the heavily soiled area is completed, controlling the cleaning robot to return to the cleaning base station to wash the mop.

[0308] In this step, after the cleaning robot finishes cleaning at least part of the heavily soiled area, it temporarily stops further cleaning tasks and is instead controlled to return to the cleaning base station to wash the mop. The washed mop ensures that an ideal cleaning effect can be provided in the next cleaning task. Optionally, the next cleaning task can be to clean the remaining area of the heavily soiled area or to clean other non-heavily soiled areas. The embodiments of the present application do not specifically limit the next cleaning task.

[0309] Since the washed mop can more effectively adsorb and remove dirt, ensuring the effect of each cleaning task, therefore, by washing the mop after each cleaning of at least part of the heavily soiled area, the risk of cross-contamination of dirt between different areas is reduced, and cleaning with a clean mop can reduce the number and time of repeated cleaning, improving the overall cleaning efficiency.

[0310] Optionally, when it is detected that there is a heavily soiled area, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area with the mop includes:

[0311] When it is detected that there is a heavily soiled area, controlling the cleaning robot to adjust its direction at the second position or the third position and clean at least part of the heavily soiled area with the mop in a reverse travel manner based on the preset cleaning path;

[0312] Wherein, the second position is the position where the cleaning robot is located when it detects the existence of a heavily soiled area; the third position is a position determined to be suitable for entering the heavily soiled area during the process of the cleaning robot walking around the heavily soiled area after detecting the existence of the heavily soiled area.

[0313] Exemplarily, the cleaning robot detects a heavily soiled area on the cleaning surface through a sensor. When the cleaning robot detects the heavily soiled area at the second position, it can immediately adjust its direction to better plan the path to enter the heavily soiled area. This adjustment can be rotation or fine-tuning of the position to ensure that the cleaning robot can effectively enter the heavily soiled area. If the second position is not suitable for directly entering the heavily soiled area, the cleaning robot will walk around the heavily soiled area to find a more suitable third position to enter.

[0314] It can be understood that once the adjustment is completed at the second position or the third position, the cleaning robot can enter the heavily soiled area in a reverse travel manner based on the preset cleaning path to clean the heavily soiled area.

[0315] In this way, by adjusting the direction at the second position or the third position, the cleaning robot can flexibly select a suitable entry point to adapt to different environments and the shapes of heavily soiled areas. By adjusting the direction at a suitable position and backing into the heavily soiled area, the cleaning path can be optimized to ensure that the cleaning robot covers the heavily soiled area in an effective manner. By selecting a suitable entry point and path, unnecessary movement and adjustment can also be reduced, saving time and power and improving the overall cleaning efficiency. In addition, adjusting the direction at a suitable position can reduce interference with the surrounding environment, especially in narrow or complex spaces. Therefore, this method demonstrates the ability of the cleaning robot to make intelligent decisions in complex environments, improving its automation and intelligence level.

[0316] Optionally, the method further includes:

[0317] During the process of controlling the mopping cloth of the cleaning robot to switch from the first position to the fourth position for cleaning, when it is detected that there is a heavily soiled area, control the cleaning robot to travel backward to clean at least part of the heavily soiled area through the mopping cloth.

[0318] Exemplarily, during normal cleaning, the mopping cloth performs routine cleaning at the first position, but when a wider cleaning coverage is required, such as when cleaning along the wall, the cleaning robot can switch the mopping cloth to the fourth position. Figure 3 FIG. is a schematic structural diagram corresponding to a cleaning robot provided by an embodiment of the present application when cleaning along a wall. As Figure 3 shown, during the process of the mopping cloth 11 being in the fourth position and cleaning along the wall, after the cleaning robot 100 detects a heavily soiled area through a sensor, the cleaning robot 100 controls the mopping cloth 11 to clean in a backward traveling manner. At this time, part of the mopping cloth 11 is located outside the body of the cleaning robot 100 and can cover an area larger than the suction port 104.

[0319] In this way, part of the mopping cloth is located outside the body of the cleaning robot and can cover an area larger than the suction port, ensuring that a larger cleaning surface area is cleaned. Especially in the area along the wall, by allowing the mopping cloth to cover a larger area, it can effectively prevent the dirt in the heavily soiled area from entering the roller brush chamber, the roller brush assembly, and the drive wheels, thereby reducing the wear and contamination of these key components. In particular, it can prevent the bristles of the roller brush in the roller brush chamber from being stained with liquid dirt, and the backward traveling manner can ensure that the mopping cloth contacts the dirt first, providing a stronger cleaning force. Especially in the heavily soiled area, it can more effectively remove stubborn stains.

[0320] Optionally, the method further includes:

[0321] During the process of the cleaning robot cleaning the area to be cleaned, a first control instruction is received. The first control instruction is an instruction for the terminal device to perform temporary cleaning on the heavily soiled area; a communication connection is established between the terminal device and the cleaning robot.

[0322] Based on the first control instruction, control the cleaning robot to move backward to clean at least part of the heavily soiled area with a mop.

[0323] In the embodiments of the present application, controlling the cleaning robot to perform temporary cleaning on the heavily soiled area is determined based on the user's temporary needs. This temporary need enables the cleaning robot to more flexibly respond to the user's immediate needs. In this way, after the cleaning robot receives the first control instruction, it is controlled to immediately go to the heavily soiled area for cleaning without waiting for the previous cleaning task to be completed, and it does not affect the progress of the entire cleaning task. After the heavily soiled area is cleaned, cleaning can continue based on the previous cleaning task.

[0324] It should be noted that in the present application, only the cleaning order of the heavily soiled area is determined, that is, the cleaning order of the heavily soiled area is set to the highest priority. For the cleaning order determined before the cleaning robot executes the cleaning task, the embodiments of the present application do not make specific adjustments to it. It can continue to be used after the heavily soiled area is cleaned, or be adaptively adjusted.

[0325] Exemplarily, the cleaning robot is performing regular cleaning on the area to be cleaned according to a preset path. During the cleaning process, the terminal device sends a first control instruction, requiring the cleaning robot to perform temporary cleaning on a specific heavily soiled area. This first control instruction is usually manually triggered or voice-triggered by the user through the APP interface. It may be because the user notices that a certain heavily soiled area needs to be processed immediately. Then, based on the received first control instruction, the cleaning robot adjusts its current task, gives priority to processing the designated heavily soiled area. The cleaning robot enters the heavily soiled area in a backward movement mode and uses a mop for deep cleaning. After completing the temporary cleaning task, the cleaning robot can return to the previous cleaning path and continue the unfinished regular cleaning task.

[0326] In this way, the user can temporarily adjust the cleaning order according to the actual situation, flexibly respond to emergencies in family life. By giving priority to cleaning the heavily soiled area, it can ensure that the heavily soiled area is cleaned in time, improve the overall cleaning efficiency, and by temporarily adjusting the cleaning order of the heavily soiled area, it can more effectively manage the cleaning task and provide personalized cleaning services. In the present application, the cleaning robot can quickly respond to user instructions, adapt to dynamically changing cleaning needs, and the user can directly participate in and control the cleaning process through the terminal device, enhancing the sense of control and satisfaction with the cleaning robot.

[0327] Optionally, the method further includes:

[0328] During the process of the cleaning robot cleaning the area to be cleaned, a second control instruction is received. The second control instruction is an instruction for the terminal device to clean the heavily soiled area multiple times; the terminal device establishes a communication connection with the cleaning robot;

[0329] Based on the second control instruction, control the cleaning robot to reverse and travel to clean at least part of the heavily soiled area multiple times with the mop.

[0330] Exemplarily, the cleaning robot is performing regular cleaning on the area to be cleaned according to a preset path. During the cleaning process, the terminal device sends a second control instruction, requiring the cleaning robot to clean a specific heavily soiled area multiple times. This second control instruction is usually manually triggered or voice-triggered by the user through the APP interface. It may be because the user notices that the dirt in a certain area is particularly stubborn and requires additional cleaning intensity. Then, based on the received second control instruction, the cleaning robot adjusts its current task, gives priority to processing the designated heavily soiled area. The cleaning robot enters the heavily soiled area in a reverse travel mode, uses the mop for deep cleaning, and the cleaning robot performs multiple repeated cleanings in this heavily soiled area to ensure that the dirt can be effectively removed. After completing multiple cleaning tasks, the cleaning robot can return to the previous cleaning path and continue the unfinished regular cleaning task.

[0331] In this way, the user can adjust the working area of the cleaning robot at any time according to the actual situation, flexibly respond to emergencies in family life, providing higher flexibility and control. In particular, the user can clean the heavily soiled area multiple times. Through multiple cleaning operations, it can be ensured that the heavily soiled area is thoroughly cleaned, especially in the case where the first cleaning fails to completely remove the dirt, improving the overall cleaning quality. In this application, the user can conveniently control the cleaning robot through the terminal device to ensure that the cleaning effect meets the expectations and improve the user satisfaction and usage experience.

[0332] Optionally, the method further includes:

[0333] During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to perform temporary cleaning on a second area. The second area is the area demarcated on the display interface of the terminal device. The terminal device establishes a communication connection with the cleaning robot;

[0334] Based on the third control instruction, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to travel to the second area to clean the second area.

[0335] Among them, the user can use a finger to circle a specified area on the cleaning map and mark it as the second area. The embodiments of the present application do not specifically limit the operation method of the second area determined by the user on the intelligent terminal. For example, other touch operations can also be used to determine the second area.

[0336] Exemplarily, the cleaning robot is cleaning at least part of the heavily soiled area. During the cleaning process, the terminal device sends a third control instruction, requesting the cleaning robot to perform temporary cleaning on the second area. The second area is a specific area delimited by the user on the display interface of the terminal device. It may be that the user discovers that this area needs to be processed immediately. Based on the received third control instruction, the cleaning robot immediately pauses the current cleaning task of the heavily soiled area, then adjusts its path and travels to the second area designated by the user. After arriving at the second area, the cleaning robot starts cleaning this second area to ensure that the immediate needs of the user are met. Optionally, after completing the temporary cleaning task of the second area, the cleaning robot can return to the previous heavily soiled area and continue the unfinished cleaning task.

[0337] Optionally, the third control instruction can also be a voice summons instruction.

[0338] In this way, the user can immediately delimit the second area through the terminal device and send a cleaning instruction, enabling the cleaning robot to quickly respond to new cleaning needs and flexibly adjust the cleaning task. Moreover, the user can also specify a new second area at any time according to actual needs to ensure that the second area is processed in a timely manner and provide personalized cleaning services. Therefore, by directly controlling the cleaning robot to go to the second area through an instruction, the area designated by the user can be quickly processed, avoiding unnecessary path planning and time waste, and can also more effectively allocate cleaning resources to ensure that the second area is given priority treatment.

[0339] In addition, since the user can directly participate in and control the cleaning process through the terminal device, the sense of control and satisfaction with the cleaning robot are enhanced, especially when the second area needs to be quickly processed.

[0340] Optionally, the method further includes:

[0341] During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to perform temporary cleaning on the second area. The second area is the area delimited on the display interface of the terminal device. The terminal device establishes a communication connection with the cleaning robot;

[0342] Based on the third control instruction, after determining that the heavily soiled area has been passed through, the cleaning robot is controlled to continue cleaning the corresponding partial area of the passed-through heavily soiled area;

[0343] After cleaning of some areas is completed, the cleaning robot is controlled to stop cleaning at least some of the heavily soiled areas, and the cleaning robot is controlled to travel to a second area for cleaning the second area.

[0344] Exemplarily, the cleaning robot is cleaning at least some of the heavily soiled areas. During the cleaning process, the terminal device sends a third control instruction, requesting the cleaning robot to perform temporary cleaning on the second area. The second area is a specific area delimited by the user on the display interface of the terminal device. After receiving the third control instruction, the cleaning robot first ensures whether some areas of the heavily soiled area currently passed through have been sufficiently cleaned. If it is determined that some areas have been sufficiently cleaned, the cleaning robot pauses the cleaning task of the heavily soiled area, adjusts its path, and travels to the second area designated by the user. After arriving at the second area, the cleaning robot starts cleaning the second area to ensure meeting the immediate needs of the user.

[0345] It should be noted that on the path to the second area, determining whether some areas of the heavily soiled area to be passed through have been sufficiently cleaned can prevent the cleaning robot from contaminating the roller brush assembly, the roller brush chamber, and the drive wheels when passing through the heavily soiled area, thereby causing cross-contamination.

[0346] Therefore, after receiving a new third control instruction, necessary cleaning of the heavily soiled area is still continued to ensure that the area corresponding to the necessary path is thoroughly treated and prevent contamination of the roller brush and other components. In this way, by turning to the second area after completing the cleaning of the heavily soiled area to be passed through, the risk of cross-contamination between different areas is reduced, and the user's satisfaction with the cleaning effect is improved.

[0347] Optionally, the determination method for the completion of cleaning of some areas includes at least one of the following:

[0348] The cleaning robot performs cleaning for a preset duration;

[0349] The cleaning robot travels a preset distance;

[0350] Based on sensor information, it is detected that the cleaning robot has driven out of some areas.

[0351] In the embodiments of the present application, the setting of the preset duration is used to determine that the cleaning robot stays in the heavily soiled area for a long enough time to effectively clean the heavily soiled area to be passed through; the setting of the preset distance is used to ensure that the driving distance of the cleaning robot during cleaning in the heavily soiled area covers a sufficient area, and the sufficient area at least includes the heavily soiled area to be passed through; the sensor information is used to help the cleaning robot judge the completion of the cleaning task, that is, to determine whether the cleaning of the heavily soiled area to be passed through is completed and the cleaning robot has driven out of the heavily soiled area.

[0352] It should be noted that the specific values corresponding to the preset duration and the preset distance in the embodiments of the present application are not limited, and can be set based on the requirements of the actual application scenario, or can be determined in advance based on a large amount of experimental data.

[0353] Exemplarily, when the cleaning robot receives a third control instruction during the cleaning process of entering a heavily soiled area, if it is determined that the cleaning robot needs to pass through this heavily soiled area on the path to the second area, it can clean the corresponding partial area passing through the heavily soiled area according to a preset time, so as to prevent the heavily soiled area from contaminating the roller brush assembly, drive wheels and other components during the process of the cleaning robot traveling to the second area, and can also prevent the mop from bringing the dirt in the heavily soiled area to other areas, causing cross-contamination.

[0354] In some embodiments, when it is determined that the cleaning robot needs to pass through this heavily soiled area on the path to the second area, it can also control the cleaning robot to travel and clean within the heavily soiled area according to a preset distance, or the cleaning robot can use sensors such as lidar, camera or infrared sensor to detect its position and environmental changes to determine whether it has driven out of this partial area and the cleaning of this partial area is completed.

[0355] In this way, through the setting of the preset duration and the preset distance, the cleaning robot can clean the heavily soiled area sufficiently. By cleaning the heavily soiled area sufficiently before entering the second area, it can ensure that the dirt in the heavily soiled area will not be brought to other areas by the mop or other means, ensuring the cleaning effect. And by precisely controlling the cleaning time and cleaning distance of the partial area, it can also reduce unnecessary energy and resource consumption. In addition, the sensor information and intelligent path planning can be used to ensure that the cleaning robot cleans on an effective path, reducing unnecessary repetition and time waste. The use of this sensor information enables the cleaning robot to flexibly adapt to environmental changes and adjust the cleaning strategy in real time. Therefore, by combining multiple determination methods, the reliability and adaptability of the cleaning of the cleaning robot are enhanced, ensuring that it can work effectively in different environments.

[0356] Optionally, the method further includes:

[0357] After controlling the cleaning robot to stop cleaning at least part of the heavily soiled area, control the mop to be in the first lifting position and the roller brush assembly to stop rotating, and then drive out of the heavily soiled area in a forward manner; the first lifting position is a position spaced a first distance from the cleaning surface.

[0358] In the embodiments of the present application, the first lifting position refers to a position where the mop maintains a first distance from the cleaning surface, which can prevent the mop from contacting the cleaning surface when cleaning is not required, and can also prevent the water stains on the mop from contaminating other areas.

[0359] Exemplarily, when the cleaning robot stops the cleaning task of at least part of the heavily soiled area and is about to leave the at least part of the heavily soiled area, it can be controlled to lift the mopping cloth to the first lifting position to prevent the spread of dirt between different areas and reduce the risk of cross-contamination. At the same time, the rotating brush assembly can be controlled to stop rotating to avoid contamination of the rotating brush assembly by the heavily soiled area. Further, the cleaning robot can adjust its position and / or direction and drive out of the heavily soiled area in a normal forward manner.

[0360] In this way, after stopping the cleaning of at least part of the heavily soiled area, lifting the mopping cloth can effectively prevent the dirt in the heavily soiled area from being brought to other areas, reduce the risk of cross-contamination, and keep other areas clean and hygienic. Stopping the rotation of the rotating brush assembly can prevent the dirt in the heavily soiled area from contaminating and wearing the rotating brush. In addition, stopping the operation of unnecessary components such as the rotating brush and the vacuuming function can also save power and improve the energy efficiency of the cleaning robot. Therefore, this method demonstrates the ability of the cleaning robot to make intelligent decisions and flexible adjustments in a dynamic environment, and thus can adapt to different cleaning requirements and environmental changes, as well as provide an efficient, thorough and cross-contamination-free cleaning service, thereby improving the user experience and satisfaction.

[0361] Optionally, the method further includes:

[0362] During the process of the cleaning robot cleaning at least part of the heavily soiled area, the side brush assembly is controlled to be in the second lifting position, and the rotating brush assembly stops rotating; the second lifting position is a position spaced from the cleaning surface by a second distance.

[0363] In the embodiment of the present application, the second lifting position refers to the position where the side brush maintains a second distance from the cleaning surface. At the second lifting position, the side brush can be prevented from being contaminated in the heavily soiled area.

[0364] Exemplarily, when the cleaning robot enters the heavily soiled area and is about to start cleaning, it can adjust each cleaning component to adapt to specific cleaning needs, such as controlling the side brush assembly to be lifted to the second lifting position to prevent the side brush from being contaminated. Correspondingly, the rotating brush assembly can also be controlled to stop rotating to avoid contamination of the rotating brush assembly by the heavily soiled area. Further, after the side brush assembly and the rotating brush assembly are adjusted, the cleaning robot can focus on using the mopping cloth to deeply clean the heavily soiled area.

[0365] Optionally, after the cleaning robot finishes cleaning the heavily soiled area, the side brush assembly can be controlled to be in the lowered position, and / or the rotating brush assembly can be controlled to rotate. By restoring the normal operation of the side brush assembly and the rotating brush assembly, the cleaning robot can continue to clean other areas comprehensively and effectively, improving the overall cleaning effect.

[0366] In this way, during the cleaning process of the heavily soiled area, stopping the rotation of the roller brush assembly and raising the side brush assembly can prevent the dirt in the heavily soiled area from contaminating these components, and can also prevent the dirt in the heavily soiled area from being carried to other areas, reducing the risk of cross-contamination and maintaining the cleanliness of other areas. In addition, stopping the operation of the roller brush assembly and the side brush assembly when they are not needed can save electricity and improve the energy efficiency of the cleaning robot. Therefore, by intelligently adjusting the state of the components, different types of dirt and cleaning requirements can be processed more efficiently, improving the cleaning effect and efficiency.

[0367] Optionally, the method further includes:

[0368] Detecting the existence of a heavily soiled area and determining the area size and / or dryness / wetness degree of the heavily soiled area;

[0369] Based on the area size and / or dryness / wetness degree, adjusting the humidity of the mopping cloth.

[0370] In the embodiments of the present application, the cleaning robot can analyze the size and / or the surface dryness / wetness degree of the heavily soiled area. The area size can be measured or estimated by a sensor, and the dryness / wetness degree can be evaluated by indicators such as a humidity sensor or surface reflectivity. The embodiments of the present application do not specifically limit the manner of determining the area size and the dryness / wetness degree of the heavily soiled area.

[0371] In this step, the cleaning robot can dynamically adjust the humidity of the mopping cloth based on the detected area size and / or dryness / wetness degree of the heavily soiled area. If the area is large or the dirt is dry, the humidity of the mopping cloth can be increased to enhance the cleaning effect. If the area is small or already wet, the humidity of the mopping cloth can be reduced to avoid excessive wetting. In this way, after adjusting the humidity, the cleaning robot starts to clean the heavily soiled area, ensuring that the humidity of the mopping cloth matches the dirt characteristics to achieve an ideal cleaning effect.

[0372] Therefore, by dynamically adjusting the humidity of the mopping cloth according to the area size and / or dryness / wetness degree of the heavily soiled area, it can be ensured that the mopping cloth can achieve an ideal cleaning effect under different types of dirt and surface conditions. In addition, by adjusting the humidity as needed, unnecessary water usage can be avoided, saving water resources. In this way, by specifically adjusting the humidity of the mopping cloth, the cleaning robot can complete the cleaning task more quickly and effectively, and through intelligent management of water and cleaning resources, the overall resource usage can be optimized and unnecessary waste can be reduced.

[0373] Optionally, the method further includes:

[0374] During the process of the cleaning robot cleaning at least part of the heavily soiled area, adjusting the contact pressure between the mopping cloth and the cleaning surface.

[0375] In the embodiments of the present application, the cleaning robot can analyze the dirt characteristics or the degree of soiling of the heavily soiled area, and then, based on the analysis of the dirt characteristics or the degree of soiling, the cleaning robot dynamically adjusts the contact pressure between the mopping cloth and the cleaning surface. The dirt characteristics may include the type, thickness, and distribution of the dirt.

[0376] Optionally, if the dirt is stubborn or thick, the contact pressure of the mopping cloth can be increased to enhance the cleaning effect. If the dirt is light or the material of the cleaning surface is fragile, the contact pressure of the mopping cloth can be reduced to protect the cleaning surface.

[0377] Optionally, the cleaning effect can be optimized according to the degree of soiling of the cleaning surface. For example, increasing the contact pressure between the mopping cloth and the cleaning surface in the heavily soiled area can improve the cleaning efficiency, while reducing the contact pressure between the mopping cloth and the cleaning surface in the non-heavily soiled area can avoid over-cleaning.

[0378] It should be noted that increasing the contact pressure between the mopping cloth and the cleaning surface can not only prevent water splashing but also increase the contact frequency, thereby improving the cleaning effect.

[0379] In this step, during the cleaning of the heavily soiled area by the cleaning robot, the contact pressure between the mopping cloth and the cleaning surface can be adjusted to ensure that the pressure of the mopping cloth matches the dirt characteristics or the degree of soiling, so as to achieve an ideal cleaning effect.

[0380] Optionally, there are various ways to increase the contact pressure between the mopping cloth and the cleaning surface. For example, it can cause the center of the cleaning robot to move backward to increase the pressure. The embodiments of the present application do not make specific limitations on the way of increasing the pressure.

[0381] Therefore, by dynamically adjusting the mopping cloth pressure, it can be ensured that the mopping cloth can achieve an ideal cleaning effect under different types of dirt and surface conditions. Appropriate pressure adjustment can not only prevent excessive wear or damage to the cleaning surface but also enhance the cleaning effect on the cleaning surface. By such targeted adjustment of the contact pressure between the mopping cloth and the cleaning surface, the cleaning robot can complete the cleaning task more quickly and effectively. In addition, through reasonable pressure management, excessive wear of the mopping cloth can be reduced, thereby extending its service life.

[0382] Optionally, the cleaning robot further includes: a sensor assembly and / or an artificial intelligence AI camera module. The sensor assembly and / or the AI camera module are disposed at the rear end of the body of the cleaning robot; the method further includes:

[0383] Driving the rear end of the cleaning robot to deflect towards the heavily soiled area multiple times to control the cleaning robot to clean at least part of the heavily soiled area by the mopping cloth in a reverse traveling manner.

[0384] In the embodiments of the present application, based on the information provided by the sensor assembly and the AI camera module, the cleaning robot drives its rear end to deflect multiple times, so that the cleaning robot can accurately locate and adjust its cleaning path, in order to clean and cover the heavily soiled area more effectively.

[0385] Exemplarily, during the cleaning process of the heavily soiled area, the cleaning robot adjusts its own position and / or direction in real time based on the information provided by the sensor assembly and the AI camera module, and cleans the heavily soiled area in a way of "twisting and backing up" to determine that the mopping cloth has a suitable contact angle and pressure to clean the heavily soiled area.

[0386] Among them, during the cleaning process, the sensor assembly and the AI module can continuously monitor the cleaning effect to provide real-time feedback for further adjusting the position and / or direction.

[0387] In this way, through multiple deflections and backing up, the cleaning robot can more flexibly adjust the cleaning path, ensure that the heavily soiled area is fully covered and processed, and the combined use of the sensor assembly and the AI module can help the cleaning robot identify the un-cleaned heavily soiled area, reduce cleaning omissions, and ensure that each area can meet the expected cleaning standard. In addition, the backing-up method reduces unnecessary repeated cleaning. Therefore, through precise cleaning and path optimization, the cleaning effect on the heavily soiled area can also be improved, saving time and resources, and further improving the overall cleaning efficiency.

[0388] In the foregoing embodiments, the cleaning method of the cleaning robot provided in the embodiments of the present application has been introduced. In order to implement the various functions in the method provided in the embodiments of the present application, the electronic device as the execution subject may include a hardware structure and / or a software module, and implement the above various functions in the form of a hardware structure, a software module, or a combination of a hardware structure and a software module. Whether a certain function among the above various functions is executed in the form of a hardware structure, a software module, or a combination of a hardware structure and a software module depends on the specific application and design constraint conditions of the technical solution.

[0389] Exemplarily, Figure 12 The following is a schematic structural diagram of a cleaning device of a cleaning robot provided in an embodiment of the present application. As Figure 12 shown, the cleaning robot includes a mopping cloth assembly and driving wheels. The mopping cloth assembly includes a mopping cloth and a driving member for driving the mopping cloth to rotate. The mopping cloth is a roller mopping cloth or a track mopping cloth. Based on the forward direction of the cleaning robot's movement, the driving wheels are located in front of the mopping cloth; the cleaning device 1200 of the cleaning robot includes:

[0390] The first control module 1201 is configured to, during the process of cleaning the area to be cleaned in front of the cleaning robot and detecting a heavily soiled area, control the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through a mopping cloth;

[0391] Wherein, during the reverse travel, the rotation direction of the driving wheel is opposite to the rotation direction of the mopping cloth. During the process of controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mopping cloth, the mopping cloth is adjusted to a first position so that the cleaning area of the mopping cloth covers the walking area of the driving wheel.

[0392] Optionally, the first control module 1201 is specifically configured to:

[0393] Detect a heavily soiled area, control the cleaning robot to perform edge cleaning on the heavily soiled area, and after the edge cleaning is completed, control the cleaning robot to clean the remaining heavily soiled area inside after the edge cleaning through the mopping cloth in a reverse travel manner.

[0394] Optionally, the first control module 1201 includes a first control unit, and this first control unit is configured to:

[0395] Control the cleaning robot to perform edge cleaning on a first area, the first area has a preset shape and the first area at least includes the heavily soiled area;

[0396] Or, control the cleaning robot to perform edge cleaning at a position with a preset distance from the edge of the heavily soiled area.

[0397] Optionally, the first control module 1201 is specifically configured to:

[0398] Detect a heavily soiled area, control the cleaning robot to continue traveling along the original cleaning path, and before the cleaning robot passes through at least part of the heavily soiled area, control the cleaning robot to rotate its direction and clean at least part of the heavily soiled area through the mopping cloth in a reverse travel manner.

[0399] Optionally, the first control module 1201 is specifically configured to:

[0400] Detect a heavily soiled area, control the cleaning robot to clean all the heavily soiled areas through the mopping cloth in an alternating manner of reverse travel and forward travel.

[0401] Optionally, the first control module 1201 includes a second control unit, and this second control unit is configured to:

[0402] It is detected that there is a heavily soiled area, and the cleaning robot is controlled to enter from the first end of the heavily soiled area in a reverse traveling manner, and at least part of the heavily soiled area is cleaned by a mopping cloth until it travels to the second end of the heavily soiled area;

[0403] After reversing to the second end of the heavily soiled area, control the cleaning robot to travel to the first end of the heavily soiled area in a forward traveling manner, control the cleaning robot to adjust its direction and / or position, and continue to clean the remaining part of the heavily soiled area by alternately reversing and forward traveling through the mopping cloth.

[0404] Optionally, the first control module 1201 is specifically configured to:

[0405] When it is detected that there is a heavily soiled area, control the cleaning robot to avoid the heavily soiled area;

[0406] After the cleaning robot avoids the heavily soiled area, clean the area in the area to be cleaned except the heavily soiled area, and then control the cleaning robot to travel to the heavily soiled area and clean the heavily soiled area by a mopping cloth in a reverse traveling manner.

[0407] Optionally, the first control module 1201 includes a third control unit and a fourth control unit. The third control unit is used for:

[0408] When it is detected that there is a heavily soiled area, control the cleaning robot to perform edge cleaning around the heavily soiled area to form a target area surrounding the heavily soiled area;

[0409] Control the cleaning robot to avoid the target area;

[0410] The fourth control unit is used for:

[0411] Control the cleaning robot to travel to the target area, and control the cleaning robot to reverse travel within the target area based on a preset cleaning path to clean at least part of the heavily soiled area through the mopping cloth.

[0412] Optionally, the number of heavily soiled areas is at least one. The fourth control unit is further used for:

[0413] Travel to at least one heavily soiled area in sequence according to the cleaning order displayed by the application APP of the terminal device, and clean at least one heavily soiled area by a mopping cloth in a reverse traveling manner; The terminal device establishes a communication connection with the cleaning robot.

[0414] Optionally, the cleaning order is determined by at least one of the following methods:

[0415] The distance between the position where the cleaning robot is located after cleaning the area in the area to be cleaned except at least one heavily soiled area and at least one heavily soiled area;

[0416] The distance between at least one heavily soiled area and the cleaning base station;

[0417] The degree of soiling corresponding to at least one heavily soiled area;

[0418] The order in which the cleaning robot marks at least one heavily soiled area during the cleaning process;

[0419] In response to a first operation by the user on the APP of the terminal device.

[0420] Optionally, the cleaning device 1200 of the cleaning robot further includes a second control module, which is used for:

[0421] After cleaning the area in the area to be cleaned except for the heavily soiled area, and before controlling the cleaning robot to move to the heavily soiled area, control the cleaning robot to return to the cleaning base station to wash the mop.

[0422] Optionally, the first control module 1201 is specifically used for:

[0423] Control the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to repeatedly clean at least part of the heavily soiled area with the mop.

[0424] Optionally, the cleaning device 1200 of the cleaning robot further includes a third control module, which is used for:

[0425] After each cleaning of at least part of the heavily soiled area, control the cleaning robot to return to the cleaning base station to wash the mop.

[0426] Optionally, the first control module 1201 is specifically used for:

[0427] When detecting the existence of a heavily soiled area, control the cleaning robot to adjust its direction at the second position or the third position, and clean at least part of the heavily soiled area with the mop in a reverse traveling manner based on a preset cleaning path;

[0428] Wherein, the second position is the position where the cleaning robot is located when detecting the existence of a heavily soiled area; the third position is a position suitable for entering the heavily soiled area determined during the process of the cleaning robot walking around the heavily soiled area.

[0429] Optionally, the cleaning robot further includes a roller brush assembly and a roller brush chamber. A dust suction port is provided on one side of the roller brush chamber facing the cleaning surface. The roller brush chamber is used to accommodate the roller brush assembly; the mop further has a fourth position. At the fourth position, at least part of the mop is located outside the body of the cleaning robot, and the area covered by the mop during the cleaning process covers the area covered by the dust suction port during the cleaning process; the cleaning device 1200 of the cleaning robot further includes a fourth control module, which is used for:

[0430] During the process of controlling the mopping cloth of the cleaning robot to switch from the first position to the fourth position for cleaning, if a heavily soiled area is detected, the cleaning robot is controlled to reverse to clean at least part of the heavily soiled area through the mopping cloth.

[0431] Optionally, the cleaning device 1200 of the cleaning robot further includes a fifth control module, which is used for:

[0432] During the process of the cleaning robot cleaning the area to be cleaned, a first control instruction is received. The first control instruction is an instruction for the terminal device to temporarily clean the heavily soiled area; the terminal device establishes a communication connection with the cleaning robot;

[0433] Based on the first control instruction, the cleaning robot is controlled to reverse to clean at least part of the heavily soiled area through the mopping cloth.

[0434] Optionally, the cleaning device 1200 of the cleaning robot further includes a sixth control module, which is used for:

[0435] During the process of the cleaning robot cleaning the area to be cleaned, a second control instruction is received. The second control instruction is an instruction for the terminal device to clean the heavily soiled area multiple times; the terminal device establishes a communication connection with the cleaning robot;

[0436] Based on the second control instruction, the cleaning robot is controlled to reverse to clean at least part of the heavily soiled area multiple times through the mopping cloth.

[0437] Optionally, the cleaning device 1200 of the cleaning robot further includes a seventh control module, which is used for:

[0438] During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to temporarily clean a second area. The second area is an area delimited on the display interface of the terminal device. The terminal device establishes a communication connection with the cleaning robot;

[0439] Based on the third control instruction, the cleaning robot is controlled to stop cleaning at least part of the heavily soiled area, and the cleaning robot is controlled to move to the second area to clean the second area.

[0440] Optionally, the cleaning device 1200 of the cleaning robot further includes an eighth control module, which is used for:

[0441] During the cleaning process of the cleaning robot for at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to perform temporary cleaning on the second area. The second area is the area delimited on the display interface of the terminal device. The terminal device establishes a communication connection with the cleaning robot;

[0442] Based on the third control instruction, after determining that the heavily soiled area has been passed through, control the cleaning robot to continue cleaning the corresponding part of the area that has passed through the heavily soiled area;

[0443] After the cleaning of the partial area is completed, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to travel to the second area to clean the second area.

[0444] Optionally, the determination method for the completion of the cleaning of the partial area includes at least one of the following:

[0445] The cleaning robot performs cleaning for a preset duration;

[0446] The cleaning robot travels a preset distance;

[0447] Based on the sensor information, it is detected that the cleaning robot has driven out of the partial area.

[0448] Optionally, the cleaning robot further includes a roller brush assembly. The cleaning device 1200 of the cleaning robot further includes a ninth control module, which is used for:

[0449] After controlling the cleaning robot to stop cleaning at least part of the heavily soiled area, control the mopping cloth to be in the first lifting position, and the roller brush assembly to stop rotating, so as to drive out of the heavily soiled area in a forward manner; The first lifting position is the position at a first distance from the cleaning surface.

[0450] Optionally, the cleaning robot further includes a roller brush assembly and a side brush assembly. The cleaning device 1200 of the cleaning robot further includes a tenth control module, which is used for:

[0451] During the cleaning process of the cleaning robot for at least part of the heavily soiled area, control the side brush assembly to be in the second lifting position, and the roller brush assembly to stop rotating; The second lifting position is the position at a second distance from the cleaning surface.

[0452] Optionally, the cleaning device 1200 of the cleaning robot further includes an eleventh control module, which is used for:

[0453] Detect that there is a heavily soiled area, and determine the area size and / or dry-wet degree of the heavily soiled area;

[0454] Based on the area size and / or dry-wet degree, adjust the humidity of the mopping cloth.

[0455] Optionally, the cleaning device 1200 of the cleaning robot further includes a twelfth control module, which is configured to:

[0456] During the process of the cleaning robot cleaning at least part of the heavily soiled area, adjust the contact pressure between the mopping cloth and the cleaning surface.

[0457] Optionally, the cleaning robot further includes: a sensor assembly and / or an artificial intelligence (AI) camera module, the sensor assembly and / or the AI camera module are disposed at the rear end of the body of the cleaning robot; the cleaning device 1200 of the cleaning robot further includes a thirteenth control module, which is configured to:

[0458] Drive the rear end of the cleaning robot to deflect towards the heavily soiled area multiple times, so as to control the cleaning robot to clean at least part of the heavily soiled area by means of the mopping cloth while moving backward.

[0459] It should be noted that for the specific implementation principles and effects of the cleaning device 1200 of the above-mentioned cleaning robot, reference can be made to the relevant descriptions and effects corresponding to the above-mentioned embodiments, and no further elaboration will be provided here.

[0460] The embodiment of the present application also provides a schematic structural diagram of an electronic device. Figure 13 For a schematic structural diagram of an electronic device provided by the embodiment of the present application, as Figure 13 shown, the electronic device 1300 may include: a processor 1301 and a memory 1302 communicatively connected to the processor 1301; the memory 1302 stores a computer program; the processor 1301 executes the computer program stored in the memory 1302, so that the processor 1301 executes the method described in any of the above embodiments.

[0461] Wherein, the memory 1302 and the processor 1301 may be connected through a bus 1303.

[0462] The embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the foregoing embodiments of the present application.

[0463] The embodiment of the present application also provides a chip for running instructions, and the chip is used to execute the method described in any of the foregoing embodiments executed by an electronic device.

[0464] The embodiment of the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it can implement the method described in any of the foregoing embodiments executed by an electronic device.

[0465] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or modules can be in electrical, mechanical or other forms.

[0466] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to implement the solution of this embodiment.

[0467] In addition, in each embodiment of the present application, the functional modules can be integrated in a processing unit, or each module can exist physically alone, or two or more modules can be integrated in a unit. The units formed by the above modules can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0468] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above software functional modules are stored in a storage medium and include several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods described in various embodiments of the present application.

[0469] It should be understood that the above processor can be a central processing unit (Central Processing Unit, abbreviated as CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0470] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a portable hard drive, a read-only memory, a magnetic disk, or an optical disc, etc.

[0471] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0472] The above storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The storage medium may be any available medium accessible by a general-purpose or special-purpose computer.

[0473] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium may also exist as discrete components in an electronic device or a master control device.

[0474] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0475] It should be further noted that although the steps in the flowchart are shown sequentially according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order restriction, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0476] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0477] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other implementation schemes of this application. This application is intended to cover any variations, uses or adaptations of this application, which follow the general principles of this application and include the common general knowledge or conventional technical means in the technical field not disclosed in this application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of this application are pointed out by the claims.

[0478] As mentioned above, the above is only the specific implementation manner of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be subject to the protection scope of the claims.

Claims

1. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly and driving wheels. The mop assembly includes a mop and a driving member for driving the mop to rotate. The mop is a drum-type mop or a caterpillar-type mop. Based on the forward direction of the cleaning robot's movement, the driving wheels are located in front of the mop. The method includes: During the process of the cleaning robot moving forward to clean the area to be cleaned, when a heavily soiled area is detected, controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop. Wherein, during the reverse travel, the rotation direction of the driving wheels is opposite to the rotation direction of the mop. During the process of controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop, adjust the mop to a first position so that the cleaning area of the mop covers the travel area of the driving wheels.

2. The method according to claim 1, wherein The detecting that there is a heavily soiled area and controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop includes: Detecting that there is the heavily soiled area, controlling the cleaning robot to perform edge cleaning on the heavily soiled area, and after the edge cleaning is completed, controlling the cleaning robot to travel in a reverse manner through the mop to clean the remaining heavily soiled area inside after the edge cleaning.

3. The method according to claim 2, wherein The controlling the cleaning robot to perform edge cleaning on the heavily soiled area includes: Controlling the cleaning robot to perform edge cleaning on a first area, the first area having a preset shape and the first area at least including the heavily soiled area. Or, controlling the cleaning robot to perform edge cleaning at a position having a preset distance from the edge of the heavily soiled area.

4. The method according to claim 1, characterized in that, The detecting that there is a heavily soiled area and controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop includes: Detecting that there is the heavily soiled area, controlling the cleaning robot to continue to travel along the original cleaning path, and before the cleaning robot passes through at least part of the heavily soiled area, controlling the cleaning robot to rotate its direction and travel in a reverse manner through the mop to clean at least part of the heavily soiled area.

5. The method according to claim 1, wherein The detecting that there is a heavily soiled area and controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area through the mop includes: Detecting that there is a heavily soiled area, controlling the cleaning robot to clean all of the heavily soiled area through the mop in an alternating manner of reverse travel and forward travel.

6. The method according to claim 5, wherein The detecting that there is a heavily soiled area and controlling the cleaning robot to clean all of the heavily soiled area through the mop in an alternating manner of reverse travel and forward travel includes: A heavily soiled area is detected, and the cleaning robot is controlled to enter from the first end of the heavily soiled area in a reverse traveling manner, and at least part of the heavily soiled area is cleaned by the mop until it travels to the second end of the heavily soiled area; After reversing to the second end of the heavily soiled area, control the cleaning robot to travel to the first end of the heavily soiled area in a forward traveling manner, control the cleaning robot to adjust its direction and / or position, and continue to clean the remaining part of the heavily soiled area by alternately reversing and forward traveling through the mop.

7. The method according to claim 1, wherein The detection of the existence of a heavily soiled area and controlling the cleaning robot to travel at least partially in a reverse manner based on a preset cleaning path to clean at least part of the heavily soiled area includes: A heavily soiled area is detected, and the cleaning robot is controlled to avoid the heavily soiled area; After the cleaning robot avoids the heavily soiled area, the area in the area to be cleaned except the heavily soiled area is cleaned, and then the cleaning robot is controlled to travel to the heavily soiled area and clean the heavily soiled area by reversing through the mop.

8. The method according to claim 7, characterized in that The detection of the existence of a heavily soiled area and controlling the cleaning robot to avoid the heavily soiled area includes: A heavily soiled area is detected, and the cleaning robot is controlled to perform edge cleaning around the heavily soiled area to form a target area surrounding the heavily soiled area; Control the cleaning robot to avoid the target area; The control of the cleaning robot to travel to the heavily soiled area and clean the heavily soiled area by reversing through the mop includes: Control the cleaning robot to travel to the target area, and control the cleaning robot to reverse and travel within the target area based on a preset cleaning path to clean at least part of the heavily soiled area through the mop.

9. The method according to claim 7, wherein The number of the heavily soiled areas is at least one, and the control of the cleaning robot to travel to the heavily soiled area and clean the heavily soiled area by reversing through the mop includes: Travel to the at least one heavily soiled area in sequence according to the cleaning order displayed by the application APP of the terminal device, and clean the at least one heavily soiled area by reversing through the mop; the terminal device is communicatively connected to the cleaning robot.

10. The method according to claim 9, wherein The cleaning order is determined by at least one of the following methods: The distance between the position where the cleaning robot is located after cleaning the area in the area to be cleaned except the at least one heavily soiled area and the at least one heavily soiled area; The distance between the at least one heavily soiled area and the cleaning base station; The degree of dirtiness corresponding to the at least one heavily soiled area; The order of marking the at least one heavily soiled area by the cleaning robot during the cleaning process; In response to a first operation by the user on the APP of the terminal device.

11. The method according to claim 7, characterized in that, The method further includes: After cleaning the area other than the heavily soiled area in the area to be cleaned, and before controlling the cleaning robot to move to the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop.

12. The method according to claim 1, wherein The controlling the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to clean at least a part of the heavily soiled area through the mop includes: Controlling the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to repeatedly clean at least a part of the heavily soiled area through the mop.

13. The method according to claim 12, wherein The method further includes: After each cleaning of at least a part of the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop.

14. The method according to claim 1, characterized in that, The detecting that there is a heavily soiled area and controlling the cleaning robot to move at least partially in a reverse manner based on a preset cleaning path to clean at least a part of the heavily soiled area through the mop includes: Detecting that there is a heavily soiled area, controlling the cleaning robot to adjust its direction at the second position or the third position, and cleaning at least a part of the heavily soiled area through the mop by moving in a reverse manner based on a preset cleaning path; wherein, the second position is the position where the cleaning robot detects the existence of the heavily soiled area; the third position is a position determined during the process of the cleaning robot walking around the heavily soiled area and suitable for entering the heavily soiled area.

15. The method according to claim 1, wherein The cleaning robot further includes a rotary brush assembly and a rotary brush cavity. A dust suction port is provided on one side of the rotary brush cavity facing the cleaning surface. The rotary brush cavity is used to accommodate the rotary brush assembly; the mop further has a fourth position. At the fourth position, at least a part of the mop is located outside the body of the cleaning robot, and the area covered by the mop during the cleaning process covers the area covered by the dust suction port during the cleaning process; The method further includes: During the process of the cleaning robot controlling the mop to switch from the first position to the fourth position for cleaning, detecting that there is a heavily soiled area, and controlling the cleaning robot to move in a reverse manner to clean at least a part of the heavily soiled area through the mop.

16. The method according to claim 1, characterized in that, The method further includes: During the process of the cleaning robot cleaning the area to be cleaned, receiving a first control instruction, where the first control instruction is an instruction for the terminal device to temporarily clean the heavily soiled area; the terminal device establishes a communication connection with the cleaning robot; Based on the first control instruction, control the cleaning robot to move in a reverse manner to clean at least a part of the heavily soiled area through the mop.

17. The method according to claim 1, wherein The method further includes: During the process of the cleaning robot cleaning the area to be cleaned, receiving a second control instruction, where the second control instruction is an instruction for the terminal device to clean the heavily soiled area multiple times; the terminal device establishes a communication connection with the cleaning robot; Based on the second control instruction, control the cleaning robot to move in a reverse manner to repeatedly clean at least a part of the heavily soiled area through the mop.

18. The method according to claim 1, characterized in that, The method further includes: During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to temporarily clean a second area. The second area is an area delimited on the display interface of the terminal device. The terminal device is communicatively connected to the cleaning robot; Based on the third control instruction, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to travel to the second area to clean the second area.

19. The method according to claim 1, wherein The method further includes: During the process of the cleaning robot cleaning at least part of the heavily soiled area, a third control instruction is received. The third control instruction is an instruction for the terminal device to temporarily clean a second area. The second area is an area delimited on the display interface of the terminal device. The terminal device is communicatively connected to the cleaning robot; Based on the third control instruction, after determining that the heavily soiled area has been passed through, control the cleaning robot to continue cleaning the corresponding part of the area that has passed through the heavily soiled area; After the cleaning of the part of the area is completed, control the cleaning robot to stop cleaning at least part of the heavily soiled area, and control the cleaning robot to travel to the second area to clean the second area.

20. The method according to claim 19, characterized in that, The determination method for the completion of the cleaning of the part of the area includes at least one of the following: The cleaning robot performs cleaning for a preset duration; The cleaning robot travels a preset distance; Based on sensor information, it is detected that the cleaning robot has driven out of the part of the area.

21. The method according to claim 18 or 20, characterized in that, The cleaning robot further includes a roller brush assembly. The method further includes: After controlling the cleaning robot to stop cleaning at least part of the heavily soiled area, control the mopping cloth to be in a first lifted position, and the roller brush assembly to stop rotating, and drive out of the heavily soiled area in a forward manner; the first lifted position is a position spaced a first distance from the cleaning surface.

22. The method according to claim 1, wherein The cleaning robot further includes a roller brush assembly and a side brush assembly. The method further includes: During the process of the cleaning robot cleaning at least part of the heavily soiled area, control the side brush assembly to be in a second lifted position, and the roller brush assembly to stop rotating; the second lifted position is a position spaced a second distance from the cleaning surface.

23. The method according to claim 1, characterized in that, The method further includes: Detect that there is a heavily soiled area, and determine the area size and / or dry-wet degree of the heavily soiled area; Based on the area size and / or the dry-wet degree, adjust the humidity of the mopping cloth.

24. The method according to claim 1, characterized in that, The method further includes: During the process of the cleaning robot cleaning at least part of the heavily soiled area, adjust the contact pressure between the mopping cloth and the cleaning surface.

25. The method according to claim 1, wherein The cleaning robot further includes: a sensor component and / or an artificial intelligence AI camera module. The sensor component and / or the AI camera module are arranged at the rear end of the body of the cleaning robot. The method further includes: Drive the rear end of the cleaning robot to deflect towards the heavily soiled area multiple times, so as to control the cleaning robot to clean at least part of the heavily soiled area by backing through the mop cloth.

26. A cleaning robot, characterized in that, The cleaning robot includes a mop cloth assembly and drive wheels. The mop cloth assembly includes a mop cloth and a driving member for driving the mop cloth to rotate. The mop cloth is a drum-type mop cloth or a crawler-type mop cloth. Based on the forward direction of the cleaning robot's travel, the drive wheels are located in front of the mop cloth. The cleaning robot is used to execute the method according to any one of claims 1-25.

27. A cleaning system, characterized in that, The cleaning system includes the cleaning robot according to claim 26 and a terminal device. The terminal device establishes a communication connection with the cleaning robot and is used to receive and visually display the feedback information of the cleaning robot during the cleaning process.

28. The cleaning system according to claim 27, wherein, The number of heavily soiled areas is at least one. Specifically, the terminal device is used for: Receiving and visually displaying the sequence of marking of the at least one heavily soiled area by the cleaning robot during the cleaning process; or, the terminal device is further used to generate a cleaning sequence in response to a first operation of the user and visually display the cleaning sequence in the APP of the terminal device.

29. The cleaning system according to claim 27, wherein, The terminal device is further used for: Displaying the number of times options for cleaning at least part of the heavily soiled area multiple times. In response to a second operation of the user on the number of times option, determining the upper limit of the number of times of repeated cleaning and visually displaying it in the APP of the terminal device.

30. The cleaning system according to claim 27, wherein, The terminal device is specifically used for: Receiving the first prompt information sent by the cleaning robot and visually displaying the first prompt information to remind the user of the working state of the cleaning robot; the first prompt information is the feedback information generated by the cleaning robot when cleaning at least part of the heavily soiled area.

31. The cleaning system according to claim 27, wherein The terminal device is further used for: Receiving the second prompt information sent by the cleaning robot and visually displaying the second prompt information to remind the user to switch the cleaning mode. The second prompt information is the feedback information generated when a heavily soiled area is detected. In response to a third operation of the user, generating a fourth control instruction to control the cleaning robot to back up and clean at least part of the heavily soiled area through the mop cloth.

32. The cleaning system according to claim 27, wherein The terminal device is specifically used for: Receiving and visually displaying the marking frame corresponding to the heavily soiled area identified by the cleaning robot during the cleaning process. The terminal device is further used for: In response to a fourth operation of the user in the APP of the terminal device, displaying a third prompt information to remind the user to switch the cleaning mode. In response to a fifth operation of the user, generating a fifth control instruction to control the cleaning robot to identify the heavily soiled area again, and receiving and visually displaying the required cleaning frame corresponding to the heavily soiled area identified by the cleaning robot again.

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