Cleaning method of cleaning robot, cleaning robot and cleaning system

Abstract

The present application provides a cleaning method, a cleaning robot and a cleaning system of a cleaning robot, which relate to the technical field of intelligent robots. The cleaning robot includes a mop assembly and a driving wheel having a mop and a driving member for driving the mop to rotate. The driving wheel is located in front of the mop based on the forward direction of the cleaning robot. During the cleaning process of the cleaning robot, the presence of a heavily contaminated area is detected, and the cleaning robot is controlled to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area with the mop; during the reverse movement, the rotation direction of the driving wheel is opposite to that of the mop, and this reverse rotation increases the relative friction between the mop and the cleaning surface, thereby more effectively wiping and removing stains, rather than simply sliding on the stains. During the reverse movement, the mop is adjusted to a first position so that its cleaning area covers the walking area of the driving wheel, so as to reduce cross contamination and improve the cleaning effect.

Description

Technical Field

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

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

[0003] In the prior art, the cleaning robot relies on driving wheels to move and cleans along a planned path. During the movement, the rotation direction of the driving wheels is the same as the rotation direction of the mop assembly to enhance the cleaning effect.

[0004] However, when the cleaning robot encounters a heavily dirty area, if the drive wheel 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, causing the mop to slide on the stains and affecting the cleaning effect. Summary of the Invention

[0005] The present application provides a cleaning method, a cleaning robot and a cleaning system for a cleaning robot, wherein the cleaning robot performs backward cleaning on heavily contaminated areas and controls the rotation directions of the driving wheel and the mop to be opposite, thereby 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 heavily contaminated areas during the backward movement. Combined with the design of adjusting the position of the mop so that its cleaning area can cover the walking area of the driving wheel during cleaning, it can not only cover the heavily contaminated areas more comprehensively and ensure a stable cleaning effect during backward cleaning, but also avoid possible sliding problems during forward movement.

[0006] In a first aspect, the present application provides a cleaning method for a cleaning robot, wherein the cleaning robot includes a mop assembly and a drive wheel, the mop assembly including a mop and a drive member for driving the mop to rotate, the mop being a roller mop or a crawler mop, and the drive wheel being located in front of the mop based on the forward direction of the cleaning robot. The method comprises:

[0007] When the cleaning robot is moving forward to clean the area to be cleaned, if a heavily contaminated area is detected, the cleaning robot is controlled to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area by mopping;

[0008] In which, during the reverse movement, the rotation direction of the driving wheel and the rotation direction of the mop are opposite. In the process of controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area with a mop, the mop is adjusted to the first position so that the cleaning area of the mop covers the walking area of the driving wheel.

[0009] In this way, after encountering a heavily soiled area, the cleaning robot is controlled to move backward so that the mop contacts the heavily soiled area first, thereby reducing the risk of the driving wheel, side brush, bottom of the roller brush chamber and the roller brush being contaminated, and the driving wheel and the mop are controlled to rotate in the reverse direction during the backward movement to increase the relative movement between the mop and the cleaning surface, thereby enhancing the friction. This enhanced friction helps to remove stubborn stains more effectively, and the reverse rotation can also reduce the sliding of the mop on the stains, so that the mop can contact the cleaning surface more stably and clean. Because, the inventor found that for the same position, by controlling the driving wheel and the mop to move backward, the relative movement between the mop and the cleaning surface is increased, thereby enhancing the friction. The reverse rotation in the middle can increase the number of contacts between the mop and the heavily contaminated area per unit time, thereby increasing the relative movement of the mop and the cleaning surface. Due to the increase in the relative movement of the mop and the cleaning surface, the mop can exert a greater "pulling force" or shearing force, which can effectively peel off and remove adherent stains such as oil stains, shoe prints and water stains. Therefore, the inventor sets the rotation direction of the driving wheel and the mop to opposite directions, so that the cleaning robot can more effectively handle heavily contaminated areas, especially oil stains, shoe prints, water stains, liquid dirt, etc. in heavily contaminated 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 situation in which the driving wheel and the mop rotate in the same direction during the cleaning process, the present application controls the mop and the driving wheel to rotate in opposite directions, so that the number of times the mop contacts the cleaning surface per unit time increases. This increased contact frequency enables the mop to act on the same position more frequently, thereby improving cleaning efficiency. The relative movement generated by the reverse rotation forms a "pulling force" between the mop and the cleaning surface, that is, a friction 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 off and decompose these stubborn stains, making them easier to be removed by the mop. The shearing action changes the adhesion state of the stains, reduces their adhesion, and makes the stains easier to remove.

[0011] In addition, in the process of controlling the cleaning robot to move backward based on a preset cleaning path to clean at least part of the heavily contaminated area with a mop, the mop is adjusted to the first position to ensure that the cleaning area of the mop covers the walking area of the driving wheel, that is, the mop contacts the heavily contaminated area first, and the driving wheel and the roller brush assembly contact the heavily contaminated area later. This not only avoids the contamination of the driving wheel and the roller brush assembly by the heavily contaminated area, but also effectively removes any residual dirt that may be brought by the driving wheel, reduces the cross-contamination that may be caused by the rolling of the wheel, and ensures the cleanliness of the cleaning area. Therefore, by accurately adjusting the mop to the first position, the cleaning robot can handle the heavily contaminated areas more effectively and ensure that these areas are effectively cleaned.

[0012] It should also be noted that when the cleaning robot moves forward to clean the area to be cleaned, if the mop is already in the first position, then when cleaning the heavily contaminated area by reversing, the mop only needs to continue to remain in the first position, thereby reducing unnecessary movement and adjustment time. If the mop is not in the first position, for example, in the outward-expanded fourth position, the cleaning robot can activate the adjustment mechanism and adjust the mop to the first position when cleaning the heavily contaminated area by reversing, so as to ensure that the ideal cleaning effect is achieved during reverse cleaning.

[0013] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0014] When a heavily contaminated area is detected, the cleaning robot is controlled to clean the heavily contaminated area along the edge. After the edge cleaning is completed, the cleaning robot is controlled to move backward to clean the remaining heavily contaminated area inside the edge by mopping.

[0015] In this way, by cleaning along the edges, the cleaning robot can effectively remove dirt on the edges of heavily contaminated areas, while moving backwards ensures thorough cleaning of the internal heavily contaminated areas, achieving comprehensive cleaning coverage. Therefore, by combining cleaning along the edges and moving backwards, possible omissions during the cleaning process are reduced, ensuring that every part of the heavily contaminated area is cleaned. This strategy not only optimizes the cleaning path, reduces the need for repeated cleaning, and improves cleaning efficiency, but can also further reduce repetitive actions, reduce the energy consumption of the cleaning robot, and extend its service life.

[0016] Optionally, control the cleaning robot to clean the heavily contaminated area along the edge, including:

[0017] Controlling the cleaning robot to clean the first area along the edge, where the first area has a preset shape and includes at least a heavily contaminated area;

[0018] Alternatively, the cleaning robot is controlled to perform edge cleaning at a position with a preset distance from the edge of the heavily polluted area.

[0019] Therefore, by providing two edge cleaning strategies, the cleaning robot can adapt to different shapes and sizes of heavily contaminated areas, improving application flexibility. In addition, edge cleaning can ensure that dirt in edge areas is effectively removed, reducing possible omissions during the cleaning process, and can also effectively prevent dirt from spreading from heavily contaminated areas to other areas, keeping the overall environment clean. In this way, through precise edge cleaning, the cleaning robot can handle heavily contaminated areas more thoroughly, ensuring comprehensive cleaning effects.

[0020] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0021] When a heavily contaminated area is detected, the cleaning robot is controlled to continue moving along the original cleaning path. Before the cleaning robot passes through at least part of the heavily contaminated area, the cleaning robot is controlled to rotate and clean at least part of the heavily contaminated area by mopping in a backward manner.

[0022] In this way, when cleaning heavily contaminated areas, the rotation direction of the cleaning robot is controlled, and by moving backward, cross contamination caused by wheels or other components when moving forward can be reduced, and the heavily contaminated areas are cleaned according to the original cleaning path, which does not affect the overall path planning, reduces the complexity of path planning, reduces energy consumption, simplifies the operation process, and does not require additional settings or adjustments, thereby improving the user experience. In addition, by using the original cleaning path, the cleaning robot does not need to recalculate and plan a new path, thereby saving time and computing resources and improving cleaning efficiency. Moreover, using the original path can also ensure that the cleaning parts cover all areas that need to be cleaned, avoid omissions or repeated cleaning, and maintain the consistency and comprehensiveness of cleaning.

[0023] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0024] When the presence of a heavily contaminated area is detected, the cleaning robot is controlled to clean all heavily contaminated areas by mopping in an alternating manner of backward and forward movement.

[0025] Therefore, by alternating between backward and forward cleaning methods, it is ensured that heavily contaminated areas are covered and cleaned multiple times, and stubborn dirt can be removed more thoroughly. By alternating cleaning, the cleaning robot can ensure that every corner of the heavily contaminated area is cleaned, reducing omissions. This strategy reduces the possible need for repetition during the cleaning process and improves overall cleaning efficiency. In this way, through effective path planning and cleaning strategies, the cleaning robot can utilize electricity and cleaning resources more efficiently and extend working time.

[0026] Optionally, when a heavily contaminated area is detected, the cleaning robot is controlled to clean all heavily contaminated areas by mopping in an alternating manner of backward and forward movement, including:

[0027] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to move backward from a first end of the heavily contaminated area and clean at least a portion of the heavily contaminated area by mopping until it reaches a second end of the heavily contaminated area;

[0028] After moving backward to the second end of the heavily contaminated area, the cleaning robot is controlled to move forward to the first end of the heavily contaminated area, and the cleaning robot is controlled to adjust its direction and / or position, and continues to clean the remaining heavily contaminated area by mopping in an alternating manner of moving backward and forward.

[0029] In this way, by alternating between reverse and forward cleaning methods, the mop can cover the same heavily soiled area multiple times. This repeated rubbing action helps to remove stubborn stains more thoroughly and ensures that every part of the cleaning robot in the heavily soiled area can be cleaned evenly, 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 distribution and terrain characteristics, ensuring efficient use of resources, reducing possible repeated needs during the cleaning process, and improving overall cleaning efficiency.

[0030] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0031] If a heavily polluted area is detected, the cleaning robot is controlled to avoid the heavily polluted area;

[0032] After the cleaning robot avoids the heavily contaminated area, it cleans the area to be cleaned except the heavily contaminated area, and then controls the cleaning robot to move to the heavily contaminated area and cleans the heavily contaminated area by mopping in a reverse moving manner.

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

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

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

[0036] Optionally, upon detecting the presence of a heavily polluted area, controlling the cleaning robot to avoid the heavily polluted area includes:

[0037] When a heavily polluted area is detected, the cleaning robot is controlled to clean along the edges of the heavily polluted area to form a target area surrounding the heavily polluted area;

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

[0039] Control the cleaning robot to move to the heavily contaminated area and clean the heavily contaminated area by mopping in reverse, including:

[0040] The cleaning robot is controlled to move to a target area, and is controlled to move backward within the target area based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping.

[0041] In this way, by cleaning along the edges, the cleaning robot can accurately identify and locate the boundaries of the heavily contaminated area, ensuring that the heavily contaminated area can be completely covered during subsequent cleaning. Cleaning around the heavily contaminated area can also prevent dirt from spreading outward, ensuring that the dirt in the heavily contaminated area will not contaminate the surrounding cleaned areas. By cleaning around the heavily contaminated area first, the cleaning order can be optimized, and the cleaning robot can then effectively plan the cleaning path, making the cleaning of the heavily contaminated area more concentrated and effective, reducing unnecessary repeated travel. Therefore, this method simplifies the path planning process, allowing the cleaning robot to clean according to the preset path, reducing complex path adjustments, and by processing simple areas and edges first, the cleaning robot can quickly complete most cleaning tasks, dedicating more time and resources to the thorough cleaning of heavily contaminated areas. Through clear area division and cleaning order, the cleaning components can be reduced from moving back and forth between heavily contaminated areas and other areas, reducing the risk of cross-contamination.

[0042] Optionally, there is at least one heavily contaminated area, and controlling the cleaning robot to move to the heavily contaminated area and clean the heavily contaminated area by mopping in a reverse movement manner includes:

[0043] The terminal device moves to at least one heavily contaminated area in the cleaning order displayed by the application APP of the terminal device, and cleans at least one heavily contaminated area by mopping in a reverse moving manner; the terminal device establishes a communication connection with the cleaning robot.

[0044] In this way, through a clear cleaning sequence, the cleaning robot can concentrate its resources and time on cleaning heavily contaminated areas, ensuring that these heavily contaminated areas are thoroughly treated. Cleaning in the planned order can also avoid the cleaning robot's frequent movement between heavily contaminated areas and cleaned areas, reducing the risk of cross-contamination. In addition, users can view and adjust the cleaning sequence through the app, providing a higher level of customization and control, meeting different cleaning needs, and improving user experience and satisfaction. The cleaning sequence planned by the app can also help the cleaning robot complete cleaning tasks more efficiently, reducing unnecessary path duplication and wasted time.

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

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

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

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

[0049] The order in which the cleaning robot marks at least one heavily contaminated area during the cleaning process;

[0050] In response to a first operation performed by a user on an APP of a terminal device.

[0051] Therefore, by determining the cleaning order in a variety of ways, the cleaning robot can optimize its cleaning path and strategy more intelligently. For example, prioritizing cleaning the nearest heavily polluted areas can reduce unnecessary movement, save time and electricity, and improve cleaning efficiency. Prioritizing cleaning areas close 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. The cleaning order is determined according to the degree of dirtiness of the heavily polluted areas, giving priority to the dirtiest areas to ensure that these areas are cleaned promptly and thoroughly, improving the overall cleaning effect. Giving priority to the areas with the lightest dirtiness 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 performed according to the preset logic and plan, avoiding omissions or repeated cleaning. Determining the cleaning order according to the user's first operation on the APP can provide a personalized cleaning experience to meet the user's specific needs and preferences.

[0052] In this way, the cleaning order is determined by combining multiple factors, allowing the cleaning robot to flexibly adapt to different cleaning surface conditions and user needs, providing more intelligent cleaning services.

[0053] Optionally, the method further includes:

[0054] After cleaning the area to be cleaned except the heavily contaminated area, and before controlling the cleaning robot to move to the heavily contaminated area, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

[0055] Therefore, by cleaning the mop before treating heavily contaminated areas, the risk of dirt from non-heavily contaminated areas being brought into heavily contaminated areas can be reduced, preventing cross-contamination. The cleaned mop can more effectively absorb and remove stubborn dirt from heavily contaminated areas, improving decontamination ability and cleaning effect. In addition, using a clean mop to clean heavily contaminated areas can also reduce the number of repeated cleanings and improve overall cleaning efficiency.

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

[0057] The cleaning robot is controlled to move at least partially in a reverse manner based on a preset cleaning path so as to repeatedly clean at least a portion of the heavily soiled area by mopping.

[0058] Repeated cleaning helps to improve the dirt removal rate, especially when the first cleaning fails to completely remove the dirt. Multiple covering can further improve the cleaning effect, and repeated cleaning can ensure that the entire heavily contaminated area is evenly treated to avoid omissions or uneven cleaning. Therefore, through optimized preset cleaning paths and repeated cleaning strategies, while ensuring the thorough cleaning of heavily contaminated areas, it can also reduce the user's operating burden, improve the automation and intelligence level of the cleaning robot, and thus improve user satisfaction with the cleaning effect.

[0059] Optionally, the method further includes:

[0060] After cleaning at least part of the heavily contaminated area each time, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

[0061] Since the cleaned mop can absorb and remove dirt more effectively, ensuring the effectiveness of each cleaning task, 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 cleaning, thereby improving overall cleaning efficiency.

[0062] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0063] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to adjust its direction at the second position or the third position, and to clean at least a portion of the heavily contaminated area by mopping in a reverse manner based on a preset cleaning path;

[0064] Among them, the second position is the position where the cleaning robot is located when it detects the existence of a heavily polluted area; the third position is the position suitable for entering the heavily polluted area determined by the cleaning robot during the process of walking around the heavily polluted area after detecting the existence of the heavily polluted 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 shape of the heavily contaminated area. Adjusting the direction at a suitable position and reversing to enter the heavily contaminated area can optimize the cleaning path and ensure that the robot covers the heavily contaminated area in an effective manner. By selecting the appropriate entry point and path, unnecessary movement and adjustment can be reduced, saving time and electricity and improving 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 cleaning robot's ability to make intelligent decisions in complex environments, improving its automation and intelligence level.

[0066] Optionally, the cleaning robot further includes a roller brush assembly and a roller brush chamber, wherein a dust suction port is provided on a side of the roller brush chamber facing the cleaning surface, and the roller brush chamber is used to accommodate the roller brush assembly; the mop further has a fourth position, wherein at the fourth position, the mop is at least partially located outside the body of the cleaning robot and an area covered by the mop during cleaning overlaps an area covered by the dust suction port during cleaning; and the method further includes:

[0067] During the process of the cleaning robot controlling the mop to switch from the first position to the fourth position for cleaning, a heavily contaminated area is detected, and the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area with the mop.

[0068] In this way, the mop part is located outside the body of the cleaning robot, and can cover an area larger than the suction port, ensuring that a larger area of the cleaning surface is cleaned, especially in the area along the wall. By allowing the mop to cover a larger area, it can effectively prevent dirt in heavily polluted areas from entering the roller brush chamber, roller brush assembly and drive wheel, thereby reducing the wear and contamination of these key components, especially preventing the roller brush bristles in the roller brush chamber from being stained with liquid dirt, and the backward movement can ensure that the mop contacts the dirt first, providing stronger cleaning power, especially in heavily polluted areas, and can more effectively remove stubborn stains.

[0069] Optionally, the method further includes:

[0070] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the first control instruction is received, which 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 a portion of the heavily soiled 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 polluted areas, they can ensure that heavily polluted areas are cleaned in a timely manner, thereby improving overall cleaning efficiency. Moreover, by temporarily adjusting the cleaning order of heavily polluted areas, cleaning tasks can be managed more effectively and personalized cleaning services can be provided. In this application, the cleaning robot can quickly respond to user instructions and adapt to dynamically changing cleaning needs, and users can directly participate in and control the cleaning process through terminal devices, thereby enhancing their sense of control and satisfaction with the cleaning robot.

[0073] Optionally, the method further includes:

[0074] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the second control instruction is received, which 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 soiled 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 flexibly respond to emergencies in family life, which provides higher flexibility and control. In particular, users can perform multiple cleanings on heavily polluted areas. Through multiple cleaning operations, it can be ensured that the heavily polluted 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 a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

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

[0080] In this way, the user can instantly demarcate the second area and send cleaning instructions through the terminal device, so that the cleaning robot can quickly respond to new cleaning needs and flexibly adjust cleaning tasks. In addition, 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 instructions, the user-specified area can be quickly processed, unnecessary path planning and time waste can be avoided, and cleaning resources can be allocated more effectively to ensure that the second area is given priority.

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

[0082] Optionally, the method further includes:

[0083] During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

[0084] Based on the third control instruction, after determining that the cleaning robot has passed through a heavily contaminated area, the cleaning robot is controlled to continue cleaning a portion of the area corresponding to the heavily contaminated area;

[0085] After cleaning of a part of the area is completed, the cleaning robot is controlled to stop cleaning at least a part of the heavily contaminated area, and the cleaning robot is controlled to move to a second area to clean the second area.

[0086] Therefore, after receiving the new third control instruction, necessary cleaning of the heavily contaminated area continues to be carried out to ensure that the areas corresponding to the must-pass routes are thoroughly processed to prevent contamination of the roller brush and other components. In this way, by completing the required cleaning of the heavily contaminated area and then turning to the second area, the risk of cross-contamination between different areas is reduced, and user satisfaction with the cleaning effect is improved.

[0087] Optionally, the method for determining the completion of cleaning of a partial area includes at least one of the following:

[0088] The cleaning robot cleans for a preset period of time;

[0089] The cleaning robot travels a preset distance;

[0090] Driving out of a certain area is detected based on sensor information.

[0091] In this way, by setting the preset time and preset distance, the cleaning robot can perform sufficient cleaning in the heavily polluted area. By fully cleaning the heavily polluted area before entering the second area, it can ensure that the dirt in the heavily polluted area will not be brought to other areas by mopping or other means, thereby ensuring the cleaning effect. Moreover, by precisely controlling the cleaning time and cleaning distance of some areas, unnecessary energy and resource consumption can also be reduced. In addition, 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 robot are enhanced to ensure 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 part of the heavily contaminated area, the mop is controlled to be in a first lifting position, and the roller brush assembly stops rotating, and moves out of the heavily contaminated area in a forward moving manner; the first lifting position is a position at a first distance from the cleaning surface.

[0094] In this way, after stopping cleaning at least part of the heavily contaminated areas, lifting the mop can effectively prevent the dirt in the heavily contaminated areas from being brought to other areas, reducing the risk of cross-contamination and keeping other areas clean and hygienic. Stopping the rotation of the roller brush assembly can prevent the dirt in the heavily contaminated areas from contaminating and wearing the roller brush. In addition, stopping the operation of unnecessary components such as the roller brush and vacuuming functions 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 flexible adjustments in a dynamic environment, thereby adapting to different cleaning needs and environmental changes, and providing efficient, thorough and cross-contamination-free cleaning services, thereby improving 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] When the cleaning robot is cleaning at least part of the heavily contaminated area, the side brush assembly is controlled to be in a second raised position and the roller brush assembly stops rotating; the second raised position is a position at a second distance from the cleaning surface.

[0097] In this way, during the cleaning process of heavily contaminated areas, stopping the rotation of the roller brush assembly and lifting the side brush assembly can prevent the dirt in the heavily contaminated areas from contaminating these components, and can also prevent the dirt in the heavily contaminated areas from being brought to other areas, reducing the risk of cross-contamination and keeping other areas clean. 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 status of the components, different types of dirt and cleaning needs can be handled more efficiently, improving the cleaning effect and efficiency.

[0098] Optionally, the method further includes:

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

[0100] Adjust the dampness of the mop based on the size of the area and / or how wet or dry it is.

[0101] Therefore, dynamically adjusting the mop humidity according to the area size and / or dryness and wetness of the heavily soiled area can ensure that the mop can achieve the ideal cleaning effect under different types of dirt and surface conditions. In addition, by adjusting the humidity as needed, unnecessary water use can be avoided and water resources can be saved. In this way, by targeted adjustment of the mop humidity, the cleaning robot can complete the cleaning task more quickly and efficiently, and by intelligently managing water and cleaning resources, it can optimize overall resource utilization and reduce unnecessary waste.

[0102] Optionally, the method further includes:

[0103] When the cleaning robot is cleaning at least a portion of the heavily soiled area, the contact pressure between the mop and the cleaning surface is adjusted.

[0104] Therefore, by dynamically adjusting the mop pressure, it can be ensured that the mop can achieve the 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 of the cleaning surface. By this targeted adjustment of 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 be reduced, thereby extending its service life.

[0105] Optionally, the cleaning robot further includes: a sensor component and / or an artificial intelligence (AI) camera module, wherein the sensor component and / or the AI camera module are disposed at the rear end of the cleaning robot body; and the method further includes:

[0106] The rear end of the cleaning robot is driven to deflect toward the heavily contaminated area multiple times, so as to control the cleaning robot to move backward to clean at least a portion of the heavily contaminated area by mopping.

[0107] In this way, through multiple deflections and backward movement, the cleaning robot can adjust the cleaning path more flexibly to ensure that heavily contaminated areas are fully covered and processed, and the combined use of sensor components and AI modules can help the cleaning robot identify uncleaned heavily contaminated areas, reduce cleaning omissions, and ensure that each area can meet the expected cleaning standards. In addition, the backward movement method reduces unnecessary repeated cleaning. Therefore, through precise cleaning and path optimization, the cleaning effect of heavily contaminated areas can also be improved, saving time and resources, thereby improving overall cleaning efficiency.

[0108] In a second aspect, the present application provides a cleaning robot, which includes a mop assembly and a drive wheel. The mop assembly includes a mop and a drive member for driving the mop to rotate. The mop is a roller mop or a crawler mop. The drive wheel is located in front of the mop based on the forward direction of the cleaning robot. The cleaning robot is used to perform any method as described in the first aspect.

[0109] It should be noted that the second aspect of this application corresponds to the technical solution of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar, which will not be repeated here.

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

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

[0112] In this way, users can understand the status and work progress of the cleaning robot at any time without having to check the cleaning robot in person. This real-time monitoring improves user convenience, 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, users can promptly understand that the cleaning robot is moving backwards to clean heavily polluted areas, preventing users from mistakenly believing that the cleaning robot is behaving abnormally.

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

[0114] Optionally, the number of heavily polluted areas is at least one, and the terminal device is specifically configured to:

[0115] Receive and visually display the order in which the cleaning robot marks at least one heavily contaminated area during the cleaning process; alternatively, the terminal device is also used to generate a cleaning order in response to the user's first operation, and visually display the cleaning order in an APP of the terminal device.

[0116] In this way, by marking and managing heavily contaminated areas, users can better understand the heavily contaminated areas that need special attention, take timely measures for deep cleaning or maintenance, and ensure that the heavily contaminated areas are effectively cleaned, thereby improving overall cleaning efficiency and effectiveness. In addition, the visual cleaning data and interactive APP interface increase user participation, allowing users to manage cleaning tasks more actively, and users can also customize the cleaning order according to 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] An option is displayed for performing multiple repetitions of cleaning on at least some of the heavily soiled areas;

[0119] In response to the user's second operation on the number option, the upper limit of the number of repeated cleanings is determined and visually displayed in the APP of the terminal device.

[0120] This allows users to set an upper limit on the number of repeated cleanings, providing greater flexibility and control, enabling users to adjust cleaning strategies according to specific needs. By repeatedly cleaning heavily soiled areas, cleaning can significantly improve cleaning results, ensuring that stubborn dirt is effectively removed. It can also avoid repeated misjudgment of dirt, repeated cleaning, and returning to the cleaning base station to clean the mop. Therefore, by providing detailed cleaning options and an intuitive interface, the user experience can be improved, and user satisfaction with the cleaning system can also be improved. In addition, users can automatically schedule multiple cleanings with a single setting, reducing the need for manual intervention and saving time and energy.

[0121] Optionally, the terminal device is specifically used for:

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

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

[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 feedback information generated when a heavily polluted area is detected;

[0126] In response to the user's third operation, a fourth control instruction is generated to control the cleaning robot to move backward to clean at least part of the heavily soiled area by mopping.

[0127] In this way, through the visual second prompt information and interactive control interface, the user can adjust the cleaning mode in time, so that the cleaning robot can handle heavily polluted areas more effectively and ensure that the heavily polluted areas are effectively cleared. By the user determining the switching of the cleaning mode, it can also prevent misjudgment of dirt and improve emergency processing capabilities. 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 can more efficiently utilize electricity and cleaning resources and extend the working time of the cleaning robot. The flexibility provided by the cleaning system allows users to 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 used for:

[0129] Receive and visually display the marking boxes corresponding to the heavily contaminated areas identified by the cleaning robot during the cleaning process;

[0130] The terminal device is also used to:

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

[0132] In response to the user's fifth operation, a fifth control instruction is generated to control the cleaning robot to identify the heavily contaminated area again, and receive and visually display the required cleaning frame corresponding to the heavily contaminated area identified again by the cleaning robot.

[0133] In this way, through the visual display of the marking box, users can initially understand the location of the heavily contaminated areas and ensure that these areas receive proper attention and cleaning. Furthermore, by re-identifying the heavily contaminated areas, the specific location and size of the heavily contaminated areas can be calibrated to ensure that the cleaning robot accurately handles the heavily contaminated areas in an appropriate manner. By accurately identifying and handling heavily contaminated areas, the cleaning system can more efficiently utilize resources and improve cleaning efficiency and effectiveness. In addition, users can also actively participate in the adjustment of cleaning strategies through interactive operations according to actual needs, thereby improving control over the cleaning process. This visual marking box and interactive prompt method enhance the user experience and make 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 contaminated area is detected, the cleaning robot no longer continues to move forward, but moves backward based on a preset cleaning path. This enables the mop assembly to first contact the heavily contaminated area, thereby removing most of the dirt before the side brush and the roller brush contact. This backward movement method ensures that the mop is always in front of the cleaning robot during the cleaning process, thereby effectively covering and cleaning the heavily contaminated area. In the backward movement process, the rotation direction of the mop is opposite to the rotation direction of the drive wheel, which increases the distance between the mop and the cleaning The relative friction of the surface causes the mop assembly to exert greater friction on the heavily soiled areas. In this way, the mop can more effectively wipe and remove stains when passing through the heavily soiled areas, rather than simply sliding on the stains, further improving the cleaning effect. In the process of reverse travel, the mop is adjusted to the first position so that its cleaning area can cover the walking area of the drive wheel. This adjustment ensures that the cleaning area of the mop can cover and clean the walking area of the drive wheel when moving backward, further reducing the risk of cross-contamination caused by heavily soiled areas, for example, reducing the contamination of the drive wheel and the roller brush assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0135] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0136] Figure 1 A schematic diagram of a portion of the structure of a cleaning robot provided in an embodiment of the present application;

[0137] Figure 2 A schematic structural diagram of a cleaning robot provided in an embodiment of the present application during its backward movement;

[0138] Figure 3 A schematic structural diagram of a cleaning robot provided in an embodiment of the present application when cleaning along a wall;

[0139] Figure 4 A schematic diagram of a partial structure of a cleaning system provided in an embodiment of the present application;

[0140] Figure 5 A schematic diagram of an interface of a terminal device provided in an embodiment of the present application;

[0141] Figure 6 A schematic diagram of interface switching of a terminal device provided in an embodiment of the present application;

[0142] Figure 7 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0143] Figure 8 A schematic flow chart of a cleaning method for a cleaning robot provided in an embodiment of the present application;

[0144] Figure 9 A roadmap of a preset cleaning path provided in an embodiment of the present application;

[0145] Figure 10 A roadmap of another preset cleaning path provided in an embodiment of the present application;

[0146] Figure 11 A roadmap of another preset cleaning path provided in an embodiment of the present application;

[0147] Figure 12 A schematic structural diagram of a cleaning device of a cleaning robot is provided for an embodiment of the present application;

[0148] Figure 13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0149] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0150] To facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish between different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean that they are different.

[0151] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0152] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0153] In the prior art, the cleaning robot relies on driving wheels to move and cleans along a planned path. During the movement, the rotation direction of the driving wheels is the same as the rotation direction of the mop assembly to enhance the cleaning effect.

[0154] However, when the cleaning robot encounters a heavily dirty area, if the drive wheel 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, causing the mop to slide on the stains and affecting the cleaning effect.

[0155] In response to the above problems, the present application provides a cleaning method for a cleaning robot. When a heavily soiled area is detected, the cleaning robot no longer moves forward, but moves backward based on a preset cleaning path. This allows the mop assembly to first contact the heavily soiled area, thereby removing most of the dirt before the side brush and the roller brush come into contact. This backward movement method ensures that the mop is always in front of the cleaning robot during the cleaning process, thereby effectively covering and cleaning the heavily soiled area. In the backward movement process, the rotation direction of the mop is opposite to that of the driving wheel, which increases the relative friction between the mop and the cleaning surface, making the mop The cloth assembly exerts greater friction on heavily soiled areas, so that the mop can wipe and remove stains more effectively when passing through heavily soiled areas, rather than simply sliding on the stains, further improving the cleaning effect, and during the reverse 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 the cleaning area of the mop can cover and clean the walking area of the drive wheels when moving backward, further reducing the risk of cross-contamination caused by heavily soiled areas, for example, reducing the contamination of the drive wheels and the roller brush assembly.

[0156] Among them, the heavily polluted area may be an area where the degree of dirtiness is greater than a first threshold. The embodiment of the present application does not specifically limit the size of the first threshold, which can be set based on the requirements of actual application scenarios.

[0157] Optionally, the stains in the heavily soiled area include but are not limited to liquid stains, solid-liquid mixed stains, etc.; for example, the stains may be milk, soy sauce, coffee liquid, urine, and solid-liquid stains mixed with these liquid stains and particulate matter, etc.

[0158] It should be noted that the cleaning method of the cleaning robot provided in this application is applied to the cleaning robot, exemplarily, Figure 1 A schematic diagram of a cleaning robot according to an embodiment of the present invention is shown in FIG. Figure 1 As shown, the cleaning robot 100 includes a mop assembly 102 and a driving wheel 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 crawler mop. Based on the forward direction of the cleaning robot 100, the driving wheel 101 is located in front of the mop 11.

[0159] Among them, the drum mop wipes the cleaning surface through a rotating motion, and the crawler mop cleans the cleaning surface through a continuous circular motion. The crawler mop can provide a larger contact area and is particularly suitable for handling stubborn dirt.

[0160] Optional, Figure 2 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application during its backward movement is shown in FIG. Figure 2 As shown, the cleaning robot also includes a roller brush assembly 103 and a roller brush chamber (not shown in the figure). The roller brush chamber is provided with a dust suction port 104 on the side facing the cleaning surface. The roller brush chamber is used to accommodate the roller brush assembly 103. Figure 2 In the embodiment, the mop 11 is located at the first position, at which time the cleaning area of the mop 11 covers the walking area of the driving wheel 101.

[0161] It should also be noted that the mop 11 is in the first position, and the area covered by the mop 11 can cover the maximum edge of the driving wheel 101. Optionally, the area covered by the mop 11 can also be larger than the travel track or covered area of the driving wheel 101, such as Figure 2 As shown, the length of the dotted line in the mop 11 is greater than the length of the dotted line from the leftmost end to the rightmost end of the driving wheel 101.

[0162] Optional, such as Figure 3 As shown, the mop also has a fourth position, in which the mop 11 is at least partially located outside the body of the cleaning robot 100 and the area covered by the mop 11 during cleaning covers the area covered by the suction port 104 during cleaning. Figure 3 As shown, at the fourth position, the mop is expanded outward, and the length of the mop on the left side of the dotted line represents the expanded length of the mop.

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

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

[0165] The sensor component is used to detect environmental information, including obstacles, cleaning surface type, degree of dirtiness, etc. The sensor component may include an infrared sensor, an ultrasonic sensor, a lidar, etc. The embodiment of the present application does not specifically limit the type of the sensor component.

[0166] The AI camera module captures environmental images through a camera and uses artificial intelligence algorithms to process and analyze the images. It can be used to identify dirt, obstacles, and other environmental features that require attention on the cleaning surface.

[0167] By integrating sensor components and / or AI camera modules at the back end, the cleaning robot 100 can perceive the back end working environment more intelligently, thereby providing more efficient and thorough cleaning services.

[0168] For example, Figure 4 A schematic diagram of a cleaning system according to an embodiment of the present invention is shown in FIG. Figure 4As shown, the cleaning system 300 includes Figure 1-Figure 3 The cleaning robot and terminal device 200 shown;

[0169] The terminal device 200 establishes a communication connection with the cleaning robot 100 to receive and visually display feedback information from 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] Illustratively, during the cleaning process, the cleaning robot 100 collects various feedback information, including the cleaning path, cleaned areas, obstacles encountered, heavily contaminated areas encountered, etc., and then transmits the information to the terminal device 200 in real time via wireless communication. After the terminal device 200 receives the feedback information from the cleaning robot 100, it visualizes the data to the user through an application or interface. The user can view the current position, cleaning progress, path planning, and any issues that require attention of the cleaning robot 100 on the terminal device 200, such as the discovery of heavily contaminated areas or obstacles.

[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 embodiment of the present application does not specifically limit the operations performed by the user to control the cleaning robot 100 based on the terminal device 200, which can be determined based on the application scenario requirements at the time.

[0173] In this way, users can understand the status and work progress of the cleaning robot 100 at any time without having to check the cleaning robot 100 in person. This real-time monitoring improves user convenience, 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, users can promptly understand that the cleaning robot 100 is moving backward to clean heavily polluted areas, preventing users from mistakenly believing that the cleaning robot is behaving abnormally.

[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 the heavily polluted area is at least one, and the terminal device 200 is specifically configured to:

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

[0177] Illustratively, the cleaning robot 100 can detect heavily contaminated areas on the cleaning surface during the cleaning process. Once heavily contaminated areas are detected, the cleaning robot 100 will mark these areas and record their locations and the order of cleaning. Furthermore, the cleaning robot 100 will transmit the marked heavily contaminated area information, including their number and cleaning order, to the terminal device 200. The terminal device 200 will visualize this information to the user through an application (APP) so that the user can see the location of each heavily contaminated area and the order of cleaning.

[0178] Optionally, the user can view the work progress of the cleaning robot through the terminal device 200 and adjust the cleaning order of the heavily contaminated 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 contaminated areas, and the cleaning order generated by the APP is visually displayed in the APP, so that the user can intuitively see the new cleaning plan.

[0179] Furthermore, 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 cleaning is completed, the cleaning robot 100 transmits 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 heavily contaminated areas, users can better understand the heavily contaminated areas that need special attention, take timely measures for deep cleaning or maintenance, and ensure that the heavily contaminated areas are effectively cleaned, thereby improving overall cleaning efficiency and effectiveness. In addition, the visual cleaning data and interactive APP interface increase user participation, allowing users to manage cleaning tasks more actively, and users can also customize 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] An option is displayed for performing multiple repetitions of cleaning on at least some of the heavily soiled areas;

[0183] In response to the user's second operation on the number option, the upper limit of the number of repeated cleanings is determined and visually displayed in the APP of the terminal device 200.

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

[0185] Optionally, the cleaning robot 100 can also perform tasks according to the set cleaning plan and feed back the results to the terminal device 200 after completion, so that the user can view the cleaning progress and results in the APP to ensure that the cleaning task is completed as expected.

[0186] Thus, allowing users to set an upper limit on the number of repeated cleanings provides greater flexibility and control, enabling users to adjust cleaning strategies according to specific needs. By repeatedly cleaning heavily soiled areas, cleaning can significantly improve cleaning results, ensuring that stubborn dirt is effectively removed. It can also avoid repeated misjudgment of dirt, repeated cleaning, and returning to the cleaning base station to clean the mop. Therefore, by providing detailed cleaning options and an intuitive interface, the user experience can be improved, and user satisfaction with the cleaning system 300 can also be improved. In addition, users can automatically schedule multiple cleanings with a single setting, reducing the need for manual intervention and saving time and energy.

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

[0188] Receive the first prompt information sent by the cleaning robot and visually display the first prompt information to remind the user of the working status of the cleaning robot; the first prompt information is feedback information generated by the cleaning robot when cleaning at least part of the heavily polluted area.

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

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

[0191] In this way, the user can understand the current working status of the cleaning robot 100 by checking the prompt information on the terminal device 200, and obtain instant feedback on the cleaning progress and effect, so that the user can more intuitively understand the status and needs of the cleaning robot 100, thereby improving the user experience and satisfaction. By promptly receiving and displaying the first prompt information, the user can quickly respond to any situation that requires intervention, such as when the cleaning robot encounters a heavily polluted area and needs to switch the cleaning mode, etc., and by promptly handling the problems pointed out in the first prompt information, the user can ensure that the cleaning robot 100 operates in an ideal state, thereby improving cleaning efficiency and effectiveness.

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

[0193] 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 feedback information generated when a heavily polluted area is detected;

[0194] In response to the user's third operation, a fourth control instruction is generated to control the cleaning robot to move backward to clean at least part of the heavily soiled area by mopping.

[0195] In an embodiment of the present application, when the cleaning robot detects a heavily contaminated area during the cleaning process, a second prompt message may also be generated. The second prompt message may include the location and area of the heavily contaminated area and a recommended cleaning mode, such as a mode that needs to be switched or multiple cleanings that need to be repeated. For example, Figure 6 The prompt message shown in B is "There is a heavily contaminated area in this cleaning, and the robot has not cleaned the heavily contaminated area. Do you want to switch the cleaning mode to clean the heavily contaminated area?" The embodiment of the present application does 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 visual display can be in the form of notification, pop-up window or map mark to help the user intuitively understand the situation of the heavily polluted area and the recommended cleaning mode. Furthermore, the user can understand the situation of the heavily polluted area and decide whether to switch the cleaning mode by checking the second prompt information on the terminal device 200.

[0197] Optionally, the user can confirm or adjust the cleaning mode through a third operation in the APP, such as clicking, sliding or selecting, and then the terminal device 200 generates a fourth control instruction according to the user's third operation, instructing the cleaning robot 100 to move backward to clean at least part of the heavily contaminated area by mopping. After receiving the fourth control instruction, the cleaning robot 100 adjusts its cleaning mode and path to clean the heavily contaminated area more effectively by moving backward. After the cleaning is completed, the cleaning robot 100 can also feed back the results to the terminal device 200 so that the user can view the cleaning effect; wherein, during the movement, the rotation direction of the drive wheel is opposite to the rotation direction of the mop.

[0198] In this way, through the visual second prompt information and interactive control interface, the user can adjust the cleaning mode in time, so that the cleaning robot 100 can handle the heavily polluted areas more effectively and ensure that the heavily polluted areas are effectively cleared. By the user determining the switching of the cleaning mode, it can also prevent misjudgment of dirt and improve emergency processing capabilities. In this way, not only the user experience is improved, making the cleaning process more intuitive and convenient, but also by adjusting the cleaning mode in a targeted manner, the cleaning system 300 can more efficiently utilize electricity and cleaning resources and extend the working time of the cleaning robot 100. The flexibility provided by the cleaning system 300 allows users to 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 configured to:

[0200] Receive and visually display a marking frame corresponding to a heavily contaminated area identified by the cleaning robot 100 during the cleaning process;

[0201] The terminal device 200 is further configured to:

[0202] In response to a fourth operation performed by the user in the APP of the terminal device 200, a third prompt message is displayed to remind the user to switch to 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 contaminated area again, and receive and visually display the required cleaning frame corresponding to the heavily contaminated area identified again by the cleaning robot.

[0204] In an embodiment of the present application, after the cleaning robot 100 identifies a heavily contaminated 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 indicate the position and size of the heavily contaminated area.

[0205] The cleaning robot 100 or the cloud transmits these marking box information to the terminal device 200.

[0206] The terminal device displays the received mark box information to the user through the APP, so that the user can see these mark boxes on the APP map or interface to understand the specific location and scope of the heavily polluted area. For example, Figure 6 A schematic diagram of interface switching of a terminal device provided in an embodiment of the present application is shown as follows: Figure 6 As shown in A, the terminal device 200 receives and visually displays the marking box 1 corresponding to the heavily polluted area identified by the cleaning robot 100 during the cleaning process.

[0207] Furthermore, the user can perform a fourth operation in the APP, such as clicking a mark box or clicking an icon, to pop up a Figure 6 The third prompt information shown in B is used to remind the user whether it is necessary to switch the cleaning mode to more effectively process these areas. Furthermore, the user can perform a fifth operation such as clicking to confirm to instruct the cleaning robot to identify the heavily contaminated areas again, and then the terminal device 200 generates a fifth control instruction to instruct the cleaning robot 100 to rescan and identify at least part of the heavily contaminated areas. After the cleaning robot 100 executes the fifth control instruction, it transmits the information of the heavily contaminated areas that have been identified again back to the terminal device 200, and updates the visual display of the required cleaning box 2, as shown in FIG. Figure 6 As shown in C, the required cleaning frame 2 is the display frame after the mark frame 1 is corrected.

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

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

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

[0211] In this way, through the visual display of the marking box, the user can initially understand the location of the heavily contaminated areas and ensure that these areas receive proper attention and cleaning. Furthermore, by re-identifying the heavily contaminated areas, the specific location and size of the heavily contaminated areas can be calibrated to ensure that the cleaning robot 100 accurately handles the heavily contaminated areas in an appropriate manner. By accurately identifying and processing heavily contaminated areas, the cleaning system 300 can utilize resources more efficiently and improve cleaning efficiency and effectiveness. In addition, users can also actively participate in the adjustment of cleaning strategies through interactive operations according to actual needs, thereby improving control over the cleaning process. This visual marking box and interactive prompt method enhance the user experience and make 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. They can be touch operations such as clicking, double-clicking, and long pressing, and can also be voice operations.

[0213] The terminal device may also be referred to as user equipment (UE), mobile station (MS), mobile terminal, terminal, smart terminal, etc. In practical applications, terminal devices include desktop computers, laptops, personal digital assistants (PDAs), smartphones, tablet computers, vehicle-mounted devices, wearable devices (such as smart watches and smart bracelets), and smart home devices (such as smart display devices). The embodiments of this application do not specifically limit the type of terminal device.

[0214] The types of cleaning robots may include sweeping robots, sweeping and mopping robots, etc., and the embodiments of the present application do not specifically limit the types of cleaning robots.

[0215] For example, Figure 7 A schematic diagram of an application scenario provided in an embodiment of the present application is shown in FIG. Figure 7As shown, the cleaning method of the cleaning robot provided in this application can be applied in a home 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 soiled area is detected. At this time, the cleaning robot 100 can be controlled to move backward based on the preset cleaning path to clean the heavily soiled area with a mop. During the backward cleaning process, the mop is in 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 soiled 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, the friction is increased, thereby improving the ability to remove stubborn stains, and the backward movement can also allow the mop to be cleaned first. Before the side brush and the roller brush contact the heavily soiled 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 following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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] For example, Figure 8 A schematic diagram of a cleaning method for a cleaning robot provided in an embodiment of the present application, wherein the cleaning method for the cleaning robot is applied to Figure 1 The cleaning robot shown, such as Figure 8 As shown, the cleaning method of the cleaning robot includes the following steps:

[0222] S801. When the cleaning robot moves forward to clean an area to be cleaned, a heavily contaminated area is detected, and the cleaning robot is controlled to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area by mopping; wherein, during the reverse movement, the rotation direction of the driving wheel is opposite to the rotation direction of the mop.

[0223] In an embodiment of the present application, the cleaning robot uses sensors set at the front end to detect heavily contaminated areas on the cleaning surface during the forward process. When the presence of heavily contaminated areas is detected, the cleaning robot switches to reverse travel mode, which means that the cleaning robot will move in the opposite direction along the preset cleaning path. The embodiment of the present application does not specifically limit the type and number of sensors set at the front end. It can refer to the existing sensor design, or it can re-arrange new sensor types and quantities.

[0224] In this step, when the cleaning robot detects the presence of a heavily contaminated area, it can immediately control the cleaning robot to move at least partially in reverse based on the preset cleaning path to clean the heavily contaminated area. Figure 2 As shown, during the reverse movement, the mop 11 is located in front of the cleaning robot 100, so that it is the first to contact the heavily contaminated area, and during the reverse movement, the driving wheel 101 and the mop 11 rotate in opposite directions. This arrangement helps to enhance the friction and shear force between the mop and the cleaning surface, that is, the reverse rotation makes the mop generate greater "pulling force" when it contacts the cleaning surface. This is a shearing action that can effectively peel off and remove stubborn stains.

[0225] It should be noted that this reverse rotation setting can ensure that the mop can effectively apply cleaning force during the reverse rotation process, especially when dealing with sticky stains. This is because the reverse rotation increases the number of times the mop contacts the cleaning surface per unit time, thereby increasing the relative movement between the mop and the cleaning surface, allowing the mop to contact heavily soiled areas more frequently, applying sufficient friction to remove stains, and thus improving the cleaning effect. Optionally, when the cleaning robot detects the presence of a heavily soiled area, it can also control the cleaning robot to first return to the cleaning base station to clean the mop, and then control the cleaning robot to return to the heavily soiled area, and then travel at least partially in reverse based on 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 pre-set path for cleaning heavily contaminated areas. Optionally, the preset cleaning path has multiple optional methods, such as a bow-shaped cleaning path, a customized cleaning path, a bow-shaped cleaning path after edge cleaning, etc. The embodiment of the present application does not limit the specific path corresponding to the preset cleaning path, which can be determined or adaptively adjusted based on the actual application scenario requirements.

[0227] Optionally, when the cleaning robot detects the presence of a heavily contaminated area, it can immediately clean the heavily contaminated area based on a bow-shaped cleaning path, a well-shaped cleaning path, a U-shaped cleaning path, or the like. The embodiment of the present application does not specifically limit the path that the cleaning robot uses to clean the heavily contaminated area.

[0228] It is understandable that in the process of moving backward to clean the heavily contaminated areas, part of the heavily contaminated areas can be cleaned, and then the mop can be returned to the cleaning base station to be cleaned before returning to clean the remaining heavily contaminated areas. Alternatively, only part of the heavily contaminated areas corresponding to the cleaning path can be cleaned according to the original cleaning path, and then the remaining heavily contaminated areas can be cleaned based on the original cleaning path when passing through the heavily contaminated areas next time. Therefore, the preset cleaning path for cleaning the heavily contaminated areas is not unique.

[0229] S8011. In the process of controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily soiled area with a mop, adjust the mop to a first position so that the cleaning area of the mop covers the walking area of the drive wheel.

[0230] In this step, during the reverse movement, the cleaning robot will adjust the position of the mop so that it is in the first position. The 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 it can not only prevent the driving wheel from being contaminated by heavily contaminated areas, reducing the risk of contamination caused by heavily contaminated areas, but also remove any residual dirt that may be brought by the driving wheel.

[0231] Optionally, the position of the mop may be adjusted through a mechanical structure such as a slide rail or a hinge. The embodiment of the present application does not specifically limit the adjustment method.

[0232] In this way, when encountering a heavily soiled area, the cleaning robot is controlled to move backward so that the mop contacts the heavily soiled area first, thereby reducing the risk of the driving wheel, side brush, bottom of the roller brush chamber and the roller brush being contaminated, and the driving wheel and the mop are controlled to rotate in the reverse direction during the backward movement to increase the relative movement between the mop and the cleaning surface, thereby enhancing the friction. This enhanced friction helps to remove stubborn stains more effectively, and the reverse rotation can also reduce the sliding of the mop on the stains, so that the mop can contact the cleaning surface and clean more stably, because the inventor found that for the same position, by controlling the driving wheel and the mop to move backward, the relative movement between the mop and the cleaning surface can be increased. The reverse rotation in the middle can increase the number of contacts between the mop and the heavily contaminated area per unit time, thereby increasing the relative movement of the mop and the cleaning surface. Due to the increase in the relative movement of the mop and the cleaning surface, the mop can exert a greater "pulling force" or shearing force, which can effectively peel off and remove adherent stains such as oil stains, shoe prints and water stains. Therefore, the inventor sets the rotation direction of the driving wheel and the mop to opposite directions, so that the cleaning robot can more effectively handle heavily contaminated areas, especially oil stains, shoe prints, water stains, liquid dirt, etc. in heavily contaminated 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 situation in which the driving wheel and the mop rotate in the same direction during the cleaning process, the present application controls the mop and the driving wheel to rotate in opposite directions, so that the number of times the mop contacts the cleaning surface per unit time increases. This increased contact frequency enables the mop to act on the same position more frequently, thereby improving cleaning efficiency. The relative movement generated by the reverse rotation forms a "pulling force" between the mop and the cleaning surface, that is, a friction 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 off and decompose these stubborn stains, making them easier to be removed by the mop. The shearing action changes the adhesion state of the stains, reduces their adhesion, and makes the stains easier to remove.

[0234] In addition, in the process of controlling the cleaning robot to move backward based on a preset cleaning path to clean at least part of the heavily contaminated area with a mop, the mop is adjusted to the first position to ensure that the cleaning area of the mop covers the walking area of the driving wheel, that is, the mop contacts the heavily contaminated area first, and the driving wheel and the roller brush assembly contact the heavily contaminated area later. This not only avoids the contamination of the driving wheel and the roller brush assembly by the heavily contaminated area, but also effectively removes any residual dirt that may be brought by the driving wheel, reduces the cross-contamination that may be caused by the rolling of the wheel, and ensures the cleanliness of the cleaning area. Therefore, by accurately adjusting the mop to the first position, the cleaning robot can handle the heavily contaminated areas more effectively and ensure that these areas are effectively cleaned.

[0235] It should also be noted that when the cleaning robot moves forward to clean the area to be cleaned, if the mop is already in the first position, the mop does not need to be adjusted when cleaning the heavily contaminated area by reversing, that is, it continues to remain in the first position, thereby reducing unnecessary movement and adjustment time. If the mop is not in the first position, for example, it is in the outward-expanded fourth position, the cleaning robot can activate the adjustment mechanism and adjust the mop to the first position when cleaning the heavily contaminated area by reversing, so as to ensure that the ideal cleaning effect is achieved during reverse cleaning.

[0236] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0237] When a heavily contaminated area is detected, the cleaning robot is controlled to clean the heavily contaminated area along the edge. After the edge cleaning is completed, the cleaning robot is controlled to move backward to clean the remaining heavily contaminated area inside the edge by mopping.

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

[0239] Among them, edge cleaning can include edge cleaning in a forward moving manner or in a backward moving manner, and the embodiments of the present application do not specifically limit this.

[0240] For example, Figure 9 A roadmap of a preset cleaning path provided in an embodiment of the present application, such as Figure 9 As shown, the cleaning robot 100 cleans the area to be cleaned according to the bow-shaped cleaning path. After detecting the heavily contaminated area, the cleaning robot 100 performs edge cleaning along the periphery of the heavily contaminated area. After the edge cleaning is completed, the cleaning robot 100 is controlled to move backward to clean the remaining heavily contaminated area inside the edge by mopping. Furthermore, after cleaning the heavily contaminated area, the remaining area in the area to be cleaned continues to be cleaned according to the original bow-shaped cleaning path.

[0241] Optionally, when the cleaning robot 100 moves backward to clean the remaining heavily contaminated areas inside the edge by mopping, it can follow a bow-shaped cleaning path or a well-shaped cleaning path. The embodiment of the present application does not specifically limit the cleaning path of the cleaning robot in the heavily contaminated area.

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

[0243] In this way, by cleaning along the edges, the cleaning robot can effectively remove dirt on the edges of heavily contaminated areas, while moving backwards ensures thorough cleaning of the internal heavily contaminated areas, achieving comprehensive cleaning coverage. Therefore, by combining cleaning along the edges and moving backwards, possible omissions during the cleaning process are reduced, ensuring that every part of the heavily contaminated area is cleaned. This strategy not only optimizes the cleaning path, reduces the need for repeated cleaning, and improves cleaning efficiency, but can also further reduce repetitive actions, reduce the energy consumption of the cleaning robot, and extend its service life.

[0244] Optionally, control the cleaning robot to clean the heavily contaminated area along the edge, including:

[0245] Controlling the cleaning robot to clean the first area along the edge, where the first area has a preset shape and includes at least a heavily contaminated area;

[0246] Alternatively, the cleaning robot is controlled to perform edge cleaning at a position with a preset distance from the edge of the heavily polluted area.

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

[0248] Optionally, the cleaning robot can also perform edge cleaning at a preset distance from the edge of the heavily contaminated area. This method allows the robot to remove surrounding dirt without directly contacting the edge of the heavily contaminated area. The preset distance can be accurately measured by a sensor, or a fixed distance can be preset in advance, such as a fixed distance of 1 cm from the edge of the heavily contaminated area. The embodiment of the present application does 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 contaminated areas, improving application flexibility. In addition, edge cleaning can ensure that dirt in edge areas is effectively removed, reducing possible omissions during the cleaning process, and can also effectively prevent dirt from spreading from heavily contaminated areas to other areas, keeping the overall environment clean. In this way, through precise edge cleaning, the cleaning robot can handle heavily contaminated areas more thoroughly, ensuring comprehensive cleaning effects.

[0250] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0251] When a heavily contaminated area is detected, the cleaning robot is controlled to continue moving along the original cleaning path. Before the cleaning robot passes through at least part of the heavily contaminated area, the cleaning robot is controlled to rotate and clean at least part of the heavily contaminated area by mopping in a backward manner.

[0252] For example, Figure 10 Another preset cleaning path map provided in the embodiment of the present application is as follows: Figure 10 As shown, the cleaning robot 100 cleans the area to be cleaned according to the bow-shaped cleaning path. After detecting the heavily contaminated area, the cleaning robot 100 continues to clean part of the heavily contaminated area in area 1 according to the bow-shaped cleaning path. However, before entering the heavily contaminated area, the cleaning robot 100 adjusts its direction and prepares to enter the heavily contaminated area in reverse. This rotation adjustment ensures that the mop 11 can first contact the heavily contaminated area when moving backward. After cleaning area 1, its direction is adjusted again to continue to clean the remaining uncleaned areas in the area to be cleaned according to the bow-shaped cleaning path based on the forward movement mode. After encountering part of the heavily contaminated area in area 2, the cleaning robot 100 is controlled to adjust its direction again and clean part of the heavily contaminated area in area 2 by mopping the mop 11 in a reverse movement. The above process is repeated until the cleaning of the area to be cleaned is completed.

[0253] It is understandable that the cleaning process of some heavily polluted areas in region 3 is similar to that of regions 1 and 2 and will not be described in detail here.

[0254] In this way, when cleaning heavily contaminated areas, the rotation direction of the cleaning robot is controlled, and by moving backward, cross contamination caused by wheels or other components when moving forward can be reduced, and the heavily contaminated areas are cleaned according to the original cleaning path, which does not affect the overall path planning, reduces the complexity of path planning, reduces energy consumption, simplifies the operation process, and does not require additional settings or adjustments, thereby improving the user experience. In addition, by using the original cleaning path, the cleaning robot does not need to recalculate and plan a new path, thereby saving time and computing resources and improving cleaning efficiency. Moreover, using the original path can also ensure that the cleaning parts cover all areas that need to be cleaned, avoid omissions or repeated cleaning, and maintain the consistency and comprehensiveness of cleaning.

[0255] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0256] When the presence of a heavily contaminated area is detected, the cleaning robot is controlled to clean all heavily contaminated areas by mopping in an alternating manner of backward and forward movement.

[0257] In this step, after detecting the heavily contaminated area, the cleaning robot first enters the heavily contaminated area in reverse. The backward movement allows the mop to contact the dirt first, providing preliminary deep cleaning. After completing the backward movement, the cleaning robot switches to forward mode and passes through the heavily contaminated area again. Then the cleaning robot alternates between backward and forward cleaning in the heavily contaminated area. This alternating cleaning method ensures that each part is covered and cleaned multiple times, thereby improving the cleaning effect.

[0258] It can be understood that the above cleaning process is similar to the process of the user pushing the floor scrubber back and forth for cleaning. By imitating the continuous push and pull cleaning of human hands, it can adapt to different surfaces and corners and provide more flexible cleaning solutions, especially in the cleaning of complex or irregular heavily polluted areas. A larger cleaning area can be covered in a shorter time.

[0259] Therefore, by alternating between backward and forward cleaning methods, it is ensured that heavily contaminated areas are covered and cleaned multiple times, and stubborn dirt can be removed more thoroughly. By alternating cleaning, the cleaning robot can ensure that every corner of the heavily contaminated area is cleaned, reducing omissions. This strategy reduces the possible need for repetition during the cleaning process and improves overall cleaning efficiency. In this way, through effective path planning and cleaning strategies, the cleaning robot can utilize electricity and cleaning resources more efficiently and extend working time.

[0260] Optionally, when a heavily contaminated area is detected, the cleaning robot is controlled to clean all heavily contaminated areas by mopping in an alternating manner of backward and forward movement, including:

[0261] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to move backward from a first end of the heavily contaminated area and clean at least a portion of the heavily contaminated area by mopping until it reaches a second end of the heavily contaminated area;

[0262] After moving backward to the second end of the heavily contaminated area, the cleaning robot is controlled to move forward to the first end of the heavily contaminated area, and the cleaning robot is controlled to adjust its direction and / or position, and continues to clean the remaining heavily contaminated area by mopping in an alternating manner of moving backward and forward.

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

[0264] In this way, by alternating between reverse and forward cleaning methods, the mop can cover the same heavily soiled area multiple times. This repeated rubbing action helps to remove stubborn stains more thoroughly and ensures that every part of the cleaning robot in the heavily soiled area can be cleaned evenly, 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 distribution and terrain characteristics, ensuring efficient use of resources, reducing possible repeated needs during the cleaning process, and improving overall cleaning efficiency.

[0265] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0266] If a heavily polluted area is detected, the cleaning robot is controlled to avoid the heavily polluted area;

[0267] After the cleaning robot avoids the heavily contaminated area, it cleans the area to be cleaned except the heavily contaminated area, and then controls the cleaning robot to move to the heavily contaminated area and cleans the heavily contaminated area by mopping in a reverse moving manner.

[0268] Illustratively, after detecting heavily contaminated areas, the cleaning robot temporarily avoids these heavily contaminated areas and continues to clean other non-heavily contaminated areas along a preset cleaning path. After completing the cleaning of other non-heavily contaminated areas, the cleaning robot returns to the heavily contaminated areas, enters the heavily contaminated areas in a backward manner, and uses a mop for deep cleaning; wherein, the cleaning robot prioritizes completing all areas in the area to be cleaned except the heavily contaminated areas to ensure that the basic cleaning work of the entire environment is completed. Non-heavily contaminated areas are areas where the degree of dirtiness is less than or equal to the first threshold.

[0269] Optionally, after the cleaning robot completes cleaning all areas in the area to be cleaned except the heavily contaminated area, it can return to the cleaning base station to wash the mop, and then return to the heavily contaminated area for cleaning, or it can directly return to the heavily contaminated area for cleaning. This embodiment of the present application does not specifically limit this.

[0270] Optionally, after cleaning the areas to be cleaned except the heavily contaminated areas, the cleaning robot is controlled to move to the heavily contaminated areas to clean the heavily contaminated areas. The heavily contaminated areas can also be cleaned based on bow-shaped cleaning paths, well-shaped cleaning paths, U-shaped cleaning paths, and other paths. The embodiments of the present application do not specifically limit the paths for cleaning heavily contaminated areas.

[0271] In this way, by giving priority to cleaning areas with less dirt, the cleaning robot can quickly complete most of the cleaning tasks and avoid delays in the overall cleaning progress due to the complexity of heavily contaminated areas. After cleaning other areas, the cleaning robot can concentrate resources and time on cleaning heavily contaminated areas to ensure that these heavily contaminated areas are thoroughly treated. In addition, by avoiding heavily contaminated areas first, the cleaning robot can avoid spreading dirt from heavily contaminated areas to other cleaned areas, keeping the overall environment clean. It can also prevent cleaning components from moving back and forth between uncleaned heavily contaminated areas and cleaned areas, thereby reducing the risk of cross-contamination.

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

[0273] Optionally, upon detecting the presence of a heavily polluted area, controlling the cleaning robot to avoid the heavily polluted area includes:

[0274] When a heavily polluted area is detected, the cleaning robot is controlled to clean along the edges of the heavily polluted area to form a target area surrounding the heavily polluted area;

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

[0276] Control the cleaning robot to move to the heavily contaminated area and clean the heavily contaminated area by mopping in reverse, including:

[0277] The cleaning robot is controlled to move to a target area, and is controlled to move backward within the target area based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping.

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

[0279] Among them, after the cleaning robot cleans along the edges of the heavily polluted area to form a target area surrounding the heavily polluted 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 wash the mop, cleaning other non-heavily polluted areas, or temporarily driving to other areas for cleaning. The embodiments of the present application do not make specific restrictions on this.

[0280] In this way, by cleaning along the edges, the cleaning robot can accurately identify and locate the boundaries of the heavily contaminated area, ensuring that the heavily contaminated area can be completely covered during subsequent cleaning. Cleaning around the heavily contaminated area can also prevent dirt from spreading outward, ensuring that the dirt in the heavily contaminated area will not contaminate the surrounding cleaned areas. By cleaning around the heavily contaminated area first, the cleaning order can be optimized, and the cleaning robot can then effectively plan the cleaning path, making the cleaning of the heavily contaminated area more concentrated and effective, reducing unnecessary repeated travel. Therefore, this method simplifies the path planning process, allowing the cleaning robot to clean according to the preset path, reducing complex path adjustments, and by processing simple areas and edges first, the cleaning robot can quickly complete most cleaning tasks, dedicating more time and resources to the thorough cleaning of heavily contaminated areas. Through clear area division and cleaning order, the cleaning components can be reduced from moving back and forth between heavily contaminated areas and other areas, reducing the risk of cross-contamination.

[0281] Optionally, there is at least one heavily contaminated area, and controlling the cleaning robot to move to the heavily contaminated area and clean the heavily contaminated area by mopping in a reverse movement manner includes:

[0282] The terminal device moves to at least one heavily contaminated area in the cleaning order displayed by the application APP of the terminal device, and cleans at least one heavily contaminated area by mopping in a reverse moving manner; the terminal device establishes a communication connection with the cleaning robot.

[0283] For example, after the cleaning robot detects that there are multiple heavily contaminated areas in the area to be cleaned, this information can be transmitted to the APP of the terminal device. The APP of the terminal device displays the locations of the detected heavily contaminated areas and provides a cleaning order suggestion. Optionally, the user can view this information and adjust the cleaning order as needed.

[0284] Furthermore, the cleaning robot moves to each heavily soiled area in the cleaning order displayed in the app. In each heavily soiled area, the cleaning robot moves backwards and uses a mop to perform a deep clean. Optionally, the cleaning robot can feed back the progress and status of the cleaning process to the app so that users can view it in real time and make necessary adjustments.

[0285] In this way, through a clear cleaning sequence, the cleaning robot can concentrate its resources and time on cleaning heavily contaminated areas, ensuring that these heavily contaminated areas are thoroughly treated. Cleaning in the planned order can also avoid the cleaning robot's frequent movement between heavily contaminated areas and cleaned areas, reducing the risk of cross-contamination. In addition, users can view and adjust the cleaning sequence through the app, providing a higher level of customization and control, meeting different cleaning needs, and improving user experience and satisfaction. The cleaning sequence planned by the app can also help the cleaning robot complete cleaning tasks more efficiently, reducing unnecessary path duplication and wasted time.

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

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

[0288] The distance between at least one heavily polluted area and the clean 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 contaminated area during the cleaning process;

[0291] In response to a first operation performed by a user on an APP of a terminal device.

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

[0293] In some embodiments, at the beginning of a cleaning task, the cleaning robot may also prioritize cleaning the heavily soiled areas closest to the base station so that it can quickly return to the cleaning base station when the battery is low or the mop is dirty.

[0294] In other embodiments, the cleaning robot can also prioritize the dirtiest areas based on the detected degree of dirtiness to ensure that cleaning resources are used where they are most needed, thereby improving the cleaning effect, or can prioritize the areas with the least dirtiness to prevent dirt from being carried into cleaned areas when cleaning dirtier and more heavily contaminated areas, thereby reducing the risk of cross-contamination. In addition, cleaning lighter dirty areas usually requires less time and resources, and can therefore be completed quickly. The embodiments of the present application do not specifically limit the cleaning order determined according to the degree of dirtiness.

[0295] In some other embodiments, during the cleaning process, the cleaning robot can also determine the cleaning order based on the order in which heavily contaminated areas are detected, 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 and is suitable for personalized needs.

[0296] Therefore, by determining the cleaning order in a variety of ways, the cleaning robot can optimize its cleaning path and strategy more intelligently. For example, prioritizing cleaning the nearest heavily polluted areas can reduce unnecessary movement, save time and electricity, and improve cleaning efficiency. Prioritizing cleaning areas close 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. The cleaning order is determined according to the degree of dirtiness of the heavily polluted areas, giving priority to the dirtiest areas to ensure that these areas are cleaned promptly and thoroughly, improving the overall cleaning effect. Giving priority to the areas with the lightest dirtiness 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 performed according to the preset logic and plan, avoiding omissions or repeated cleaning. Determining the cleaning order according to the user's first operation on the APP can provide a personalized cleaning experience to meet the user's specific needs and preferences.

[0297] In this way, the cleaning order is determined by combining multiple factors, allowing the cleaning robot to flexibly adapt to different cleaning surface conditions and user needs, providing more intelligent cleaning services.

[0298] Optionally, the method further includes:

[0299] After cleaning the area to be cleaned except the heavily contaminated area, and before controlling the cleaning robot to move to the heavily contaminated area, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

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

[0301] Therefore, by cleaning the mop before treating heavily contaminated areas, the risk of dirt from non-heavily contaminated areas being brought into heavily contaminated areas can be reduced, preventing cross-contamination. The cleaned mop can more effectively absorb and remove stubborn dirt from heavily contaminated areas, improving decontamination ability and cleaning effect. In addition, using a clean mop to clean heavily contaminated areas can also reduce the number of repeated cleanings and improve overall cleaning efficiency.

[0302] Optionally, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily soiled area by mopping includes:

[0303] The cleaning robot is controlled to move at least partially in a reverse manner based on a preset cleaning path so as to repeatedly clean at least a portion of the heavily soiled area by mopping.

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

[0305] Repeated cleaning helps to improve the dirt removal rate, especially when the first cleaning fails to completely remove the dirt. Multiple covering can further improve the cleaning effect, and repeated cleaning can ensure that the entire heavily contaminated area is evenly treated to avoid omissions or uneven cleaning. Therefore, through optimized preset cleaning paths and repeated cleaning strategies, while ensuring the thorough cleaning of heavily contaminated areas, it can also reduce the user's operating burden, improve the automation and intelligence level of the cleaning robot, and thus improve user satisfaction with the cleaning effect.

[0306] Optionally, the method further includes:

[0307] After cleaning at least part of the heavily polluted area each time, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

[0308] In this step, after the cleaning robot completes cleaning of at least part of the heavily contaminated area, it temporarily stops further cleaning tasks and is controlled to return to the cleaning base station to clean the mop. The cleaned mop ensures that it can provide an ideal cleaning effect in the next cleaning task. Optionally, the next cleaning task can be to clean the remaining areas of the heavily contaminated area, or to clean other non-heavily contaminated areas. The embodiment of the present application does not specifically limit the next cleaning task.

[0309] Since the cleaned mop can absorb and remove dirt more effectively, ensuring the effectiveness of each cleaning task, 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 cleaning, thereby improving overall cleaning efficiency.

[0310] Optionally, after detecting the presence of a heavily contaminated area, controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping includes:

[0311] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to adjust its direction at the second position or the third position, and to clean at least a portion of the heavily contaminated area by mopping in a reverse manner based on a preset cleaning path;

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

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

[0314] It is understandable that once the adjustment to the second position or the third position is completed, the cleaning robot can enter the heavily polluted area in a reverse manner based on the preset cleaning path to clean the heavily polluted 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 shape of the heavily contaminated area. Adjusting the direction at a suitable position and reversing to enter the heavily contaminated area can optimize the cleaning path and ensure that the robot covers the heavily contaminated area in an effective manner. By selecting the appropriate entry point and path, unnecessary movement and adjustment can be reduced, saving time and electricity and improving 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 cleaning robot's ability to make intelligent decisions in complex environments, improving its automation and intelligence level.

[0316] Optionally, the method further includes:

[0317] During the process of the cleaning robot controlling the mop to switch from the first position to the fourth position for cleaning, a heavily contaminated area is detected, and the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area with the mop.

[0318] For example, during normal cleaning, the mop performs regular cleaning in the first position, but when a wider cleaning coverage is required, such as cleaning along a wall, the cleaning robot can switch the mop to the fourth position. Figure 3 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application when cleaning along a wall, as shown in FIG. Figure 3 As shown, when the mop 11 is in the fourth position and cleaning along the wall, after the cleaning robot 100 detects a heavily contaminated area through a sensor, the cleaning robot 100 controls the mop 11 to clean in a reverse manner. At this time, part of the mop 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, the mop part is located outside the body of the cleaning robot, and can cover an area larger than the suction port, ensuring that a larger area of the cleaning surface is cleaned, especially in the area along the wall. By allowing the mop to cover a larger area, it can effectively prevent dirt in heavily polluted areas from entering the roller brush chamber, roller brush assembly and drive wheel, thereby reducing the wear and contamination of these key components, especially preventing the roller brush bristles in the roller brush chamber from being stained with liquid dirt, and the backward movement can ensure that the mop contacts the dirt first, providing stronger cleaning power, especially in heavily polluted areas, and can more effectively remove stubborn stains.

[0320] Optionally, the method further includes:

[0321] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the first control instruction is received, which 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;

[0322] Based on the first control instruction, the cleaning robot is controlled to move backward to clean at least a portion of the heavily soiled area by mopping.

[0323] In an embodiment of the present application, controlling the cleaning robot to perform temporary cleaning of the heavily contaminated area is determined based on the temporary needs of the user. This temporary need enables the cleaning robot to respond more flexibly to the immediate needs of the user. In this way, after the cleaning robot receives the first control instruction, the cleaning robot is controlled to immediately go to the heavily contaminated 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 contaminated area is cleaned, it can continue to clean based on the previous cleaning task.

[0324] It should be noted that in the present application, only the cleaning order of the heavily contaminated areas is determined, that is, the cleaning order of the heavily contaminated areas is set as the highest priority, and the cleaning order determined before the cleaning robot performs the cleaning task is not specifically adjusted in the embodiment of the present application. It can continue to be used after the heavily contaminated areas are cleaned, or adaptive adjustments can be made.

[0325] Exemplarily, the cleaning robot is performing routine cleaning of the cleaning area 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 of a specific heavily contaminated area. The first control instruction is usually triggered manually or by voice by the user through the APP interface. This may be because the user notices that a heavily contaminated area needs to be dealt with immediately. Based on the received first control instruction, the cleaning robot adjusts its current task and gives priority to the designated heavily contaminated area. The cleaning robot enters the heavily contaminated area in a backward manner 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 routine cleaning task.

[0326] 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 polluted areas, they can ensure that heavily polluted areas are cleaned in a timely manner, thereby improving overall cleaning efficiency. Moreover, by temporarily adjusting the cleaning order of heavily polluted areas, cleaning tasks can be managed more effectively and personalized cleaning services can be provided. In this application, the cleaning robot can quickly respond to user instructions and adapt to dynamically changing cleaning needs, and users can directly participate in and control the cleaning process through terminal devices, thereby enhancing their sense of control and satisfaction with the cleaning robot.

[0327] Optionally, the method further includes:

[0328] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the second control instruction is received, which 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;

[0329] Based on the second control instruction, the cleaning robot is controlled to move backward to clean at least part of the heavily soiled area multiple times by mopping.

[0330] Exemplarily, the cleaning robot is performing routine cleaning of the cleaning area 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 contaminated area multiple times. The second control instruction is usually triggered manually or by voice by the user through the APP interface. This may be because the user notices that the dirt in a certain area is particularly stubborn and requires extra cleaning effort. Based on the received second control instruction, the cleaning robot adjusts its current task and gives priority to the designated heavily contaminated area. The cleaning robot enters the heavily contaminated area in a backward manner and uses a mop for deep cleaning. The cleaning robot repeats the cleaning in the heavily contaminated area multiple times 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 routine cleaning task.

[0331] In this way, users can adjust the working area of the cleaning robot at any time according to actual conditions, and flexibly respond to emergencies in family life, which provides higher flexibility and control. In particular, users can perform multiple cleanings on heavily polluted areas. Through multiple cleaning operations, it can be ensured that the heavily polluted 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.

[0332] Optionally, the method further includes:

[0333] During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

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

[0335] Among them, the user can circle a designated area on the cleaning map with his finger and mark it as the second area. The embodiment of the present application does not specifically limit the operation method of the user to determine the second area on the smart terminal. For example, the second area can also be determined by other touch operations.

[0336] Exemplarily, the cleaning robot is cleaning at least part of a heavily contaminated area. During the cleaning process, the terminal device sends a third control instruction, requiring the cleaning robot to temporarily clean the second area. The second area is a specific area designated by the user on the display interface of the terminal device. It may be because the user finds that the area needs to be processed immediately. Based on the received third control instruction, the cleaning robot immediately suspends the current cleaning task of the heavily contaminated area, and then adjusts its path to move to the second area specified by the user. After arriving at the second area, the cleaning robot starts cleaning the second area to ensure that the user's immediate needs are met. Optionally, after completing the temporary cleaning task of the second area, the cleaning robot can return to the previous heavily contaminated area to continue the unfinished cleaning task.

[0337] Optionally, the third control instruction may also be a voice call instruction.

[0338] In this way, the user can instantly demarcate the second area and send cleaning instructions through the terminal device, so that the cleaning robot can quickly respond to new cleaning needs and flexibly adjust cleaning tasks. In addition, 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 instructions, the user-specified area can be quickly processed, unnecessary path planning and time waste can be avoided, and cleaning resources can be allocated more effectively to ensure that the second area is given priority.

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

[0340] Optionally, the method further includes:

[0341] During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

[0342] Based on the third control instruction, after determining that the cleaning robot has passed through a heavily contaminated area, the cleaning robot is controlled to continue cleaning a portion of the area corresponding to the heavily contaminated area;

[0343] After cleaning of a part of the area is completed, the cleaning robot is controlled to stop cleaning at least a part of the heavily contaminated area, and the cleaning robot is controlled to move to a second area to clean the second area.

[0344] Exemplarily, the cleaning robot is cleaning at least part of a heavily contaminated area. During the cleaning process, the terminal device sends a third control instruction, requiring the cleaning robot to temporarily clean the second area. The second area is a specific area designated by the user on the display interface of the terminal device. After receiving the third control instruction, the cleaning robot first ensures whether part of the heavily contaminated area currently passed by is sufficiently cleaned. If it is determined that part of the area is sufficiently cleaned, the cleaning robot suspends the cleaning task of the heavily contaminated area, adjusts its path, and moves to the second area specified by the user. After arriving at the second area, the cleaning robot starts cleaning the second area to ensure that the user's immediate needs are met.

[0345] It should be noted that on the path to the second area, determining whether part of the heavily polluted area that needs to be passed through has been sufficiently cleaned can prevent the cleaning robot from contaminating the roller brush assembly, roller brush chamber and drive wheel when passing through the heavily polluted area, thereby causing cross contamination.

[0346] Therefore, after receiving the new third control instruction, necessary cleaning of the heavily contaminated area continues to be carried out to ensure that the areas corresponding to the must-pass routes are thoroughly processed to prevent contamination of the roller brush and other components. In this way, by completing the required cleaning of the heavily contaminated area and then turning to the second area, the risk of cross-contamination between different areas is reduced, and user satisfaction with the cleaning effect is improved.

[0347] Optionally, the method for determining the completion of cleaning of a partial area includes at least one of the following:

[0348] The cleaning robot cleans for a preset period of time;

[0349] The cleaning robot travels a preset distance;

[0350] Driving out of a certain area is detected based on sensor information.

[0351] In an embodiment of the present application, the preset time length is set to determine that the cleaning robot stays in the heavily contaminated area long enough to effectively clean the heavily contaminated area that needs to be passed through; the preset distance is set to ensure that the driving distance of the cleaning robot in the heavily contaminated area covers a sufficient area, and the sufficient area at least includes the heavily contaminated area that needs to be passed through; the sensor information is used to help the cleaning robot judge the completion status of the cleaning task, that is, to determine whether the heavily contaminated area that needs to be passed through has been cleaned and whether it has driven out of the heavily contaminated area.

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

[0353] For example, when the cleaning robot enters a heavily contaminated area for cleaning, it receives a third control instruction. At this time, if it is determined that the cleaning robot needs to pass through the heavily contaminated area on its way to the second area, the partial area corresponding to the heavily contaminated area can be cleaned according to the preset time to avoid the heavily contaminated area causing contamination to the roller brush assembly, drive wheel and other components when the cleaning robot is driving to the second area, and to prevent the mop from bringing dirt from the heavily contaminated area to other areas, causing cross contamination.

[0354] In some embodiments, when it is determined that the cleaning robot needs to pass through the heavily polluted area on its way to the second area, the cleaning robot can also be controlled to travel and clean within the heavily polluted area according to a preset distance, or the cleaning robot can use sensors such as lidar, cameras or infrared sensors to detect its position and environmental changes to determine whether it has exited the area and completed cleaning of the area.

[0355] In this way, by setting the preset time and preset distance, the cleaning robot can perform sufficient cleaning in the heavily polluted area. By fully cleaning the heavily polluted area before entering the second area, it can ensure that the dirt in the heavily polluted area will not be brought to other areas by mopping or other means, thereby ensuring the cleaning effect. Moreover, by precisely controlling the cleaning time and cleaning distance of some areas, unnecessary energy and resource consumption can also be reduced. In addition, 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 robot are enhanced to ensure 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 contaminated area, the mop is controlled to be in a first lifting position, and the roller brush assembly stops rotating, and moves out of the heavily contaminated area in a forward moving manner; the first lifting position is a position at a first distance from the cleaning surface.

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

[0359] Illustratively, when the cleaning robot stops cleaning at least part of a heavily contaminated area and prepares to leave the at least part of the heavily contaminated area, the mop can be controlled to be lifted to a first lifting position to prevent the spread of dirt between different areas and reduce the risk of cross-contamination. At the same time, the roller brush assembly is controlled to stop rotating to avoid contamination of the roller brush assembly by the heavily contaminated area. Furthermore, the cleaning robot can adjust its position and / or direction to drive out of the heavily contaminated area in a normal forward manner.

[0360] In this way, after stopping cleaning at least part of the heavily contaminated areas, lifting the mop can effectively prevent the dirt in the heavily contaminated areas from being brought to other areas, reducing the risk of cross-contamination and keeping other areas clean and hygienic. Stopping the rotation of the roller brush assembly can prevent the dirt in the heavily contaminated areas from contaminating and wearing the roller brush. In addition, stopping the operation of unnecessary components such as the roller brush and vacuuming functions 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 flexible adjustments in a dynamic environment, thereby adapting to different cleaning needs and environmental changes, and providing efficient, thorough and cross-contamination-free cleaning services, thereby improving user experience and satisfaction.

[0361] Optionally, the method further includes:

[0362] When the cleaning robot is cleaning at least part of the heavily contaminated area, the side brush assembly is controlled to be in a second raised position and the roller brush assembly stops rotating; the second raised position is a position at a second distance from the cleaning surface.

[0363] In the embodiment of the present application, the second lifting position refers to a position where a second distance is maintained between the side brush and the cleaning surface. In the second lifting position, the side brush can be prevented from being contaminated in heavily contaminated areas.

[0364] For example, when the cleaning robot enters a heavily contaminated area and prepares to clean, the various cleaning components can be adjusted to adapt to specific cleaning needs, such as controlling the side brush assembly to be lifted to a second lifting position to prevent the side brush from being contaminated. Accordingly, the roller brush assembly can also be controlled to stop rotating to avoid contamination of the roller brush assembly by the heavily contaminated area. Furthermore, after the side brush assembly and the roller brush assembly are adjusted, the cleaning robot can focus on using a mop to perform deep cleaning on the heavily contaminated area.

[0365] Optionally, after the cleaning robot finishes cleaning the heavily contaminated area, it can control the side brush assembly to be in a lowered position, and / or control the roller brush assembly to rotate. By restoring the normal operation of the side brush assembly and the roller brush assembly, the cleaning robot can continue to perform comprehensive and effective cleaning of other areas, thereby improving the overall cleaning effect.

[0366] In this way, during the cleaning process of heavily contaminated areas, stopping the rotation of the roller brush assembly and lifting the side brush assembly can prevent the dirt in the heavily contaminated areas from contaminating these components, and can also prevent the dirt in the heavily contaminated areas from being brought to other areas, reducing the risk of cross-contamination and keeping other areas clean. 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 status of the components, different types of dirt and cleaning needs can be handled more efficiently, improving the cleaning effect and efficiency.

[0367] Optionally, the method further includes:

[0368] Detecting the presence of a heavily polluted area, and determining the size and / or dryness / wetness of the heavily polluted area;

[0369] Adjust the dampness of the mop based on the size of the area and / or how wet or dry it is.

[0370] In an embodiment of the present application, the cleaning robot can analyze the size of the heavily contaminated area and / or the degree of surface dryness and wetness. The area size can be measured or estimated by sensors, and the degree of dryness and wetness can be evaluated by indicators such as humidity sensors or surface reflectivity. The embodiment of the present application does not specifically limit the method of determining the area size and degree of dryness and wetness of the heavily contaminated area.

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

[0372] Therefore, dynamically adjusting the mop humidity according to the area size and / or dryness and wetness of the heavily soiled area can ensure that the mop can achieve the ideal cleaning effect under different types of dirt and surface conditions. In addition, by adjusting the humidity as needed, unnecessary water use can be avoided and water resources can be saved. In this way, by targeted adjustment of the mop humidity, the cleaning robot can complete the cleaning task more quickly and efficiently, and by intelligently managing water and cleaning resources, it can optimize overall resource utilization and reduce unnecessary waste.

[0373] Optionally, the method further includes:

[0374] When the cleaning robot is cleaning at least a portion of the heavily soiled area, the contact pressure between the mop and the cleaning surface is adjusted.

[0375] In an embodiment of the present application, the cleaning robot can analyze the dirt characteristics or degree of dirt in heavily contaminated areas, and then based on the analysis of the dirt characteristics or degree of dirt, the cleaning robot dynamically adjusts the contact pressure between the mop 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 mop can be increased to enhance the cleaning effect. If the dirt is light or the cleaning surface material is fragile, the contact pressure of the mop can be reduced to protect the cleaning surface.

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

[0378] It should be noted that increasing the contact pressure between the mop and the cleaning surface can both prevent water from being thrown off and increase the frequency of contact, thereby improving the cleaning effect.

[0379] In this step, the cleaning robot can adjust the contact pressure between the mop and the cleaning surface while cleaning the heavily soiled area to ensure that the pressure of the mop matches the dirt characteristics or degree of dirtiness to achieve the ideal cleaning effect.

[0380] Optionally, there are many ways to increase the contact pressure between the mop and the cleaning surface. For example, the center of the cleaning robot may be moved backward to increase the pressure. The embodiment of the present application does not specifically limit the method of increasing the pressure.

[0381] Therefore, by dynamically adjusting the mop pressure, it can be ensured that the mop can achieve the 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 of the cleaning surface. By this targeted adjustment of 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 be reduced, thereby extending its service life.

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

[0383] The rear end of the cleaning robot is driven to deflect toward the heavily contaminated area multiple times, so as to control the cleaning robot to move backward to clean at least a portion of the heavily contaminated area by mopping.

[0384] In an embodiment of the present application, based on the information provided by the sensor component and the AI camera module, the cleaning robot drives its rear end to produce multiple deflections, so that the cleaning robot can accurately position and adjust its cleaning path to more effectively clean and cover heavily contaminated areas.

[0385] For example, during the cleaning process of heavily contaminated areas, the cleaning robot adjusts its 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 contaminated areas in a "twisting" backward motion to ensure that the mop has a suitable contact angle and pressure to clean the heavily contaminated areas.

[0386] During the cleaning process, the sensor component and AI module can continuously monitor the cleaning effect to provide real-time feedback for further adjustment of position and / or direction.

[0387] In this way, through multiple deflections and backward movement, the cleaning robot can adjust the cleaning path more flexibly to ensure that heavily contaminated areas are fully covered and processed, and the combined use of sensor components and AI modules can help the cleaning robot identify uncleaned heavily contaminated areas, reduce cleaning omissions, and ensure that each area can meet the expected cleaning standards. In addition, the backward movement method reduces unnecessary repeated cleaning. Therefore, through precise cleaning and path optimization, the cleaning effect of heavily contaminated areas can also be improved, saving time and resources, thereby improving overall cleaning efficiency.

[0388] In the aforementioned embodiments, the cleaning method of the cleaning robot provided in the embodiments of the present application is introduced. In order to implement the various functions of the method provided in the above 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 functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0389] For example, Figure 12 A schematic diagram of the structure of a cleaning device of a cleaning robot is provided in an embodiment of the present application. Figure 12 As shown, the cleaning robot includes a mop assembly and a drive wheel. The mop assembly includes a mop and a drive member for driving the mop to rotate. The mop is a roller mop or a crawler mop. With the forward direction of the cleaning robot as the reference, the drive wheel is located in front of the mop. The cleaning device 1200 of the cleaning robot includes:

[0390] The first control module 1201 is configured to, when the cleaning robot is cleaning an area to be cleaned, detect the presence of a heavily contaminated area and control the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area by mopping;

[0391] In which, during the reverse movement, the rotation direction of the driving wheel and the rotation direction of the mop are opposite. In the process of controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area with a mop, the mop is adjusted to the first position so that the cleaning area of the mop covers the walking area of the driving wheel.

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

[0393] When a heavily contaminated area is detected, the cleaning robot is controlled to clean the heavily contaminated area along the edge. After the edge cleaning is completed, the cleaning robot is controlled to move backward to clean the remaining heavily contaminated area inside the edge by mopping.

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

[0395] Controlling the cleaning robot to clean the first area along the edge, where the first area has a preset shape and includes at least a heavily contaminated area;

[0396] Alternatively, the cleaning robot is controlled to perform edge cleaning at a position with a preset distance from the edge of the heavily polluted area.

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

[0398] When a heavily contaminated area is detected, the cleaning robot is controlled to continue moving along the original cleaning path. Before the cleaning robot passes through at least part of the heavily contaminated area, the cleaning robot is controlled to rotate and clean at least part of the heavily contaminated area by mopping in a backward manner.

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

[0400] When the presence of a heavily contaminated area is detected, the cleaning robot is controlled to clean all heavily contaminated areas by mopping in an alternating manner of backward and forward movement.

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

[0402] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to move backward from a first end of the heavily contaminated area and clean at least a portion of the heavily contaminated area by mopping until it reaches a second end of the heavily contaminated area;

[0403] After moving backward to the second end of the heavily contaminated area, the cleaning robot is controlled to move forward to the first end of the heavily contaminated area, and the cleaning robot is controlled to adjust its direction and / or position, and continues to clean the remaining heavily contaminated area by mopping in an alternating manner of moving backward and forward.

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

[0405] If a heavily polluted area is detected, the cleaning robot is controlled to avoid the heavily polluted area;

[0406] After the cleaning robot avoids the heavily contaminated area, it cleans the area to be cleaned except the heavily contaminated area, and then controls the cleaning robot to move to the heavily contaminated area and cleans the heavily contaminated area by mopping in a reverse moving manner.

[0407] Optionally, the first control module 1201 includes a third control unit and a fourth control unit, wherein the third control unit is configured to:

[0408] When a heavily polluted area is detected, the cleaning robot is controlled to clean along the edges of the heavily polluted area to form a target area surrounding the heavily polluted area;

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

[0410] The fourth control unit is configured to:

[0411] The cleaning robot is controlled to move to a target area, and is controlled to move backward within the target area based on a preset cleaning path to clean at least a portion of the heavily contaminated area by mopping.

[0412] Optionally, the number of the heavily polluted area is at least one, and the fourth control unit is further configured to:

[0413] The terminal device moves to at least one heavily contaminated area in the cleaning order displayed by the application APP of the terminal device, and cleans at least one heavily contaminated area by mopping in a reverse moving 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 cleaning robot's position and the at least one heavily contaminated area after cleaning the area except for the at least one heavily contaminated area in the area to be cleaned;

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

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

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

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

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

[0421] After cleaning the area to be cleaned except the heavily contaminated area, and before controlling the cleaning robot to move to the heavily contaminated area, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

[0422] Optionally, the first control module 1201 is specifically configured to:

[0423] The cleaning robot is controlled to move at least partially in a reverse manner based on a preset cleaning path so as to repeatedly clean at least a portion of the heavily soiled area by mopping.

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

[0425] After cleaning at least part of the heavily polluted area each time, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

[0426] Optionally, the first control module 1201 is specifically configured to:

[0427] Upon detecting the presence of a heavily contaminated area, the cleaning robot is controlled to adjust its direction at the second position or the third position, and to clean at least a portion of the heavily contaminated area by mopping in a reverse manner based on a preset cleaning path;

[0428] Among them, the second position is the position where the cleaning robot is located when it detects the existence of a heavily polluted area; the third position is the position suitable for entering the heavily polluted area determined by the cleaning robot during the process of walking around the heavily polluted area after detecting the existence of the heavily polluted area.

[0429] Optionally, the cleaning robot further includes a roller brush assembly and a roller brush chamber, wherein a dust suction port is provided on a side of the roller brush chamber facing the cleaning surface, and the roller brush chamber is used to accommodate the roller brush assembly; the mop further has a fourth position, in which the mop is at least partially located outside the body of the cleaning robot and the area covered by the mop during cleaning overlaps the area covered by the dust suction port during cleaning; the cleaning device 1200 of the cleaning robot further includes a fourth control module, wherein the fourth control module is used to:

[0430] During the process of the cleaning robot controlling the mop to switch from the first position to the fourth position for cleaning, a heavily contaminated area is detected, and the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area with the mop.

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

[0432] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the first control instruction is received, which 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;

[0433] Based on the first control instruction, the cleaning robot is controlled to move backward to clean at least a portion of the heavily soiled area by mopping.

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

[0435] During the cleaning process of the cleaning robot cleaning the area to be cleaned, the second control instruction is received, which 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;

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

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

[0438] During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

[0439] Based on the third control instruction, the cleaning robot is controlled to stop cleaning at least part of the heavily contaminated area, and 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 configured to:

[0441] During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for the terminal device to temporarily clean the second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot;

[0442] Based on the third control instruction, after determining that the cleaning robot has passed through a heavily contaminated area, the cleaning robot is controlled to continue cleaning a portion of the area corresponding to the heavily contaminated area;

[0443] After cleaning of a part of the area is completed, the cleaning robot is controlled to stop cleaning at least a part of the heavily contaminated area, and the cleaning robot is controlled to move to a second area to clean the second area.

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

[0445] The cleaning robot cleans for a preset period of time;

[0446] The cleaning robot travels a preset distance;

[0447] Driving out of a certain area is detected based on sensor information.

[0448] Optionally, the cleaning robot further includes a roller brush assembly, and the cleaning device 1200 of the cleaning robot further includes a ninth control module, which is configured to:

[0449] After controlling the cleaning robot to stop cleaning at least part of the heavily contaminated area, the mop is controlled to be in a first lifting position, and the roller brush assembly stops rotating, and moves out of the heavily contaminated area in a forward moving manner; the first lifting position is a 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, and the cleaning device 1200 of the cleaning robot further includes a tenth control module, which is configured to:

[0451] When the cleaning robot is cleaning at least part of the heavily contaminated area, the side brush assembly is controlled to be in a second raised position and the roller brush assembly stops rotating; the second raised position is a 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 configured to:

[0453] Detecting the presence of a heavily polluted area, and determining the size and / or dryness / wetness of the heavily polluted area;

[0454] Adjust the dampness of the mop based on the size of the area and / or how wet or dry it is.

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

[0456] When the cleaning robot is cleaning at least a portion of the heavily soiled area, the contact pressure between the mop and the cleaning surface is adjusted.

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

[0458] The rear end of the cleaning robot is driven to deflect toward the heavily contaminated area multiple times, so as to control the cleaning robot to move backward to clean at least a portion of the heavily contaminated area by mopping.

[0459] It should be noted that the specific implementation principles and effects of the cleaning device 1200 of the above-mentioned cleaning robot can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0460] The embodiment of the present application also provides a structural diagram of an electronic device, Figure 13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 13 As 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] The memory 1302 and the processor 1301 may be connected via a bus 1303 .

[0462] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0463] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0464] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments of the present application executed by an electronic device.

[0465] In the several embodiments provided in this 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, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0466] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment based on actual needs.

[0467] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, or each module may exist physically separately, or two or more modules may be integrated into a single unit. The above-mentioned modules may be implemented in the form of hardware or hardware plus 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 software functional modules stored in a storage medium include a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute some of the steps of the methods described in various embodiments of the present application.

[0469] It should be understood that the processor described above may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules within 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 storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0471] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0472] The above-mentioned storage medium can 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 storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

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

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

[0475] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0476] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0477] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the claims.

[0478] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A cleaning method for a cleaning robot, characterized in that: The cleaning robot includes a mop assembly and a driving wheel. The mop assembly includes a mop and a driving member for driving the mop to rotate. The mop is a roller mop or a crawler mop. The driving wheel is located in front of the mop based on the forward direction of the cleaning robot. The mop has a fourth position, in which the mop is at least partially located outside the body of the cleaning robot; and the method includes: When the cleaning robot moves forward to clean the area to be cleaned, if a heavily contaminated area is detected, the cleaning robot is controlled to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop; In which, during the reverse movement, the rotation direction of the driving wheel and the rotation direction of the mop are opposite. In the process of controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least part of the heavily contaminated area with the mop, the mop is adjusted to the first position so that the cleaning area of the mop covers the walking area of the driving wheel.

2. The method according to claim 1, characterized in that The detecting of the presence of a heavily contaminated area and controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop comprises: When the presence of the heavily contaminated area is detected, the cleaning robot is controlled to clean the heavily contaminated area along the edge. After the edge cleaning is completed, the cleaning robot is controlled to move backward to clean the remaining heavily contaminated area inside the edge using the mop.

3. The method according to claim 2, characterized in that The controlling the cleaning robot to clean the heavily polluted area along the edge includes: Controlling the cleaning robot to clean a first area along an edge, where the first area has a preset shape and includes at least the heavily contaminated area; Alternatively, the cleaning robot is controlled to perform edge cleaning at a position with a preset distance from the edge of the heavily polluted area.

4. The method according to claim 1, wherein The detecting of the presence of a heavily contaminated area and controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop comprises: When the presence of the heavily contaminated area is detected, the cleaning robot is controlled to continue moving along the original cleaning path. Before the cleaning robot passes through at least part of the heavily contaminated area, the rotation direction of the cleaning robot is controlled to clean at least part of the heavily contaminated area with the mop in a backward movement.

5. The method according to claim 1, wherein The detecting of the presence of a heavily contaminated area and controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop comprises: When the presence of a heavily contaminated area is detected, the cleaning robot is controlled to clean the entire heavily contaminated area by mopping in a manner of alternating backward and forward movement.

6. The method according to claim 5, characterized in that The method of detecting the presence of a heavily contaminated area and controlling the cleaning robot to clean all of the heavily contaminated areas by mopping the cloth in an alternating manner of backward and forward movement includes: Upon detecting the presence of a heavily contaminated area, controlling the cleaning robot to move backward from a first end of the heavily contaminated area, and cleaning at least a portion of the heavily contaminated area with the mop until reaching a second end of the heavily contaminated area; After moving backward to the second end of the heavily contaminated area, the cleaning robot is controlled to move forward to the first end of the heavily contaminated area, and the cleaning robot is controlled to adjust its direction and / or position, and continues to clean the remaining part of the heavily contaminated area with the mop in an alternating manner of moving backward and forward.

7. The method according to claim 1, characterized in that The detecting of the presence of a heavily contaminated area and controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop comprises: Detecting the presence of a heavily polluted area, controlling the cleaning robot to avoid the heavily polluted area; After the cleaning robot avoids the heavily contaminated area, it cleans the area to be cleaned except the heavily contaminated area, and then controls the cleaning robot to move to the heavily contaminated area and cleans the heavily contaminated area by mopping in a reverse movement.

8. The method according to claim 7, characterized in that The detecting that there is a heavily polluted area and controlling the cleaning robot to avoid the heavily polluted area includes: Upon detecting the presence of a heavily contaminated area, controlling the cleaning robot to perform edge cleaning around the heavily contaminated area to form a target area surrounding the heavily contaminated area; controlling the cleaning robot to avoid the target area; The controlling the cleaning robot to move to the heavily contaminated area and cleaning the heavily contaminated area by mopping in a reverse movement manner includes: The cleaning robot is controlled to move to the target area, and is controlled to move backward within the target area based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop.

9. The method according to claim 7, characterized in that The number of the heavily contaminated areas is at least one, and controlling the cleaning robot to move to the heavily contaminated areas and cleaning the heavily contaminated areas by mopping in a reverse movement manner includes: The cleaning robot moves to the at least one heavily contaminated area in the cleaning order displayed by the application APP of the terminal device, and cleans the at least one heavily contaminated area with the mop in a reverse moving manner; the terminal device establishes a communication connection with the cleaning robot.

10. The method according to claim 9, characterized in that The cleaning sequence is determined by at least one of the following methods: The distance between the cleaning robot and the at least one heavily contaminated area after cleaning the area to be cleaned except for the at least one heavily contaminated area; The distance between the at least one heavily polluted area and the clean base station; the degree of dirtiness corresponding to the at least one heavily soiled area; The order in which the cleaning robot marks the at least one heavily contaminated area during the cleaning process; In response to a first operation performed by a user on an APP of the terminal device.

11. The method according to claim 7, characterized in that The method further comprises: After cleaning the area to be cleaned except the heavily contaminated area, and before controlling the cleaning robot to move to the heavily contaminated area, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

12. The method according to claim 1, characterized in that The controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily soiled area by the mop includes: The cleaning robot is controlled to move at least partially in a reverse manner based on a preset cleaning path so as to repeatedly clean at least a portion of the heavily soiled area by using the mop.

13. The method according to claim 12, characterized in that The method further comprises: After each cleaning of at least a portion of the heavily contaminated area is completed, the cleaning robot is controlled to return to the cleaning base station to clean the mop.

14. The method according to claim 1, wherein The detecting of the presence of a heavily contaminated area and controlling the cleaning robot to move at least partially in reverse based on a preset cleaning path to clean at least a portion of the heavily contaminated area with the mop comprises: Upon detecting the presence of a heavily contaminated area, controlling the cleaning robot to adjust its direction at the second position or the third position, and cleaning at least a portion of the heavily contaminated area by using the mop in a reverse manner based on a preset cleaning path; Among them, the second position is the position where the cleaning robot is located when it detects the existence of a heavily contaminated area; the third position is the position suitable for entering the heavily contaminated area determined by the cleaning robot during the process of walking around the heavily contaminated area after detecting the existence of the heavily contaminated area.

15. The method according to claim 1, wherein The cleaning robot further comprises a roller brush assembly and a roller brush chamber, wherein a dust suction port is provided on a side of the roller brush chamber facing the cleaning surface, and the roller brush chamber is used to accommodate the roller brush assembly; In the fourth position, the area covered by the mop during cleaning overlaps the area covered by the suction port during cleaning; The method further comprises: During the process of the cleaning robot controlling the mop to switch from the first position to the fourth position for cleaning, a heavily contaminated area is detected, and the cleaning robot is controlled to move backward to clean at least part of the heavily contaminated area with the mop.

16. The method according to claim 1, wherein The method further comprises: 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 from a terminal device to temporarily clean the heavily contaminated area; and the terminal device establishes a communication connection with the cleaning robot; Based on the first control instruction, the cleaning robot is controlled to move backward to clean at least a portion of the heavily contaminated area with the mop.

17. The method according to claim 1, wherein The method further comprises: 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 a terminal device to clean the heavily contaminated area multiple times; and the terminal device establishes a communication connection with the cleaning robot; Based on the second control instruction, the cleaning robot is controlled to move backward to clean at least a portion of the heavily soiled area multiple times using the mop.

18. The method according to claim 1, wherein The method further comprises: During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for a terminal device to temporarily clean a second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot; Based on the third control instruction, the cleaning robot is controlled to stop cleaning at least a portion of the heavily contaminated area, and the cleaning robot is controlled to move to the second area to clean the second area.

19. The method according to claim 1, wherein The method further comprises: During the process of the cleaning robot cleaning at least a portion of the heavily contaminated area, a third control instruction is received, where the third control instruction is an instruction for a terminal device to temporarily clean a second area, where the second area is an area defined on a display interface of the terminal device, and a communication connection is established between the terminal device and the cleaning robot; Based on the third control instruction, after determining that the cleaning robot has passed through the heavily contaminated area, controlling the cleaning robot to continue cleaning the portion of the area corresponding to the heavily contaminated area; After cleaning the partial area, the cleaning robot is controlled to stop cleaning at least a portion of the heavily contaminated area, and the cleaning robot is controlled to move to the second area to clean the second area.

20. The method according to claim 19, characterized in that The method for determining the completion of cleaning of the partial area includes at least one of the following: The cleaning robot performs cleaning for a preset time period; The cleaning robot travels a preset distance; Exiting the partial area is detected based on the sensor information.

21. The method according to claim 18 or 20, characterized in that The cleaning robot further includes a roller brush assembly, and the method further includes: After controlling the cleaning robot to stop cleaning at least part of the heavily contaminated area, the mop is controlled to be in a first lifting position, and the roller brush assembly stops rotating, and moves out of the heavily contaminated area in a forward moving manner; the first lifting position is a position at 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, and the method further includes: During the process of the cleaning robot cleaning at least part of the heavily contaminated area, the side brush assembly is controlled to be in a second raised position, and the roller brush assembly stops rotating; the second raised position is a position at a second distance from the cleaning surface.

23. The method according to claim 1, wherein The method further comprises: Detecting the presence of the heavily polluted area, and determining the size and / or dryness and wetness of the heavily polluted area; The humidity of the mop is adjusted based on the size of the area and / or the degree of dryness and wetness.

24. The method according to claim 1, wherein The method further comprises: During the process of the cleaning robot cleaning at least a portion of the heavily soiled area, the contact pressure between the mop and the cleaning surface is adjusted.

25. The method according to claim 1, wherein The cleaning robot further includes: a sensor component and / or an artificial intelligence (AI) camera module, wherein the sensor component and / or the AI camera module are disposed at the rear end of the cleaning robot body; and the method further includes: The rear end of the cleaning robot is driven to deflect toward the heavily contaminated area multiple times, so as to control the cleaning robot to move backward to clean at least a portion of the heavily contaminated area using the mop.

26. A cleaning robot, characterized in that: The cleaning robot includes a mop assembly and a driving wheel. The mop assembly includes a mop and a driving member for driving the mop to rotate. The mop is a roller mop or a crawler mop. The driving wheel is located in front of the mop based on the forward direction of the cleaning robot. The mop has a fourth position, in which the mop is at least partially located outside the body of the cleaning robot; The cleaning robot is used to perform the method according to any one of claims 1 to 25.

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

28. The cleaning system according to claim 27, wherein The number of heavily polluted areas is at least one, and the terminal device is specifically used for: Receive and visually display the order in which the cleaning robot marks the at least one heavily contaminated area during the cleaning process; alternatively, the terminal device is further used to generate a cleaning order in response to a first operation of the user, and visually display the cleaning order in an APP of the terminal device.

29. The cleaning system according to claim 27, wherein The terminal device is further configured to: An option is displayed for performing multiple repetitions of cleaning on at least some of the heavily soiled areas; In response to the user's second operation on the number option, an upper limit of the number of repeated cleanings is determined and visually displayed in the APP of the terminal device.

30. The cleaning system of claim 27, wherein: The terminal device is specifically used for: Receive a 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 feedback information generated by the cleaning robot when cleaning at least part of the heavily contaminated area.

31. The cleaning system of claim 27, wherein: The terminal device is further configured to: receiving a second prompt message sent by the cleaning robot, and visually displaying the second prompt message to remind the user to switch the cleaning mode; The second prompt information is feedback information generated when a heavily polluted area is detected; In response to the user's third operation, a fourth control instruction is generated to control the cleaning robot to move backward to clean at least part of the heavily soiled area by mopping.

32. The cleaning system of claim 27, wherein: The terminal device is specifically used for: Receiving and visually displaying a marking frame corresponding to a heavily contaminated area identified by the cleaning robot during the cleaning process; The terminal device is further configured to: In response to a fourth operation performed by the user in the APP of the terminal device, displaying a third prompt message to remind the user to switch the cleaning mode; In response to the user's fifth operation, a fifth control instruction is generated to control the cleaning robot to identify the heavily contaminated area again, and receive and visually display the required cleaning frame corresponding to the heavily contaminated area identified again by the cleaning robot.

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