Control method of cleaning robot and cleaning robot

Abstract

The method comprises: when a target object is outside a distance threshold of a cleaning robot, the cleaning robot performs a cleaning task according to a current working mode; when the target object is within the distance threshold of the cleaning robot, the target object contains wet garbage, and the current working mode of the cleaning robot comprises dry cleaning, the dry cleaning is stopped; the cleaning robot cleans the wet garbage in a wet cleaning mode, comprising: controlling the cleaning robot to at least travel in a reverse manner to clean at least part of the wet garbage by a mop. The cleaning robot of the application can stop the current cleaning mode in time when encountering garbage that does not match the current cleaning mode in a cleaning path, thereby avoiding secondary pollution.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of cleaning robots, and particularly relates to a control method of a cleaning robot and the cleaning robot. BACKGROUND

[0002] Common cleaning robots include sweeping robots, mopping robots, sweeping and mopping integrated robots, scrubbers, etc. The sweeping and mopping integrated robots can realize both sweeping and washing of the ground, and are increasingly common in family life.

[0003] When performing a cleaning task, the cleaning robot usually cleans the ground in order according to a preset sweeping path. In particular, for the sweeping and mopping integrated robot, according to the needs of the user to clean the ground, a working mode of dry sweeping or wet mopping can be set, or a working mode of dry sweeping and wet mopping at the same time can be set. However, no matter what cleaning mode is set, when unexpected garbage appears on the cleaning path, it will still cause missed sweeping or secondary pollution, affecting the cleaning efficiency. SUMMARY

[0004] The present disclosure aims to provide a control method of a cleaning robot and the cleaning robot, which can at least solve one of the above technical problems. The specific scheme is as follows:

[0005] The present disclosure provides a control method of a cleaning robot, comprising: when a target object is outside a distance threshold of the cleaning robot, the cleaning robot performs a cleaning task according to a current working mode; when the target object is within the distance threshold of the cleaning robot and the target object contains wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stopping dry cleaning; the cleaning robot cleans the wet garbage in a wet cleaning mode, comprising: controlling the cleaning robot to at least travel in a reverse manner to clean at least part of the wet garbage by a mop.

[0006] When performing a cleaning task, the cleaning robot of the present disclosure detects a target object in a cleaning path in real time, and when the target object is within a distance threshold of the cleaning robot and the target object contains wet garbage, and the current working mode of the cleaning robot includes dry cleaning, the cleaning robot is controlled to immediately stop dry cleaning. It can be seen that when the cleaning robot encounters garbage that does not match the current cleaning mode in the cleaning path, the cleaning robot should stop the current cleaning mode in time and / or bypass the wet garbage, which can avoid secondary pollution.

[0007] The cleaning robot can improve the overall cleaning efficiency when encountering wet garbage by automatically executing a cleaning strategy, and comprehensively considers the factors of cleaning ability and wet garbage state, so as to avoid reducing the cleaning effect. The cleaning robot can also execute the cleaning task under the user's instruction by notifying the user, avoiding the occurrence of the cleaning effect being unsatisfactory due to the mismatch between the cleaning ability and the wet garbage state or the inaccurate identification of the wet garbage. Therefore, the cleaning efficiency and the cleaning effect can be maximized.

[0008] Since the mop is wet cleaning element when moving backward, for example, the cloth first contacts the wet garbage and can cover the path of the driving wheel, the cleaning robot can effectively clean the wet garbage in one pass, avoiding the rolling of the driving wheel on the wet garbage, thereby reducing the possibility of secondary pollution of the dry cleaning element and the driving wheel.

[0009] It can be understood that if the wet garbage is bypassed, the wet cleaning mode can not be started, and the user can be prompted to handle the wet garbage, such as voice prompt or APP interaction.

[0010] In some embodiments, further comprising: when the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains wet garbage, sending a request instruction to the mobile terminal to make the mobile terminal display prompt information or icons with wet garbage within the distance threshold of the current cleaning path after receiving the request instruction.

[0011] The embodiment gives the user to decide the subsequent cleaning strategy, instead of the cleaning device automatically executing the subsequent cleaning strategy, avoiding the occurrence of the pollution cleaning event due to the mismatch between the preset cleaning strategy of the cleaning device and the current wet garbage, thereby expanding the wet garbage pollution area and reducing the cleaning efficiency and the cleaning effect.

[0012] In some embodiments, further comprising: when the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains wet garbage, sending a request instruction to the mobile terminal to make the mobile terminal display an interactive interface after receiving the request instruction, the interactive interface is used to receive a user instruction, and the user instruction includes cleaning the wet garbage in a wet cleaning mode or making the cleaning robot bypass the wet garbage.

[0013] The embodiment gives the user to decide the subsequent cleaning strategy by the user's manual control, and the operation interface is simple and direct, which is convenient for the user to give the cleaning strategy as soon as possible, avoids reducing the cleaning efficiency due to the cleaning device waiting for the subsequent task for too long, and avoids the problem of unsatisfactory cleaning effect caused by too much water stain on the local ground.

[0014] In some embodiments, the cleaning the wet garbage in the wet cleaning mode comprises: when the current working mode of the cleaning robot does not include wet cleaning, starting the wet cleaning mode, and cleaning the wet garbage in the wet cleaning mode.

[0015] In some embodiments, the cleaning the wet garbage in the wet cleaning mode comprises: when the current working mode of the cleaning robot includes wet cleaning, directly cleaning the wet garbage in the wet cleaning mode.

[0016] In this embodiment, by controlling the cleaning assembly to enter the wet cleaning mode state in time according to whether the wet cleaning assembly is in the running state, timely response after performing the wet cleaning task is ensured, and the overall cleaning efficiency can be improved.

[0017] In some other embodiments, the starting the wet cleaning mode comprises: controlling the cleaning robot to lower the wet cleaning assembly at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the wet cleaning mode.

[0018] In this embodiment, since the wet garbage has reached within the threshold preset by the cleaning robot at this time, the wet cleaning assembly cannot be lowered at the conventional speed in time, and therefore the speed at which the wet cleaning assembly is lowered needs to be increased to avoid secondary pollution caused by the driving wheel rolling over the wet garbage.

[0019] In some other embodiments, the cleaning robot comprises a wet cleaning assembly, and the cleaning the wet garbage in the wet cleaning mode comprises: the wet cleaning assembly has a first position and a second position, the first position is that the wet cleaning assembly is located inside the body of the cleaning robot, and the second position is that at least a part of the wet cleaning assembly is located outside the body of the cleaning robot, when the wet garbage is located at the edge of the obstacle, adjusting the wet cleaning assembly to the second position to clean the wet garbage near the edge of the obstacle when cleaning the wet garbage on the side close to the edge of the obstacle, and adjusting the wet cleaning assembly to the first position to clean the wet garbage when cleaning the wet garbage on the side away from the edge of the obstacle so that the cleaning area of the wet cleaning assembly covers the walking area of the driving wheel.

[0020] In this embodiment, when the cleaning robot uses a wet cleaning assembly, such as a mop, to clean wet garbage, when the wet garbage is located at the edge of an obstacle, the mop can be controlled to switch to the outside of the body of the cleaning robot, so as to facilitate cleaning of the wet garbage located at the edge of the obstacle; when the wet garbage is away from the edge of the obstacle, the mop can be controlled to switch to the inside of the body of the cleaning robot, so as to clean the wet garbage and cover the driving wheel travel area with the cleaning area of the mop, avoiding secondary pollution of the driving wheel to the wet garbage.

[0021] Further, the control of the cleaning robot to travel at least in a reverse manner to clean at least part of the wet garbage by the mop includes:

[0022] The mop is a roller-type mop or a track-type mop, and the driving wheel is located in front of the mop with reference to the forward travel direction of the cleaning robot. During the reverse travel, the rotation direction of the driving wheel of the cleaning robot is the same as the rotation direction of the mop. When the wet garbage is located at the edge of an obstacle, the mop is adjusted to the second position to clean in reverse to clean the wet garbage near the edge of the obstacle when cleaning the wet garbage on the side close to the edge of the obstacle, and the mop is adjusted to the first position to clean in reverse to cover the driving wheel travel area with the cleaning area of the mop when cleaning the wet garbage on the side away from the edge of the obstacle; and / or

[0023] The mop is a roller-type mop or a track-type mop, and the driving wheel is located in front of the mop with reference to the forward travel direction of the cleaning robot. During the reverse travel, the rotation direction of the driving wheel of the cleaning robot is the same as the rotation direction of the mop. When the wet garbage is located at the edge of an obstacle, the mop is adjusted to the second position to clean in reverse to clean the wet garbage near the edge of the obstacle when cleaning the wet garbage on the side close to the edge of the obstacle, and the mop is adjusted to the first position to clean in reverse to cover the driving wheel travel area with the cleaning area of the mop when cleaning the wet garbage on the side away from the edge of the obstacle.

[0024] In this embodiment, the rotation direction of the drive wheel of the cleaning robot and the rotation direction of the mop are opposite during the reverse mode travel, so that the wet cleaning assembly of the cleaning robot stays longer in the wet garbage area, and thus the wet cleaning assembly can pass slowly in the wet garbage area, which can improve the cleaning effect of the wet cleaning assembly on the wet garbage, especially for heavy-pollution wet garbage, which can improve the one-time cleaning efficiency of the cleaning robot on the heavy-pollution garbage, and avoid secondary pollution in the subsequent cleaning path caused by the drive wheel being contaminated by dirt. Since the drive wheel is located in front of the mop, when the wet garbage is located on the edge of the obstacle during the reverse mode travel, when cleaning the wet garbage on the side close to the edge of the obstacle, the mop is adjusted to the second position to clean the wet garbage near the edge of the obstacle, and when cleaning the wet garbage on the side away from the edge of the obstacle, the mop is adjusted to the first position to clean the wet garbage, so that the cleaning area of the mop can be in contact with the wet garbage first and clean the wet garbage, so as to avoid secondary pollution caused by the drive wheel contacting the wet garbage.

[0025] In this embodiment, the rotation direction of the drive wheel of the cleaning robot and the rotation direction of the mop are opposite during the reverse mode travel, so that the wet cleaning assembly of the cleaning robot stays longer in the wet garbage area, and thus the wet cleaning assembly can pass slowly in the wet garbage area, which can improve the cleaning effect of the wet cleaning assembly on the wet garbage, especially for heavy-pollution wet garbage, which can improve the one-time cleaning efficiency of the cleaning robot on the heavy-pollution garbage, and avoid secondary pollution in the subsequent cleaning path caused by the drive wheel being contaminated by dirt. Since the drive wheel is located in front of the mop, when the wet garbage is located on the edge of the obstacle during the reverse mode travel, when cleaning the wet garbage on the side close to the edge of the obstacle, the mop is adjusted to the second position to clean the wet garbage near the edge of the obstacle, and when cleaning the wet garbage on the side away from the edge of the obstacle, the mop is adjusted to the first position to clean the wet garbage, so that the cleaning area of the mop can be in contact with the wet garbage first and clean the wet garbage, so as to avoid secondary pollution caused by the drive wheel contacting the wet garbage. Further, the width of the mop can be greater than or equal to the distance between the two drive wheels.

[0026] In some other embodiments, when the target object is within the distance threshold of the cleaning robot and the target object is wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stopping dry cleaning, including: when there is no wet garbage outside the distance threshold of the cleaning robot, there is wet garbage within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes dry cleaning, retracting the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed at which the cleaning robot retracts the dry cleaning assembly when it does not need to use the dry cleaning mode for cleaning outside the distance threshold.

[0027] In this embodiment, since the wet cleaning object is already very close to the cleaning robot, and the dry cleaning assembly cannot be retracted at the normal speed, the speed of retracting the dry cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the wet garbage.

[0028] Further, the wet garbage is cleaned in the wet cleaning mode, including: when the current working mode of the cleaning robot does not include wet cleaning, the wet cleaning assembly is lowered at a second speed greater than a first speed to clean the wet garbage in the wet cleaning mode, wherein the first speed is the speed at which the wet cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the wet cleaning mode.

[0029] In this embodiment, since the wet garbage suddenly appears, the wet cleaning assembly cannot be lowered at the normal speed, so the speed of lowering the wet cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the wet garbage.

[0030] Further, the cleaning robot further includes: decelerating at a second acceleration greater than a first acceleration, wherein the first acceleration is the acceleration at which the cleaning robot decelerates from the traveling state to the stopped state when the target object is outside the distance threshold.

[0031] When a sudden situation occurs, the wet garbage suddenly appears, the cleaning robot can quickly stop to avoid the driving wheel rolling on the wet garbage, at this time, the second acceleration value of the cleaning robot from the normal speed to the stop is greater than the first acceleration value in the normal operation, that is, the cleaning robot adopts emergency braking to avoid the occurrence of secondary pollution.

[0032] In some embodiments, the stopping of the dry cleaning includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the shielding piece, stopping the side brush rotation, and stopping the roller brush rotation.

[0033] In some embodiments, the retracting of the side brush includes storing the side brush and lifting the side brush, and the retracting of the roller brush includes storing the roller brush and lifting the roller brush.

[0034] In some embodiments, the wet garbage includes liquid garbage, and the wet garbage is cleaned in the wet cleaning mode, including:

[0035] The cleaning robot is controlled to clean the liquid garbage in an arch-shaped cleaning path first, and then clean the liquid garbage in a manner of traveling along the original edge of the liquid garbage.

[0036] In the embodiment, the liquid waste is cleaned by controlling the cleaning robot to first travel in the arch shape and then along the original liquid waste edge, which can avoid the liquid being thrown after the arch shape travel and still be cleaned by the subsequent edge travel, compensate for the defect of poor cleaning effect caused by the travel route, and improve the cleaning efficiency of the wet waste.

[0037] In some embodiments, the wet waste includes liquid waste, and before the steps of stopping dry cleaning and / or bypassing the wet waste, the method further comprises a method of determining the liquid waste:

[0038] The cleaning robot includes an infrared light emitter and a detector, and the wet waste includes liquid waste, and before the steps of stopping dry cleaning and / or bypassing the wet waste, the method further comprises a method of determining the liquid waste:

[0039] The infrared light emitter emits infrared light at a first frequency to irradiate the surface of the liquid waste, and then the detector receives the reflected light waves from the surface of the liquid waste to obtain the edge profile of the liquid waste.

[0040] It can be understood that the detector for receiving light reflection can be a front camera or a rear camera on the back of the robot.

[0041] In the embodiment, the cleaning robot constantly flashes the emitted infrared light at a first frequency during travel, and the infrared light is emitted to the surface of the liquid. The edge of the liquid surface will reflect due to the effect of tension, and the reflected light is captured by the detector (e.g., a camera) of the cleaning robot to obtain a clear edge profile of the liquid waste, and determine that the target object is liquid waste. The advantage of this method is that many home ceramic tile surfaces also have many decorative patterns. Compared with the method of using only AI camera to take pictures, it is easy to misjudge as dirt for larger area decorative patterns. The use of infrared light and camera linkage to detect liquid dirt has a small probability of misjudgment.

[0042] The application also provides a control method of a cleaning robot, comprising: when a target object is outside a distance threshold of the cleaning robot, the cleaning robot performs a cleaning task according to a current working mode; when the target object is within the distance threshold of the cleaning robot and the target object contains dry waste, and the current working mode of the cleaning robot includes wet cleaning, stopping wet cleaning and / or bypassing the dry waste; the cleaning robot cleans the dry waste in a dry cleaning mode, comprising: controlling the cleaning robot to lower a dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed at which the dry cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in a dry cleaning mode.

[0043] The cleaning robot detects a target object in a cleaning path in real time when performing a cleaning task. When the target object is within a distance threshold of the cleaning robot, the target object contains dry garbage, and the current working mode of the cleaning robot includes wet cleaning, the cleaning robot is controlled to immediately stop wet cleaning and / or to detour the dry garbage. Thus, when the cleaning robot encounters garbage that does not match the current cleaning mode in the cleaning path, the cleaning robot can timely stop the current cleaning mode, and secondary pollution can be avoided.

[0044] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering dry garbage by automatically performing a cleaning strategy, and comprehensively considers the cleaning ability and the state of the dry garbage, so that the cleaning effect is not reduced. The cleaning robot can also perform a cleaning task under the instruction of a user by notifying the user, so that the occurrence of an undesirable cleaning effect caused by a mismatch between the cleaning ability and the state of the dry garbage or inaccurate identification of the dry garbage is avoided. Thus, the cleaning efficiency and the cleaning effect are maximized.

[0045] In this embodiment, since the cleaning robot has reached a position close to the dry garbage at this time, it is not possible to lower the dry cleaning assembly at a regular speed, and therefore the speed at which the dry cleaning assembly is lowered needs to be increased to avoid secondary pollution caused by the driving wheel rolling over the dry garbage.

[0046] In some embodiments, the method further includes: when the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains dry garbage, sending a request instruction to the mobile terminal, so that the mobile terminal displays prompt information or an icon of the dry garbage within the distance threshold of the current cleaning path after receiving the request instruction.

[0047] This embodiment provides prompt information for the user to decide the subsequent cleaning strategy, rather than automatically performing the subsequent cleaning strategy by the cleaning device, so that a pollution cleaning event caused by a mismatch between the preset cleaning strategy of the cleaning device and the current wet garbage is avoided, the area of dry garbage pollution is expanded, and the cleaning efficiency and the cleaning effect are reduced.

[0048] In some embodiments, the method further includes: when the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains dry garbage, sending a request instruction to the mobile terminal, so that the mobile terminal displays an interactive interface after receiving the request instruction, and the interactive interface is used to receive a user instruction, and the user instruction includes cleaning the dry garbage in a dry cleaning mode or making the cleaning robot detour the dry garbage.

[0049] The embodiment gives the operation mode of user self-determining subsequent cleaning strategy in a user manual control mode, and the operation interface is simple and direct, so that the user can quickly give the cleaning strategy, avoids the problem of reducing the cleaning efficiency due to the long waiting of the cleaning equipment for subsequent tasks, and avoids the problem of unsatisfactory cleaning effect caused by too much water stain due to the long stay of the cleaning equipment on the local ground.

[0050] In some embodiments, the cleaning the dry garbage in the dry cleaning mode comprises: when the current working mode of the cleaning robot does not include dry cleaning, starting the dry cleaning mode, and cleaning the dry garbage in the dry cleaning mode.

[0051] In some embodiments, the cleaning the dry garbage in the dry cleaning mode comprises: when the current working mode of the cleaning robot includes dry cleaning, directly cleaning the dry garbage in the dry cleaning mode.

[0052] In this embodiment, by controlling the cleaning assembly to enter the dry cleaning mode state in time according to whether the dry cleaning assembly is in the running state, timely response to the execution of the dry cleaning task is ensured, and the overall cleaning efficiency can be improved.

[0053] In some other embodiments, the stopping wet cleaning when the target object is within the distance threshold of the cleaning robot and the target object is dry garbage, and the current working mode of the cleaning robot includes wet cleaning comprises: when there is no dry target object outside the distance threshold of the cleaning robot, there is a dry target object within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes wet cleaning, retracting the wet cleaning assembly at a second speed greater than a first speed, wherein the first speed is the speed at which the cleaning robot retracts the dry cleaning assembly outside the distance threshold.

[0054] In this embodiment, due to the occurrence of an emergency, the dry cleaning object is very close to the cleaning robot, and it is not possible to retract the wet cleaning assembly at a regular speed, so the speed of retracting the wet cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling over the dry garbage.

[0055] Further, the cleaning the dry garbage in the dry cleaning mode comprises: when the current working mode of the cleaning robot does not include dry cleaning, lowering the dry cleaning assembly at a fourth speed greater than a third speed, and cleaning the dry garbage in the dry cleaning mode, wherein the third speed is the speed at which the dry cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the dry cleaning mode.

[0056] In this embodiment, due to the emergence of dry garbage, the dry cleaning assembly cannot be lowered at a regular speed, and thus the lowering speed of the dry cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the dry garbage.

[0057] Further, the method further includes: decelerating the cleaning robot at a second acceleration greater than the first acceleration, wherein the first acceleration is an acceleration at which the cleaning robot decelerates from the traveling state to the stopping state when the distance is outside the threshold.

[0058] When an emergency occurs, dry garbage suddenly appears, the cleaning robot can quickly stop to avoid the driving wheel rolling on the dry garbage, at this time, the second acceleration value of the cleaning robot from the regular speed to the stop is greater than the first acceleration value in the normal operation, that is, the cleaning robot adopts emergency braking to avoid the occurrence of secondary pollution.

[0059] Further, the stopping wet cleaning includes at least one of the following: retracting the main mop, retracting the side mop, stopping the main mop from rotating, stopping the side mop from rotating, and stopping water supply.

[0060] Further, the retracting the side mop includes retracting the side mop and lifting the side mop, and the retracting the main mop includes retracting the main mop and lifting the main mop. It can be understood that in some cases, the cleaning robot of the present application can also not be provided with a side mop according to actual cleaning needs.

[0061] The present application also provides a cleaning robot, which includes a robot body, a driving wheel and a cleaning assembly arranged on the robot body, the cleaning assembly including a wet cleaning assembly and a dry cleaning assembly; the cleaning robot is configured to perform the method according to any one of the above.

[0062] In summary, the application provides a cleaning robot control method and a cleaning robot. The cleaning robot detects a target object in a cleaning path in real time when performing a cleaning task, and sets a distance threshold. When the target object identified in real time is outside the distance threshold of the cleaning robot, the cleaning robot often does not need to consider the influence of the target object, and the cleaning robot can still perform the cleaning task according to the current working mode. At the same time, the cleaning robot detects the target object in the cleaning path in real time, including the target object detected outside the threshold. Since the cleaning strategy is not disturbed, the cleaning robot can efficiently perform the original cleaning strategy, so that the original cleaning path will not be disturbed by the appearance of dirt, and the overall cleaning efficiency will not be affected. When the target object is within the distance threshold of the cleaning robot and the type of the target object does not match the current working mode of the cleaning robot, the cleaning robot is controlled to immediately stop the cleaning mode that does not match, which can effectively avoid secondary pollution. Then, the subsequent control logic is adjusted according to different strategies, and the cleaning robot is controlled to perform the cleaning task by using the optimal control method. The cleaning efficiency and the cleaning effect on the ground of the cleaning robot are improved. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the specific embodiments of the present disclosure or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0064] Figure 1 is a schematic diagram of a cleaning robot structure provided by an embodiment of the present disclosure.

[0065] Figure 2 is a flowchart of a cleaning robot control method provided by an embodiment of the present disclosure.

[0066] Figure 3 is a schematic diagram of an intelligent terminal APP interaction interface provided by an embodiment of the present disclosure.

[0067] Figure 4 is a schematic diagram of an intelligent terminal APP interaction interface provided by an embodiment of the present disclosure.

[0068] Figure 5A is a schematic diagram of a movable cleaning structure of a wet cleaning assembly of a cleaning robot provided by an embodiment of the present disclosure.

[0069] Figure 5B is a schematic diagram of a movable cleaning process of a wet cleaning assembly of a cleaning robot provided by an embodiment of the present disclosure.

[0070] Figure 6is a state diagram of a tabletop liquid when the cleaning robot does not turn on infrared light.

[0071] Figure 7 is a state diagram of a tabletop liquid when the cleaning robot turns on infrared light to irradiate the tabletop liquid at a first frequency.

[0072] Figure 8 is a flowchart of a cleaning robot control method provided by another embodiment of the present disclosure.

[0073] Figure 9 is a schematic diagram of an intelligent terminal APP interaction interface provided by another embodiment of the present disclosure.

[0074] Figure 10 is a schematic diagram of an intelligent terminal APP interaction interface provided by another embodiment of the present disclosure.

[0075] Figure 11 is a schematic diagram of an electronic structure of a cleaning robot provided by the present embodiment.

[0076] Legend: robot body 100, dry cleaning assembly 10, wet cleaning assembly 20, drive wheel 30, roller brush 11, side brush 12, main mop 21, side mop 22. DETAILED DESCRIPTION

[0077] The technical solutions of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure will be described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0078] It should be noted that the terms “first”, “second”, and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0079] It should also be noted that the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the goods or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such goods or devices. Without more limitations, the element defined by the sentence “including one” does not exclude the presence of another identical element in the goods or devices including the element.

[0080] In the related art, the cleaning robot cannot change the cleaning mode in real time according to the type of garbage in the cleaning path when performing the cleaning task, which often leads to a mismatch between the cleaning mode and the type of garbage, resulting in secondary pollution and affecting the cleaning efficiency of the area to be cleaned.

[0081] Based on this, the application provides a control method of a cleaning robot, comprising: when a target object is outside a distance threshold of the cleaning robot, the cleaning robot performs a cleaning task according to a current working mode; when the target object is within the distance threshold of the cleaning robot and the target object contains wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stopping dry cleaning; the cleaning robot cleans the wet garbage in a wet cleaning mode, comprising: controlling the cleaning robot to travel at least in a reverse manner to clean at least part of the wet garbage by a mop.

[0082] As can be seen, when the cleaning robot performs a cleaning task, it can detect a target object in the cleaning path in real time and set a distance threshold. When the target object is outside the distance threshold of the cleaning robot, the cleaning robot performs a cleaning task according to the current working mode, cleans the target object according to the preset cleaning mode without changing the current cleaning path, and does not affect the cleaning efficiency. However, when the target object is within the distance threshold of the cleaning robot and the target object identified at this time contains wet garbage and the current working mode of the cleaning robot includes dry cleaning, the cleaning robot is controlled to immediately stop dry cleaning and / or bypass the wet garbage. As can be seen, when the cleaning robot encounters garbage that does not match the current cleaning mode in the cleaning path, it should stop the current cleaning mode in time and / or bypass the wet garbage, which can avoid secondary pollution. Since the mop is a wet cleaning element that travels in reverse, for example, a cloth first contacts the wet garbage and can cover the path of the driving wheel, the cleaning robot can effectively clean the wet garbage in one pass, avoiding the possibility of secondary pollution of the driving wheel and the dry cleaning element.

[0083] The application provides a control method of a cleaning robot, which does not make specific limitations on the structure of the cleaning robot. For example, the cleaning robot can be a floor washing robot, a floor mopping robot, a floor sweeping robot, a sweeping and mopping integrated robot, etc. The present disclosure takes the sweeping and mopping integrated robot as an example for illustration.

[0084] As Figure 1As shown, the cleaning robot comprises a robot body 100, a dry cleaning assembly 10, a wet cleaning assembly 20, a driving wheel 30 and a control system arranged at the bottom of the robot body 100, the control system controls the dry cleaning assembly 10, the wet cleaning assembly 20 and the driving wheel 30 of the cleaning robot to perform corresponding cleaning tasks. Wherein, the dry cleaning assembly 10 comprises a roller brush 11 and an edge brush 12, and the wet cleaning assembly 20 comprises a main mop 21 and an edge mop 22; the roller brush 11 and the edge brush 12 can be independently retracted and lowered under the control of the control system, wherein the retraction comprises being stored in a certain position of the robot body 100, for example, being stored in the air inlet and the like, and the retraction also comprises being lifted or raised to be separated from the ground so as to be in a non-cleaning state. The main mop 21 and the edge mop 22 can also be independently retracted and lowered under the control of the control system, wherein the retraction comprises being stored in a certain position of the robot body 100, for example, being stored below the dust suction port of the robot body 100, and the retraction also comprises being lifted or raised to be separated from the ground so as to be in a non-cleaning state.

[0085] The dry cleaning mentioned herein refers to cleaning by using a dry cleaning element, such as the edge brush 12, the roller brush 11 and the like. The wet cleaning mentioned herein refers to cleaning by using a wet cleaning element, such as the main mop 21 and the edge mop 22 and the like.

[0086] Optionally, under the control of the control system, the dry cleaning assembly 10, the wet cleaning assembly 20 and the driving wheel 30 can move at different speeds, for example, the dry cleaning assembly 10 can be retracted or lowered at a speed faster or slower than the normal speed according to the received control instruction; the wet cleaning assembly 20 can be retracted or lowered at a speed faster or slower than the normal speed according to the received control instruction; and the driving wheel 30 can rotate at a speed faster or slower than the normal speed according to the received control instruction, so that the cleaning robot stops at a speed faster or slower than the normal speed.

[0087] Optionally, the robot body 100 further comprises a sensor assembly and / or an artificial intelligence camera module, which is used for real-time identification of the position and type of garbage on the travel route.

[0088] It should be noted that the descriptions of "some embodiments", "optional" and the like in the present application can be mutually superimposed or freely combined with each other without contradiction, forming independent and real-time technical solutions.

[0089] As shown in the accompanying drawings, Figure 2 The present application provides a control method of a cleaning robot, comprising the following method steps:

[0090] Step S102: When the target object is outside the distance threshold of the cleaning robot, the cleaning robot performs a cleaning task according to the current working mode;

[0091] Step S104: When the target object is within the distance threshold of the cleaning robot, and the target object contains wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stop dry cleaning.

[0092] Step S106: The cleaning robot cleans the wet garbage in the mode of wet cleaning, including: controlling the cleaning robot to travel at least in a reverse manner to clean at least part of the wet garbage by a mop.

[0093] When the cleaning robot performs a task, it often cleans according to a preset cleaning path and a preset cleaning mode. At this time, the cleaning robot can identify the target object in the travel path in real time through its own sensor, camera and other target identification means. Exemplarily, the target object includes but is not limited to immovable obstacles, movable obstacles, and cleanable garbage targets. Garbage targets include dry garbage, wet garbage, and dry-wet mixed garbage. The dry garbage, such as paper scraps, thread balls, and hairs, is easy to clean by a dry cleaning assembly, but is easy to adhere to a wet cleaning assembly. The wet garbage, such as water, soy sauce, and beverages, is often easy to clean the ground by a wet cleaning assembly, but is easy to pollute a dry cleaning assembly, and even cause secondary pollution. The dry-wet mixed garbage, such as spilled instant noodles and porridge, is a mixture of liquid and solid, and the dry-wet mixed garbage often needs to be cleaned manually by a user.

[0094] In the embodiment of the application, in the process of identifying the target object, a threshold range of the distance between the target object and the cleaning robot is set by a pre-prepared algorithm. The threshold range can be a distance threshold, which is usually used to represent the distance between the target object and the cleaning robot, so as to evaluate the risk of contact between the cleaning robot and the target object. The threshold can be determined according to the travel speed of the cleaning robot, the retracting and extending speed of the dry cleaning assembly, the retracting and extending speed of the wet cleaning assembly, and other factors, so that the corresponding cleaning strategy of the cleaning robot can be changed in time when the cleaning robot reaches the target object, to prevent the occurrence of secondary pollution due to the mismatch between the cleaning strategy and the target object.

[0095] It can be understood that the real-time identification of the target object can use the marking on the APP side as the judgment basis for identifying the target object. For example, when the target is detected, a dirty mark identified is displayed on the APP side. If the real-time identified target object is outside the distance threshold of the cleaning robot, the robot is still seen walking towards the target object and keeping cleaning on the display interface of the APP.

[0096] In step S102, when the real-time identified target object is outside the distance threshold of the cleaning robot, the cleaning robot often does not need to consider the impact of the target object, and the cleaning robot can still perform the cleaning task according to the current working mode, while the cleaning robot detects the target object in the cleaning path in real time, including the just detected target object outside the threshold. Since the cleaning strategy is not disturbed, the cleaning robot can efficiently execute the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0097] For example, the cleaning robot performs the cleaning task according to the preset cleaning path, at this time the cleaning mode of the cleaning robot can be dry cleaning or wet cleaning, or dry cleaning and wet cleaning are performed at the same time, and the type and position of the target object in the cleaning path are identified in real time through the sensor. Based on the position of the target object, the distance between the target object and the cleaning robot can be determined, or the time when the cleaning robot reaches the target object can be determined, combined with the speed of the dry cleaning assembly and the wet cleaning assembly being retracted and released, a threshold is preset, so that the cleaning robot has enough time to retract or release the dry cleaning assembly or the wet cleaning assembly. That is, when the cleaning robot is outside the distance threshold, the cleaning robot is in a safe state, and it can perform the cleaning task according to the current working mode without considering the existence of the target object.

[0098] For this step, the cleaning robot can determine to perform the cleaning task by using the original cleaning mode through a single threshold condition, which improves the smoothness of the original cleaning task execution and ensures the cleaning efficiency. Avoiding the execution of too many judgment conditions, occupying the operation ability of the control system, leading to the decline of the emergency handling ability of the cleaning robot when encountering unexpected situations. At the same time, it can ensure that when the threshold condition is reached, the subsequent step is triggered in time, avoiding the secondary pollution caused by the inconsistency between the garbage type and the cleaning mode, and affecting the cleaning effect.

[0099] In step S104, when the target object is within the distance threshold of the cleaning robot, the garbage type of the target object needs to be considered simultaneously. When the garbage type of the target object contains wet garbage such as liquid or dry-wet mixed garbage, it is further considered whether the current working mode of the cleaning robot matches the garbage type. When the current working mode of the cleaning robot includes dry cleaning, the control system controls to stop dry cleaning and / or to bypass the wet garbage. It can be understood that at this time, the execution strategy of the cleaning robot includes stopping dry cleaning, bypassing the wet garbage, or stopping dry cleaning and bypassing the wet garbage. When dry cleaning is stopped, the dry cleaning assembly will not interfere with the wet garbage, for example, the rotation of the brush will not interfere with the edge of the wet garbage. Otherwise, on the one hand, the area of the wet garbage may be expanded, increasing the cleaning difficulty. On the other hand, the dry cleaning assembly may be contaminated with the wet garbage, causing the dry cleaning assembly to cause secondary pollution to the ground in the subsequent operation process, reducing the cleaning efficiency of the ground. In addition, the strategy of bypassing the wet garbage can also be executed. For example, when the amount of wet garbage is large or dry-wet mixed, the cleaning capacity of the wet cleaning assembly is exceeded, the cleaning robot can also bypass the wet garbage and continue to perform the cleaning task along the subsequent cleaning path to avoid the dry cleaning assembly from contacting the wet garbage. Of course, the dry cleaning can also be stopped and the wet garbage can be bypassed to avoid the dry cleaning assembly from interfering with the wet garbage when bypassing.

[0100] It should be noted that the decision to control the cleaning robot to stop dry cleaning and / or to bypass the wet garbage in this step can be automatically executed by the cleaning robot or manually executed by the user. When automatically executed, the control system comprehensively judges the cleaning capacity of the wet cleaning assembly and the state of the wet garbage according to the preset conditions. When the cleaning capacity of the wet cleaning assembly is insufficient to clean the wet garbage, for example, the area of the wet garbage is too large, the water tank has insufficient water, or there is dry-wet mixed garbage, the bypass task is automatically executed. In addition, when manually executed, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0101] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering wet garbage by automatically executing the cleaning strategy, and comprehensively considers the factors of cleaning capacity and wet garbage state, so as to avoid the reduction of cleaning effect. The cleaning robot can also execute the cleaning task under the instruction of the user by notifying the user, avoiding the occurrence of unsatisfactory cleaning effect caused by the mismatch between the cleaning capacity and the wet garbage state or the inaccurate identification of the wet garbage. Thus, the cleaning efficiency and the cleaning effect are maximized to be ensured.

[0102] In this embodiment, when the distance threshold condition is triggered, the matching relationship between the garbage type and the cleaning mode needs to be combined to make a cleaning decision. The cleaning robot can automatically and timely stop the continuation of the cleaning mode that does not match with as few conditions as possible, and efficiently avoid the occurrence of secondary pollution.

[0103] In some embodiments, the stopping the dry cleaning comprises at least one of the following: retracting the side brush, retracting the roller brush, retracting the shielding member, stopping the side brush rotation, and stopping the roller brush rotation.

[0104] It should be noted that the retracting the side brush comprises stowing the side brush and lifting the side brush; and the retracting the roller brush comprises stowing the roller brush and lifting the roller brush.

[0105] According to the design of the hardware structure of the cleaning robot, the side brush and the roller brush usually have the functions of stowing and lifting. Stowing usually means approaching a certain position of the cleaning robot body in the horizontal plane to reduce the interference with the ground, so as to stop the cleaning of the ground. Lifting means approaching a certain position of the cleaning robot body in the height direction of the cleaning robot to reduce the interference with the ground, so as to stop the cleaning of the ground. Stopping the side brush rotation and stopping the roller brush rotation mean that the positions of the side brush and the roller brush are temporarily fixed, and only the rotation thereof is stopped, waiting for further instructions. Retracting the shielding member means approaching a certain position of the cleaning robot body in the height direction of the cleaning robot, so as to reduce the interference of the shielding member with the ground and avoid the pollution of the shielding member caused by the contact of the shielding member with the wet garbage.

[0106] In some embodiments, after the stopping the dry cleaning, the control method of the cleaning robot further comprises the following method steps:

[0107] Step S106: The cleaning robot cleans the wet garbage in a wet cleaning mode, comprising: controlling the cleaning robot to at least travel in a reverse manner to clean at least part of the wet garbage by using a mop.

[0108] When the cleaning robot finds that there is wet garbage within the threshold range, the wet cleaning component can be directly used to clean the wet garbage according to the current cleaning task and cleaning capacity of the cleaning robot. This step can enable the cleaning robot to execute the processing of the current wet garbage in the optimal strategy, and improve the overall cleaning effect of the cleaning surface.

[0109] When the cleaning robot discovers wet garbage and needs to perform cleaning on the wet garbage, the cleaning robot can be controlled to travel based on a preset cleaning path and in reverse to clean the wet garbage with a mop located at the rear side of the cleaning robot. In this way, the cleaning robot can effectively clean the wet garbage in one pass, avoiding the possibility of contamination, since the mop first contacts the wet garbage and can cover the path of the drive wheel when traveling in reverse.

[0110] It should be noted that the decision of the cleaning robot to clean the wet garbage in the wet cleaning mode in this step can be automatically executed by the cleaning robot or manually executed by the user. When automatically executed, the control system comprehensively judges the cleaning ability of the wet cleaning assembly and the state of the wet garbage according to the preset conditions, and when the cleaning ability of the wet cleaning assembly is greater than the state of the wet garbage, such as when the area of the wet garbage is not large or there is no dry-wet mixed garbage, the cleaning task is automatically executed. In addition, when manually executed, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0111] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering wet garbage by automatically executing the cleaning strategy, and comprehensively considers the factors of cleaning ability and wet garbage state, so as to avoid the reduction of cleaning effect. The cleaning robot can also execute the cleaning task under the user's instruction by notifying the user, avoiding the occurrence of unsatisfactory cleaning effect caused by the mismatch between the cleaning ability and the wet garbage state or the inaccuracy of wet garbage identification. Thus, the cleaning efficiency and cleaning effect are maximized to ensure.

[0112] In some embodiments, the control method of the cleaning robot further includes the following method steps:

[0113] Step S108: When the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains wet garbage, a request instruction is sent to the mobile terminal to make the mobile terminal display prompt information or icons with wet garbage within the distance threshold of the current cleaning path after receiving the request instruction.

[0114] As described above, when the cleaning device stops dry cleaning, the subsequent cleaning strategy is not immediately executed, but a request instruction is immediately sent to the user. The instruction can be directly sent to the APP of the user's mobile terminal, or indirectly sent to the APP of the user's mobile terminal through the cloud, which is not limited. For example, Figure 3As shown, the user APP receives the request instruction and displays the prompt information or icon within the distance threshold of the current cleaning path with wet garbage in the APP interface. As can be understood, the prompt information can be text information, and the icon can be a picture with corresponding meaning. This step makes the user know the cleaning state of the cleaning robot as early as possible through early detection and early reporting, so as to make a decision in time.

[0115] It should be noted that the mobile terminal can be a smart phone, a tablet computer, a wearable device (such as a smart watch, a smart bracelet), etc. The type of the mobile terminal is not specifically limited in the embodiments of the present application.

[0116] It should be noted that after the push information is sent to the user APP, a prompt sound can be emitted by the cleaning robot or the mobile phone to remind the user that there is an abnormality in the current cleaning path and manual processing is required.

[0117] The embodiments give the user the prompt information to decide the subsequent cleaning strategy by himself / herself, instead of automatically executing the subsequent cleaning strategy by the cleaning device, thereby avoiding the occurrence of a dirty cleaning event due to the incomplete matching of the preset cleaning strategy of the cleaning device and the wet garbage, expanding the wet garbage pollution area, and reducing the cleaning efficiency and cleaning effect.

[0118] In some embodiments, the control method of the cleaning robot further includes the following method steps:

[0119] Step S110: When the cleaning robot identifies that the target object contains wet garbage within the distance threshold of the cleaning robot, a request instruction is sent to a mobile terminal, so that the mobile terminal displays an interactive interface after receiving the request instruction, and the interactive interface is used to receive a user instruction, and the user instruction includes cleaning the wet garbage in a wet cleaning mode or making the cleaning robot bypass the wet garbage.

[0120] The mobile terminal displays an interactive interface after receiving the request instruction. Optionally, the interactive interface can be automatically displayed or displayed after being touched by the user, such as Figure 4 As shown, the user can send an interactive instruction to the cleaning robot through the interactive interface, so as to manually control the cleaning robot to clean the wet garbage in a wet cleaning mode or make the cleaning robot bypass the wet garbage.

[0121] As can be understood, the form of the interactive interface can be various, Figure 4 only an exemplary interactive interface is given, and other interactive interfaces, such as text input interactive, voice input interactive, gesture interactive, etc., are also included in the description of the embodiments, which are not limited.

[0122] The embodiment gives the operation mode of user self-determination of subsequent cleaning strategy in a user manual control mode, the operation interface is simple and direct, and the user can give the cleaning strategy as soon as possible, avoids the reduction of cleaning efficiency due to the long waiting of the cleaning equipment for subsequent tasks, and avoids the problem of unsatisfactory cleaning effect caused by too much water stain due to too long stay on the local ground.

[0123] In some embodiments, in step S106, the wet garbage is cleaned in the wet cleaning mode, including:

[0124] When the current working mode of the cleaning robot does not include wet cleaning, the wet cleaning mode is started, and the wet garbage is cleaned in the wet cleaning mode.

[0125] In some embodiments, in step S106, the wet garbage is cleaned in the wet cleaning mode, including:

[0126] When the current working mode of the cleaning robot includes wet cleaning, the wet garbage is directly cleaned in the wet cleaning mode.

[0127] When the cleaning robot is controlled to perform the wet cleaning task, one case is that only dry cleaning is included in the current cleaning mode, wet cleaning is not started, and the wet cleaning assembly is in a retracted state. At this time, the wet cleaning assembly needs to be lowered, the wet cleaning mode is started, and the wet cleaning assembly is cleaned according to the preset path. Another case is that the current cleaning mode includes wet cleaning, that is, the cleaning assembly is in a lowered state. At this time, only the dry cleaning mode needs to be stopped, and the wet cleaning mode is directly continued to clean the wet garbage.

[0128] It can be understood that no matter which case, the way to clean the wet garbage can be matched with a new cleaning strategy according to the identification result of the wet garbage. For example, according to the size of the wet garbage area, the wet cleaning assembly is controlled to reciprocate for cleaning, or the return path of the cleaning robot is planned to repeatedly clean the wet garbage in the area until the wet garbage is cleaned.

[0129] In this embodiment, by controlling the cleaning assembly to enter the wet cleaning mode state in time according to whether the wet cleaning assembly is in a running state, the timely response after performing the wet cleaning task is ensured, and the overall cleaning efficiency can be improved.

[0130] In some other embodiments, the wet cleaning mode is started, including: starting the wet cleaning mode near the position of the wet garbage.

[0131] In the embodiment, the position close to the wet garbage refers to a distance between the wet garbage and the cleaning robot is within the distance threshold range and is less than the distance threshold range. For example, the position close to the wet garbage is 10%-90%, 10%-50% or 5%-20% of the distance threshold range.

[0132] It can be understood that when the wet garbage enters the threshold range of the cleaning robot, the wet cleaning mode does not have to be started immediately, but can be started when the position close to the wet garbage is reached. That is, the cleaning robot is in a non-cleaning state for a distance at this time. At this time, since the dry cleaning mode has been stopped and the distance is not suitable for wet cleaning, for example, the cleaning surface is a carpet, the control mode can minimize the processing of the wet cleaning assembly on the carpet.

[0133] In this embodiment, by controlling the starting time of the wet cleaning mode, the matching relationship between the wet cleaning assembly and the wet garbage can be accurately controlled. On the one hand, the task of cleaning the wet garbage can be completely implemented, and on the other hand, the wet cleaning of the area outside the wet garbage can be reduced. For the scene where the cleaning surface is dry, the pollution of the wet cleaning to the cleaning surface can be reduced.

[0134] In some other embodiments, the starting of the wet cleaning mode includes: controlling the cleaning robot to lower the wet cleaning assembly at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning assembly is lowered when a target object is outside the distance threshold range of the cleaning robot and needs to be cleaned by the wet cleaning mode.

[0135] When the cleaning device travels to the position close to the wet garbage, since the wet cleaning mode has not been started before, the wet cleaning assembly is in a retracted state. At this time, the wet cleaning assembly needs to be lowered in time and quickly so that the cleaning robot can clean the wet garbage in time before reaching the wet garbage, thereby avoiding the driving wheel directly rolling on the wet garbage due to the wet cleaning assembly not being lowered, which causes secondary pollution. Therefore, the speed at which the wet cleaning assembly is lowered at this time is a second speed, which is greater than a first speed. The first speed is a speed at which the wet cleaning assembly is lowered when a target object is outside the distance threshold range of the cleaning robot and needs to be cleaned by the wet cleaning mode, that is, a speed at which the wet cleaning assembly is lowered when the cleaning robot is in a normal cleaning mode. For example, the speed at which the wet cleaning assembly is lowered when the cleaning robot leaves the base station to start performing a cleaning task can also be referred to as an original lowering speed.

[0136] It can be understood that the value of the second speed needs to be calculated according to the specific value of the position close to the wet garbage and then given. The second speed can be pre-set and controlled to lower the wet cleaning assembly at the second speed as the position close to the wet garbage is reached.

[0137] In this embodiment, since the cleaning robot has reached the position close to the wet garbage at this time, it is too late to lower the wet cleaning assembly at the normal speed, so the speed of lowering the wet cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the wet garbage.

[0138] In some other embodiments, the cleaning robot comprises a wet cleaning assembly, and the cleaning of the wet garbage in the wet cleaning mode comprises:

[0139] The wet cleaning assembly has a first position and a second position, the first position is that the wet cleaning assembly is located inside the body of the cleaning robot, and the second position is that at least a part of the wet cleaning assembly is located outside the body of the cleaning robot, when the wet garbage is located at the edge of the obstacle, in cleaning the wet garbage on the side close to the edge of the obstacle, the wet cleaning assembly is adjusted to the second position for cleaning to clean the wet garbage near the edge of the obstacle, and in cleaning the wet garbage on the side far from the edge of the obstacle, the wet cleaning assembly is adjusted to the first position for cleaning so that the cleaning area of the wet cleaning assembly covers the walking area of the driving wheel.

[0140] In this embodiment, as shown in Figure 5A When the wet garbage is located at the edge of the obstacle, the main mop 21 can be controlled to switch to the second position B outside the body of the cleaning robot, so as to facilitate the cleaning of the wet garbage located at the edge of the obstacle, and when the wet garbage is far from the edge of the obstacle, the main mop 21 can be controlled to switch to the first position A inside the body of the cleaning robot, so as to clean the wet garbage and cover the walking area of the driving wheel with the cleaning area of the mop, thereby avoiding the secondary pollution of the wet garbage by the driving wheel. It can be understood that when the distance between the wet garbage and the obstacle is 0-30 cm, the wet garbage is considered to be located at the edge of the obstacle, which is not limited herein.

[0141] Further, the control of the cleaning robot to at least move in a reverse manner to clean at least part of the wet garbage by the mop comprises:

[0142] The mop is a roller-type mop or a track-type mop, and the driving wheel is located in front of the mop based on the advancing direction of the cleaning robot, the rotating direction of the driving wheel of the cleaning robot is the same as the rotating direction of the mop during the reverse movement, when the wet garbage is located at the edge of the obstacle, in cleaning the wet garbage on the side close to the edge of the obstacle, the mop is adjusted to the second position for reverse cleaning to clean the wet garbage near the edge of the obstacle, and in cleaning the wet garbage on the side far from the edge of the obstacle, the mop is adjusted to the first position for reverse cleaning so that the cleaning area of the mop covers the walking area of the driving wheel; and / or

[0143] The mop is a roller mop or a crawler mop. Based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the rotation direction of the driving wheel of the cleaning robot is opposite to the rotation direction of the mop. When the wet garbage is located at the edge of the obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel.

[0144] In this embodiment, during the reverse travel, the driving wheels of the cleaning robot rotate in the same direction as the mop, so that the wet cleaning component of the cleaning robot stays in the wet garbage area for a shorter time, and the cleaning robot can quickly pass through the wet garbage area, minimizing the contact between the driving wheels and the dirt in the wet garbage area, which can effectively reduce the cleaning time, improve the overall working efficiency of the cleaning robot, and prevent the driving wheels from being contaminated by dirt, thereby avoiding secondary contamination in the subsequent cleaning path. Since the driving wheels are located in front of the mop, during the reverse travel, such as Figure 5B As shown, when wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position B and reversed to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position A and reversed to clean so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel. This allows the mop to preferentially contact the wet garbage and clean the wet garbage, thereby avoiding secondary contamination caused by the driving wheel contacting the wet garbage. In this embodiment, during the reverse movement, the rotation direction of the driving wheel of the cleaning robot is opposite to that of the mop, so that the wet cleaning component of the cleaning robot stays in the wet garbage area for a longer time, thereby allowing the wet cleaning component to pass through the wet garbage area at a slow speed, thereby improving the cleaning effect of the wet cleaning component on the wet garbage, especially for heavily contaminated wet garbage. This can improve the cleaning efficiency of the cleaning robot for heavily contaminated garbage and avoid the driving wheel being contaminated by dirt, resulting in subsequent secondary contamination in the cleaning path. Since the driving wheel is located in front of the mop, during the reverse movement, as shown in FIG. Figure 5BAs shown, when the wet garbage is located at the edge of the obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position B to clean the wet garbage close to the edge of the obstacle, and when cleaning the wet garbage far from the edge of the obstacle, the mop is adjusted to the first position A to clean the wet garbage, so that the cleaning area of the mop can be in contact with the wet garbage first, and the wet garbage can be cleaned to avoid secondary pollution caused by the driving wheel contacting the wet garbage.

[0145] In some other embodiments, when the target object is within the distance threshold of the cleaning robot and the target object is wet garbage, and the current working mode of the cleaning robot includes dry cleaning, the dry cleaning is stopped in step S104, and specifically further comprising:

[0146] When there is no wet garbage outside the distance threshold of the cleaning robot, there is wet garbage within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes dry cleaning, the dry cleaning assembly is retracted at a fourth speed greater than a third speed, wherein the third speed is the speed at which the dry cleaning assembly is retracted when the cleaning robot does not need to use the dry cleaning mode to clean outside the distance threshold.

[0147] When the cleaning robot performs a cleaning task according to a preset path, according to the above-mentioned embodiments, although the cleaning robot can detect the target object in the travel path in real time, sometimes there will be a sudden event, for example, a wet target object suddenly falling, for example, a soy sauce bottle being knocked over, etc. At this time, for the real-time detection process of the cleaning robot, the identification result at the previous moment shows that there is no wet target object outside the preset distance threshold, but a wet target object suddenly appears within the threshold at the next moment. For the occurrence of the sudden situation, the cleaning robot of this embodiment needs to give a response, that is, when the cleaning mode at this time includes the dry cleaning mode, the control strategy of retracting the dry cleaning assembly should be immediately taken. And the cleaning robot is controlled to retract the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed at which the dry cleaning assembly is retracted when the cleaning robot does not need to use the dry cleaning mode to clean outside the distance threshold, that is, the speed at which the cleaning robot retracts the dry cleaning assembly when it is in the normal cleaning mode, for example, the speed at which the dry cleaning assembly is retracted when the cleaning robot finishes performing the cleaning task, which can also be called the original retraction speed.

[0148] It can be understood that the value of the fourth speed can be preset in the cleaning robot control system, and the dry cleaning assembly is controlled to be retracted at the fourth speed when the sudden situation occurs.

[0149] In this embodiment, due to the emergence of the wet garbage, the wet cleaning object is close to the cleaning robot, and the dry cleaning assembly cannot be retracted at the normal speed. Therefore, the speed of retracting the dry cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the wet garbage.

[0150] Further, the wet garbage is cleaned by the wet cleaning mode, including:

[0151] When the current working mode of the cleaning robot does not include wet cleaning, the wet cleaning assembly is lowered at a second speed greater than the first speed, and the wet garbage is cleaned by the wet cleaning mode, wherein the first speed is the speed at which the wet cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned by the wet cleaning mode.

[0152] When the wet garbage appears suddenly near the cleaning robot, the wet cleaning assembly is in the retracted state because the wet cleaning mode is not started before. At this time, the wet cleaning assembly needs to be lowered in time and quickly so that the cleaning robot can clean the wet garbage in time before reaching the wet garbage, thereby avoiding the driving wheel directly rolling on the wet garbage and causing secondary pollution. Therefore, the speed at which the wet cleaning assembly is lowered at this time is the second speed, which is greater than the first speed. The first speed is the speed at which the wet cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned by the wet cleaning mode, i.e., the speed at which the wet cleaning assembly is lowered when the cleaning robot is in the normal cleaning mode. For example, the speed at which the wet cleaning assembly is lowered when the cleaning robot leaves the base station to start cleaning the task can also be called the original lowering speed.

[0153] It can be understood that the value of the second speed can be preset in the cleaning robot control system and can be preset to control the wet cleaning assembly to be lowered at the second speed as the approaching position arrives.

[0154] In this embodiment, due to the emergence of the wet garbage, the wet cleaning object is close to the cleaning robot, and the dry cleaning assembly cannot be retracted at the normal speed. Therefore, the speed of retracting the dry cleaning assembly needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the wet garbage.

[0155] Further, the control method further includes the following steps:

[0156] The cleaning robot decelerates at a second acceleration greater than the first acceleration, wherein the first acceleration is the acceleration at which the cleaning robot decelerates from the running state to the stopped state when the target object is outside the distance threshold.

[0157] When an emergency occurs, the wet garbage suddenly appears, the cleaning robot can quickly stop to avoid the driving wheel rolling on the wet garbage, at this time, the second acceleration value of the cleaning robot from the normal speed to stop is greater than the first acceleration value of the normal operation, that is, the cleaning robot adopts the emergency braking mode to avoid the occurrence of secondary pollution.

[0158] In some embodiments, the wet garbage includes liquid garbage, and the mode of wet cleaning the wet garbage includes:

[0159] The cleaning robot is controlled to clean the liquid garbage in an arch-shaped cleaning path first, and then clean the liquid garbage in a way of traveling along the original edge of the liquid garbage.

[0160] In this embodiment, by controlling the cleaning robot to clean the liquid garbage in an arch-shaped traveling way first and then in a way of traveling along the original edge of the liquid garbage, the liquid can still be cleaned by the subsequent edge traveling way after being thrown and flying due to the arch-shaped traveling way, which makes up for the defect of poor cleaning effect caused by the traveling route, and improves the cleaning efficiency of the wet garbage.

[0161] In some embodiments, the wet garbage includes liquid garbage, and before the steps of stopping dry cleaning and / or bypassing the wet garbage, the method further includes a method of determining the liquid garbage:

[0162] The cleaning robot emits infrared light at a first frequency to irradiate the surface of the liquid garbage, and then the detector receives the reflected light wave of the surface of the liquid garbage to obtain the edge profile of the liquid garbage.

[0163] In this embodiment, the cleaning robot emits infrared light at a first frequency during traveling, the infrared light is reflected by the surface edge tension of the liquid, and then the target object is determined as liquid garbage after being captured by the detector of the cleaning robot. The first frequency can be 5-50 times per second.

[0164] As shown in Figure 6 The state of the liquid on the table when the infrared light of the cleaning robot is not turned on. Figure 7 The state of the liquid on the table when the infrared light of the cleaning robot is turned on to irradiate the liquid at a first frequency. As can be seen, the infrared light is reflected by the surface edge tension of the liquid, and a brighter area is formed compared to other areas of the liquid. After the area is captured by the detector of the cleaning robot, the target object is determined as liquid garbage.

[0165] As shown in Figure 8 The control method of the cleaning robot includes the following method steps:

[0166] Step S202: When the target object is outside the distance threshold of the cleaning robot, the cleaning robot performs the cleaning task according to the current working mode;

[0167] Step S204: When the target object is within the distance threshold of the cleaning robot, and the target object contains dry garbage, and the current working mode of the cleaning robot includes wet cleaning, stop wet cleaning and / or bypass the dry garbage.

[0168] Step S206: The cleaning robot cleans the dry garbage in the dry cleaning mode, including: controlling the cleaning robot to lower the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed at which the dry cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the dry cleaning mode.

[0169] In step S202, when the real-time identified target object is outside the distance threshold of the cleaning robot, the cleaning robot often does not need to consider the influence of the target object, and the cleaning robot can still perform the cleaning task according to the current working mode, while the cleaning robot detects the target object in the cleaning path in real time, including the just detected target object outside the threshold. Since the cleaning strategy is not disturbed, the cleaning robot can efficiently execute the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0170] For example, the cleaning robot performs the cleaning task according to the preset cleaning path, at this time the cleaning mode of the cleaning robot can be dry cleaning or wet cleaning, or dry cleaning and wet cleaning at the same time, while the type and position of the target object in the cleaning path are identified in real time through the sensor, based on the position of the target object, the distance between the target object and the cleaning robot can be determined, or the time when the cleaning robot reaches the target object can be determined, combined with the speed of the dry cleaning assembly and the wet cleaning assembly being retracted and lowered, a threshold is preset, so that the cleaning robot has enough time to retract or lower the dry cleaning assembly or the wet cleaning assembly, that is, when the cleaning robot is outside the distance threshold, the cleaning robot is in a safe state, and it can perform the cleaning task according to the current working mode without considering the existence of the target object.

[0171] For this step, the cleaning robot can determine to execute the cleaning task in the original cleaning mode through a single threshold condition, which improves the smoothness of the execution of the original cleaning task and ensures the cleaning efficiency. Avoiding the occupation of the operation ability of the control system due to the execution of too many judgment conditions, leading to the decline of the emergency handling ability of the cleaning robot when encountering unexpected situations. At the same time, it can also ensure that when the threshold condition is reached, the subsequent steps are triggered in time, avoiding the secondary pollution caused by the inconsistency of the garbage type and the cleaning mode, and affecting the cleaning effect.

[0172] In step S204, when the target object is within the distance threshold of the cleaning robot, the garbage type of the target object needs to be considered simultaneously. When the garbage type of the target object contains dry garbage such as paper or hair or thread, further consideration is given to whether the current working mode of the cleaning robot matches the garbage type. When the current working mode of the cleaning robot includes wet cleaning, the control system controls to stop wet cleaning and / or to bypass the dry garbage. It can be understood that at this time, the execution strategy of the cleaning robot includes stopping wet cleaning, bypassing the dry garbage, or stopping wet cleaning and bypassing the dry garbage. When wet cleaning components stop wet cleaning, they will not interfere with dry garbage, avoiding the dry garbage sticking to the wet cleaning components or being wet, increasing the difficulty of subsequent cleaning, and even causing secondary pollution of the ground and reducing cleaning efficiency. In addition, the bypassing strategy of the dry garbage can also be executed. For example, when the amount of dry garbage is large or dry and wet mixed, the cleaning ability of the dry cleaning component is exceeded, and the cleaning robot can also bypass the dry garbage to continue to perform the cleaning task along the subsequent cleaning path, avoiding the wet cleaning component from contacting the dry garbage. Of course, the wet cleaning can also be stopped and the dry garbage can be bypassed to avoid the interference of the wet cleaning component with the dry garbage when bypassing.

[0173] It should be noted that the decision to control the cleaning robot to bypass the dry garbage in this step can be automatically executed by the cleaning robot or manually executed by the user. In automatic execution, the control system comprehensively judges the cleaning ability of the dry cleaning component and the state of the dry garbage according to the preset conditions. When the cleaning ability of the dry cleaning component is insufficient to clean the dry garbage, such as when the amount of dry garbage is too large, the bypassing task is automatically executed. In addition, in manual execution, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0174] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering dry garbage by automatically executing the cleaning strategy, and comprehensively considers the factors of cleaning ability and dry garbage state, so as to avoid the reduction of cleaning effect. The cleaning robot can also execute the cleaning task under the instruction of the user by notifying the user, avoiding the occurrence of unsatisfactory cleaning effect caused by the mismatch of cleaning ability and dry garbage state or inaccurate dry garbage recognition. Thus, the cleaning efficiency and cleaning effect are maximized. In this embodiment, when the distance threshold condition is triggered, the cleaning decision needs to be made in combination with the matching relationship between the garbage type and the cleaning mode. The cleaning robot can automatically and timely stop the continuous work of the mismatched cleaning mode with as few conditions as possible, and efficiently avoids the occurrence of secondary pollution.

[0175] In some embodiments, the stopping of wet cleaning includes at least one of the following: retracting the main mop, retracting the side mop, stopping the main mop rotation, stopping the side mop rotation, and stopping water supply.

[0176] It should be noted that the stowing side mop includes a stowed side mop and a lifted side mop; and the stowing main mop includes a stowed main mop and a lifted main mop.

[0177] According to the design of the hardware structure of the cleaning robot, the side mop and the main mop usually have the functions of stowing and lifting. Stowing usually means approaching a certain position of the cleaning robot body in the horizontal plane to reduce the interference with the ground, so as to stop cleaning the ground. Lifting means approaching a certain position of the cleaning robot body in the height direction of the cleaning robot to reduce the interference with the ground, so as to stop cleaning the ground. Stopping the rotation of the side mop and the main mop means that the positions of the side mop and the main mop are temporarily stationary, and only the rotation thereof is stopped, waiting for further instructions. Stopping water supply means that the water tank stops supplying water to the main mop or the side mop or the ground, so as to avoid mixing with dry garbage to increase the cleaning difficulty.

[0178] In some embodiments, after the wet cleaning is stopped, the control method of the cleaning robot further includes the following method steps:

[0179] Step S206: The cleaning robot cleans the dry garbage in the dry cleaning mode, including: controlling the cleaning robot to lower the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed at which the dry cleaning assembly is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the dry cleaning mode.

[0180] When the cleaning robot finds that there is dry garbage within the threshold range, the wet cleaning mode is stopped in time, and the dry cleaning assembly can be directly used to clean the dry garbage according to the current cleaning task and cleaning ability of the cleaning robot. This step can enable the cleaning robot to execute the current dry garbage processing with the optimal strategy, thereby improving the overall cleaning effect of the cleaning surface.

[0181] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering dry garbage by automatically executing the cleaning strategy, and comprehensively considers the factors of cleaning ability and dry garbage state, so as to avoid the decrease of cleaning effect. The cleaning robot can also execute the cleaning task under the instruction of the user by notifying the user, thereby avoiding the occurrence of the undesirable cleaning effect caused by the mismatch between the cleaning ability and the dry garbage state or the inaccurate identification of the dry garbage. Thus, the cleaning efficiency and the cleaning effect are maximized.

[0182] It should be noted that the decision of the cleaning robot to clean the dry garbage in the dry cleaning mode in this step can be automatically executed by the cleaning robot, or manually executed by user control. In automatic execution, the control system comprehensively judges the cleaning ability of the dry cleaning assembly and the state of the dry garbage according to the preset conditions, and when the cleaning ability of the dry cleaning assembly is greater than the state of the dry garbage, for example, when the amount of dry garbage is not large, the cleaning task is automatically executed. In addition, in manual execution, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0183] In this embodiment, the cleaning robot can improve the overall cleaning efficiency when encountering dry garbage by automatically executing the cleaning strategy, and comprehensively considers the factors of cleaning ability and dry garbage state, so as to avoid reducing the cleaning effect. The cleaning robot can also execute the cleaning task under the instruction of the user by notifying the user, avoiding the occurrence of unsatisfactory cleaning effect caused by the mismatch between the cleaning ability and the dry garbage state or the inaccurate identification of the dry garbage. Thus, the cleaning efficiency and cleaning effect are maximized to be ensured.

[0184] In some embodiments, the control method of the cleaning robot further includes the following method steps:

[0185] Step S208: When the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains dry garbage, a request instruction is sent to the mobile terminal to make the mobile terminal display prompt information or icons with dry garbage within the distance threshold of the current cleaning path after receiving the request instruction.

[0186] As described above, when the cleaning device stops wet cleaning, the subsequent cleaning strategy is not immediately executed, but a request instruction is immediately sent to the user. The instruction can be directly sent to the APP of the user's mobile terminal, or indirectly sent to the APP of the user's mobile terminal through the cloud, which is not limited. As shown in Figure 9 After the user's APP receives the request instruction, it will display prompt information or icons with dry garbage within the distance threshold of the current cleaning path on the APP interface. It can be understood that the prompt information can be text information, and the icons can be pictures with corresponding meanings. This step makes the user know the cleaning state faced by the cleaning robot as soon as possible through early discovery and early reporting, so as to make a decision in time.

[0187] It should be noted that after the push information is sent to the user's APP, a prompt sound can be emitted by the cleaning robot or the mobile phone to remind the user that there is an abnormality in the current cleaning path and it needs to be handled manually.

[0188] The embodiment gives the user a prompt message to decide the subsequent cleaning strategy, instead of automatically executing the subsequent cleaning strategy by the cleaning device, avoids the occurrence of pollution cleaning events caused by the fact that the preset cleaning strategy of the cleaning device does not completely match the current wet garbage, thereby expanding the dry garbage pollution area, reducing the cleaning efficiency and cleaning effect.

[0189] In some embodiments, the control method of the cleaning robot further includes the following method steps:

[0190] Step S210: When the cleaning robot is within the distance threshold of the cleaning robot and the target object contains dry garbage, a request instruction is sent to a mobile terminal, so that the mobile terminal displays an interactive interface after receiving the request instruction, and the interactive interface is used to receive a user instruction, and the user instruction includes cleaning the dry garbage in a dry cleaning mode or making the cleaning robot bypass the dry garbage.

[0191] The mobile terminal receives the request instruction and also displays an interactive interface. Optionally, the interactive interface can be automatically displayed or displayed after being touched by the user, as shown in Figure 10 The user can send an interactive instruction to the cleaning robot through the interactive interface, so as to manually control the cleaning robot to clean the dry garbage in a dry cleaning mode or make the cleaning robot bypass the dry garbage.

[0192] It can be understood that the form of the interactive interface can be various, Figure 10 only an exemplary interactive interface is given, and other interactive interfaces, such as text input interaction, voice input interaction, gesture interaction, etc., are also included in the embodiment description, which are not limited.

[0193] The embodiment gives an operation mode of user self-determination of subsequent cleaning strategy by manual control of the user, and the operation interface is simple and direct, which is convenient for the user to quickly give a cleaning strategy, avoids the reduction of cleaning efficiency caused by the long waiting of the cleaning device for subsequent tasks, and avoids the problem of unsatisfactory cleaning effect caused by too much water stain on the local ground.

[0194] In some embodiments, in step S206, the dry garbage is cleaned in a dry cleaning mode, including:

[0195] When the current working mode of the cleaning robot does not include dry cleaning, the dry cleaning mode is started, and the dry garbage is cleaned in the dry cleaning mode.

[0196] In some embodiments, in step S206, the dry garbage is cleaned in a dry cleaning mode, including:

[0197] When the current working mode of the cleaning robot includes dry cleaning, the dry garbage is directly cleaned in the dry cleaning mode.

[0198] When the cleaning robot is controlled to perform a dry cleaning task, one case is that only wet cleaning is included in the current cleaning mode, dry cleaning is not started, and the dry cleaning assembly is in a retracted state. At this time, the dry cleaning assembly needs to be put down, the dry cleaning mode needs to be started, and the dry garbage in the current area needs to be cleaned according to a preset path. Another case is that the dry cleaning is included in the current cleaning mode, that is, the dry cleaning assembly is in a put-down state. At this time, the wet cleaning mode only needs to be stopped, and the dry garbage can be directly cleaned in the dry cleaning mode.

[0199] It can be understood that, regardless of the case, the way of cleaning the dry garbage can be matched with a new cleaning strategy according to the identification result of the dry garbage. For example, according to the amount of dry garbage, the dry cleaning assembly is controlled to reciprocate to clean, or the dry cleaning suction is increased to strongly clean the dry garbage in the area until the dry garbage is cleaned.

[0200] In this embodiment, the dry cleaning mode is started in time according to whether the dry cleaning assembly is in a running state, the cleaning assembly is controlled to enter the dry cleaning mode state, the timely response after the dry cleaning task is performed is ensured, and the overall cleaning efficiency can be improved.

[0201] In some other embodiments, starting the dry cleaning mode includes starting the dry cleaning mode at a position close to the dry garbage.

[0202] In this embodiment, the position close to the dry garbage refers to that the distance between the dry garbage and the cleaning robot is within the distance threshold range and is less than the distance threshold. For example, the position close to the dry garbage is 10%-90%, 10%-50%, or 5%-20% of the distance threshold.

[0203] It can be understood that, when the dry garbage enters the threshold range of the cleaning robot, the dry cleaning mode does not have to be started immediately, but can be started at a position close to the dry garbage. That is, the cleaning robot is in a non-cleaning state for a distance at this time. At this time, since the wet cleaning mode has been stopped and the distance is not suitable for dry cleaning, the cleaning is in a suspended state.

[0204] In this embodiment, by controlling the starting time of the dry cleaning mode, the matching relationship between the dry cleaning assembly and the dry garbage can be accurately controlled. On the one hand, the task of cleaning the dry garbage can be completely implemented, and on the other hand, the dry cleaning of the area other than the dry garbage can be reduced. For the scene in which the surface to be cleaned is cleaned by wet cleaning, the pollution of the surface to be cleaned by dry cleaning can be reduced.

[0205] When the cleaning device travels to the dry garbage proximity position, since the dry cleaning mode is not started before, the dry cleaning assembly is in the stowed state, at this time, the dry cleaning assembly is timely and quickly lowered, so that the cleaning robot can clean the dry garbage in time before reaching the dry garbage, and direct driving wheel crushing to the dry garbage is avoided, which leads to secondary pollution. Therefore, the speed of lowering the dry cleaning assembly at this time is the fourth speed, which is greater than the third speed, and the third speed is the speed of lowering the dry cleaning assembly when the target is outside the distance threshold of the cleaning robot and needs to use the dry cleaning mode to clean, that is, the speed of lowering the dry cleaning assembly when the cleaning robot is in the normal cleaning mode. For example, the speed of lowering the dry cleaning assembly when the cleaning robot leaves the base station to start cleaning task, which can also be called the original lowering speed.

[0206] It can be understood that the value of the fourth speed needs to be calculated according to the specific value of the proximity position, which can be pre-set and controlled to lower the dry cleaning assembly at the fourth speed as the proximity position arrives.

[0207] In this embodiment, since the cleaning robot has reached the position close to the dry garbage at this time, it is too late to lower the dry cleaning assembly at the normal speed, so the speed of lowering the dry cleaning assembly needs to be increased to avoid secondary pollution caused by driving wheel crushing dry garbage.

[0208] In some other embodiments, in step S204, when the target is within the distance threshold of the cleaning robot and the target is dry garbage, and the current working mode of the cleaning robot includes wet cleaning, stopping wet cleaning, including:

[0209] When there is no dry target outside the distance threshold of the cleaning robot, there is a dry target within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes wet cleaning, the wet cleaning assembly is stowed at a second speed greater than the first speed, wherein the first speed is the speed of stowing the wet cleaning assembly when the cleaning robot does not need to use the wet cleaning mode to clean outside the distance threshold.

[0210] When the cleaning robot performs a cleaning task according to a preset path, according to the above embodiment, although the cleaning robot can detect the target object in the travel path in real time, sometimes there will be a sudden event, for example, a dry target object that suddenly falls, for example, a rolled-up ball of thread, etc., at this time, for the real-time detection process of the cleaning robot, the previous moment recognition result shows that there is no dry target object outside the preset distance threshold, but a dry target object suddenly appears within the threshold at the next moment, for the occurrence of a sudden situation, the cleaning robot of this embodiment needs to be able to give a response measure, that is, when the cleaning mode at this time includes a wet cleaning mode, the control strategy of immediately retracting the wet cleaning assembly should be taken. And, the cleaning robot is controlled to retract the wet cleaning assembly at a second speed greater than a first speed, wherein the first speed is the speed at which the cleaning robot retracts the wet cleaning assembly when it is not necessary to adopt a wet cleaning mode for cleaning outside the distance threshold, that is, the speed at which the cleaning robot retracts the wet cleaning assembly when it is in a regular cleaning mode, for example, the speed at which the wet cleaning assembly is retracted when the cleaning robot finishes performing a cleaning task, which can also be referred to as the original retraction speed. It can be understood that the speed at which the cleaning robot retracts and lowers the wet cleaning assembly is usually the same, so the first speed at which the wet cleaning assembly is retracted is the same as the aforementioned first speed at which the wet cleaning assembly is lowered. Similarly, the second speed at which the wet cleaning assembly is retracted is the same as the aforementioned second speed at which the wet cleaning assembly is lowered.

[0211] It can be understood that the value of the second speed can be preset in the cleaning robot control system, and when the sudden situation occurs, the wet cleaning assembly is controlled to be retracted at the second speed.

[0212] In this embodiment, due to the occurrence of the sudden situation, the dry cleaning object is very close to the cleaning robot, and it is already too late to retract the wet cleaning assembly at the regular speed, so the speed at which the wet cleaning assembly is retracted needs to be increased to avoid secondary pollution caused by the driving wheel rolling over the dry garbage.

[0213] Further, the mode of cleaning the dry garbage by using dry cleaning includes:

[0214] When the current working mode of the cleaning robot does not include dry cleaning, the dry cleaning assembly is lowered at a fourth speed greater than a third speed to clean the dry garbage by using a dry cleaning mode, wherein the third speed is the speed at which the dry cleaning assembly is lowered when the target object needs to be cleaned by using a dry cleaning mode outside the distance threshold of the cleaning robot.

[0215] When a sudden dry garbage appears near the cleaning robot, since the dry cleaning mode is not turned on before, the dry cleaning assembly is in the stowed state, at this time, the dry cleaning assembly needs to be put down in time and quickly, so that the cleaning robot can clean the wet garbage in time before reaching the dry garbage, and avoid the driving wheel directly rolling on the wet garbage due to the dry cleaning assembly not being put down, causing secondary pollution. Therefore, the speed at which the dry cleaning assembly is put down at this time is a fourth speed, which is greater than the third speed, and the third speed is the speed at which the dry cleaning assembly is put down when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned by the dry cleaning mode, that is, the speed at which the dry cleaning assembly is put down when the cleaning robot is in the normal cleaning mode. For example, when the cleaning robot leaves the base station to start performing the cleaning task, the speed at which the dry cleaning assembly is put down, which can also be called the original put-down speed. It can be understood that the speed at which the cleaning robot stows and puts down the dry cleaning assembly is usually the same, so the third speed at which the dry cleaning assembly is put down here is the same as the third speed at which the dry cleaning assembly is stowed before.

[0216] It can be understood that the value of the fourth speed can be preset in the cleaning robot control system, and the dry cleaning assembly can be controlled to be put down at the fourth speed as the approaching position arrives.

[0217] In this embodiment, since the dry garbage appears suddenly, the dry cleaning assembly cannot be put down at the normal speed, so the speed at which the dry cleaning assembly is put down needs to be increased to avoid secondary pollution caused by the driving wheel rolling on the dry garbage.

[0218] Further, the control method further includes the following steps:

[0219] The cleaning robot moves at a second acceleration greater than the first acceleration when the distance threshold is outside the distance threshold.

[0220] When a sudden situation occurs, dry garbage suddenly appears, the cleaning robot can quickly stop to avoid the driving wheel rolling on the dry garbage, at this time, the second acceleration value of the cleaning robot from the normal speed to the stop is greater than the first acceleration value of the normal operation, that is, the cleaning robot adopts emergency braking to avoid the occurrence of secondary pollution.

[0221] In some other embodiments, the present application also provides a cleaning robot, which includes a robot body, a driving wheel and a cleaning assembly arranged on the robot body, and the cleaning assembly includes a wet cleaning assembly and a dry cleaning assembly; the cleaning robot is configured to perform the method according to any one of the above.

[0222] The embodiment of the present application provides a cleaning robot, comprising a processor and a memory, the memory stores computer program instructions capable of being executed by the processor, when the processor executes the computer program instructions, the method steps of any one of the foregoing embodiments are implemented.

[0223] The embodiment of the present application provides a non-transitory computer readable storage medium, storing computer program instructions, when the computer program instructions are called and executed by a processor, the method steps of any one of the foregoing embodiments are implemented.

[0224] As shown in Figure 11 The cleaning robot can include a processing device (for example, a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 802 or programs loaded from a storage device 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the cleaning robot are also stored. The processing device 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0225] Generally, the following devices can be connected to the I / O interface 805: an input device 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 808 including, for example, a hard disk, etc.; and a communication device 809. The communication device 809 can allow the cleaning robot to communicate wirelessly or wired with other robots to exchange data. Although Figure 11 The cleaning robot with various devices is shown, but it should be understood that it is not required to implement or have all the shown devices. More or fewer devices can be alternatively implemented or provided.

[0226] In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0227] Note that the computer readable medium described above can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, the computer readable storage medium can be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus or device. In the present disclosure, the computer readable signal medium can include a computer readable program code transmitted in baseband or as part of a carrier wave over a transmission medium, and can include any computer readable medium that is not a computer readable storage medium. The computer readable signal medium can also be any computer readable medium that can transmit, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0228] The computer readable medium described above can be included in the robot described above; or can exist separately from the robot and be assembled into the robot.

[0229] Computer program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0230] The computer program product of the present application can be a computer program including a plurality of program instructions that control at least one processing unit of a computer to implement the steps disclosed herein. The computer program product can be stored in the storage system of the computer and implemented or invoked when carried out or executed by the at least one processing unit. The computer program product can also be implemented or invoked by a cloud computing platform.

[0231] The apparatus embodiments described above are only illustrative, and the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0232] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0233] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: include: When the target object is beyond the distance threshold of the cleaning robot, the cleaning robot performs the cleaning task according to the current working mode; When the target object is within the distance threshold of the cleaning robot and the target object contains wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stopping dry cleaning; Then, the cleaning robot cleans the wet garbage in a wet cleaning mode, including: controlling the cleaning robot to move at least in a reverse manner to clean at least a portion of the wet garbage by mopping; The cleaning robot includes a wet cleaning component, and the wet cleaning mode is used to clean the wet garbage, including: The wet cleaning component has a first position and a second position. The first position is that the wet cleaning component is located inside the body of the cleaning robot, and the second position is that at least a part of the wet cleaning component is located outside the body of the cleaning robot. When cleaning wet garbage away from the edge of an obstacle, the wet cleaning component is adjusted to the first position for cleaning so that the cleaning area of ​​the wet cleaning component covers the walking area of ​​the drive wheel.

2. The control method of the cleaning robot according to claim 1, characterized in that: Also includes: When the cleaning robot identifies that the target object contains wet garbage within the distance threshold of the cleaning robot, a request instruction is sent to the mobile terminal, so that after receiving the request instruction, the mobile terminal displays a prompt message or icon indicating that there is wet garbage within the distance threshold of the current cleaning path.

3. The control method of the cleaning robot according to claim 1, characterized in that: Also includes: When the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains wet garbage, a request instruction is sent to the mobile terminal, so that the mobile terminal displays an interactive interface after receiving the request instruction. The interactive interface is used to receive user instructions, and the user instructions include using a wet cleaning mode to clean the wet garbage or making the cleaning robot bypass the wet garbage.

4. The control method of the cleaning robot according to claim 1, characterized in that: The wet cleaning mode is used to clean the wet garbage, including: When the current working mode of the cleaning robot does not include wet cleaning, the wet cleaning mode is turned on and the wet cleaning mode is used to clean the wet garbage.

5. The control method of the cleaning robot according to claim 1, characterized in that: When the current working mode of the cleaning robot includes wet cleaning, the wet cleaning mode is directly adopted to clean the wet garbage.

6. The control method of the cleaning robot according to claim 4, characterized in that: The step of starting the wet cleaning mode includes: The cleaning robot is controlled to lower the wet cleaning component at a second speed greater than a first speed, wherein the first speed is the speed at which the wet cleaning component is lowered when the target object is beyond a distance threshold of the cleaning robot and needs to be cleaned in a wet cleaning mode.

7. The control method of the cleaning robot according to claim 1, characterized in that: The method of cleaning the wet garbage in a wet cleaning mode further includes: When the wet garbage is located at the edge of the obstacle, when cleaning the wet garbage close to the edge of the obstacle, the wet cleaning component is adjusted to the second position to clean the wet garbage near the edge of the obstacle.

8. The control method of the cleaning robot according to claim 7, characterized in that: The controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping includes: The mop is a roller mop or a crawler mop, and based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the same direction as the mop. When the wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning so as to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel; and / or The mop is a roller mop or a crawler mop. Based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the rotation direction of the driving wheel of the cleaning robot is opposite to the rotation direction of the mop. When the wet garbage is located at the edge of the obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel.

9. The control method of the cleaning robot according to claim 1, characterized in that: When the target object is within the distance threshold of the cleaning robot and the target object is wet garbage, and the current working mode of the cleaning robot includes dry cleaning, stopping dry cleaning includes: When there is no wet garbage outside the distance threshold of the cleaning robot and there is wet garbage within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes dry cleaning, the dry cleaning component is folded up at a fourth speed greater than the third speed, wherein the third speed is the speed at which the cleaning robot folds up the dry cleaning component when the cleaning robot does not need to adopt the dry cleaning mode for cleaning outside the distance threshold.

10. The control method of the cleaning robot according to claim 9, characterized in that: The wet cleaning mode is used to clean the wet garbage, including: When the current working mode of the cleaning robot does not include wet cleaning, the wet cleaning component is lowered at a second speed greater than the first speed, and the wet cleaning mode is used to clean the wet garbage, wherein the first speed is the speed at which the wet cleaning component is lowered when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in the wet cleaning mode.

11. The control method of the cleaning robot according to claim 9, characterized in that: Also includes: The cleaning robot decelerates at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration at which the cleaning robot decelerates from a traveling state to a stopped state beyond a distance threshold.

12. The control method of the cleaning robot according to claim 1, characterized in that: The wet garbage includes liquid garbage, and the wet cleaning mode is used to clean the wet garbage, including: The cleaning robot is controlled to first clean the liquid garbage in a bow-shaped cleaning path, and then clean the liquid garbage in a manner of moving along the edge of the original liquid garbage.

13. The control method of the cleaning robot according to claim 1, characterized in that: The cleaning robot includes an infrared light emitter and a detector, and the wet garbage includes liquid garbage. Before stopping the dry cleaning step, the method of determining liquid garbage is also included: The infrared light emitter emits infrared light at a first frequency to illuminate the surface of the liquid garbage, and then the detector receives the light waves reflected from the surface of the liquid garbage to obtain the edge contour of the liquid garbage.

14. The control method of the cleaning robot according to claim 1, characterized in that: The stopping of dry cleaning includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the shielding member, stopping the side brush from rotating, and stopping the roller brush from rotating.

15. The control method of the cleaning robot according to claim 14, characterized in that: The stowing of the side brush includes stowing the side brush and lifting the side brush; the stowing of the roller brush includes stowing the roller brush and lifting the roller brush.

16. A control method for a cleaning robot, characterized in that: include: When the target object is beyond the distance threshold of the cleaning robot, the cleaning robot performs the cleaning task according to the current working mode; When the target object is within a distance threshold of the cleaning robot and the target object contains dry garbage, and the current working mode of the cleaning robot includes wet cleaning, stopping wet cleaning; Afterwards, the cleaning robot uses a dry cleaning mode to clean the dry garbage, including: controlling the cleaning robot to lower the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed of lowering the dry cleaning component when the target object is outside the distance threshold of the cleaning robot and needs to be cleaned in a dry cleaning mode.

17. The control method of the cleaning robot according to claim 16, characterized in that: Also includes: When the cleaning robot identifies that the target object contains dry garbage within the distance threshold of the cleaning robot, a request instruction is sent to the mobile terminal, so that after receiving the request instruction, the mobile terminal displays a prompt message or icon indicating that there is dry garbage within the distance threshold of the current cleaning path.

18. The control method of the cleaning robot according to claim 16, characterized in that: Also includes: When the cleaning robot is within the distance threshold of the cleaning robot and identifies that the target object contains dry garbage, a request instruction is sent to the mobile terminal, so that the mobile terminal displays an interactive interface after receiving the request instruction. The interactive interface is used to receive user instructions, and the user instructions include using a dry cleaning mode to clean the dry garbage or making the cleaning robot bypass the dry garbage.

19. The control method of the cleaning robot according to claim 16, characterized in that: The dry cleaning mode is used to clean the dry garbage, including: When the current working mode of the cleaning robot does not include dry cleaning, the dry cleaning mode is turned on and the dry cleaning mode is used to clean the dry garbage.

20. The control method of the cleaning robot according to claim 16, characterized in that: When the current working mode of the cleaning robot includes dry cleaning, the dry cleaning mode is directly adopted to clean the dry garbage.

21. The control method of the cleaning robot according to claim 16, characterized in that: When the target object is within the distance threshold of the cleaning robot and the target object is dry garbage, and the current working mode of the cleaning robot includes wet cleaning, stopping wet cleaning includes: When there is no dry target object outside the distance threshold of the cleaning robot, there is a dry target object within the distance threshold of the cleaning robot, and when the current working mode of the cleaning robot includes wet cleaning, the wet cleaning component is retracted at a second speed greater than the first speed, wherein the first speed is the speed at which the cleaning robot retracts the dry and wet cleaning components outside the distance threshold.

22. The control method of the cleaning robot according to claim 19, characterized in that: The dry cleaning mode is used to clean the dry garbage, including: When the current working mode of the cleaning robot does not include dry cleaning, the dry cleaning component is lowered at a fourth speed greater than the third speed, and the dry cleaning mode is used to clean the dry garbage, wherein the third speed is the speed at which the dry cleaning component is lowered when the target object is outside the distance threshold of the cleaning robot and the dry cleaning mode is required for cleaning.

23. The control method of the cleaning robot according to claim 19, characterized in that: Also includes: The cleaning robot decelerates at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration at which the cleaning robot decelerates from a traveling state to a stopped state beyond a distance threshold.

24. The control method of the cleaning robot according to claim 16, characterized in that: The stopping of wet cleaning includes at least one of the following: retracting the main mop, retracting the side mop, stopping the main mop from rotating, stopping the side mop from rotating, and stopping water supply.

25. The control method of the cleaning robot according to claim 24, characterized in that: The stowing of the side drag includes folding the side drag and lifting the side drag; the stowing of the main drag includes folding the main drag and lifting the main drag.

26. A cleaning robot, characterized in that: The cleaning robot includes a robot body, and driving wheels and a cleaning component provided on the robot body, wherein the cleaning component includes a wet cleaning component and a dry cleaning component; the cleaning robot is configured to perform the method according to any one of claims 1 to 25.

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