A control method of a cleaning robot and a cleaning robot

Abstract

The embodiment of the application provides a kind of cleaning robot control method and cleaning robot, method includes: in the process that cleaning robot executes cleaning task along preset cleaning path in first cleaning mode, cleaning robot judges whether the at least part of wet target object is contacted with the dry cleaning component of cleaning robot;If cleaning robot judges the at least part of wet target object is contacted with the dry cleaning component of cleaning robot, cleaning robot stops executing cleaning task along original preset cleaning path;Control cleaning robot to execute first cleaning strategy, wherein, first cleaning strategy includes using wet cleaning mode to clean the at least part of wet target object or make cleaning robot bypass wet target object.The cleaning robot of the application can stop current cleaning mode in time when encountering unexpected situation in cleaning path and cleaning component has contacted with mismatched target object, switch to emergency cleaning strategy, avoid the occurrence of secondary pollution accident.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application No. 202511067727.6 filed in China on July 31, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application belongs to the technical field related to cleaning robots, and specifically relates to a control method for a cleaning robot and a cleaning robot. Background Art

[0004] Common cleaning robots include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in household life.

[0005] When performing cleaning tasks, cleaning robots typically clean the floor in an orderly manner according to a pre-set cleaning path. In particular, sweeping and mopping robots can be configured to operate in dry sweeping, wet mopping, or both, depending on the user's cleaning needs. However, if, for various reasons, the dry cleaning component of the cleaning robot accidentally comes into contact with wet waste, or vice versa, continuing to clean according to the original cleaning strategy can cause secondary contamination of the floor, affecting the cleaning effect. Summary of the Invention

[0006] The purpose of this application is to provide a control method and cleaning robot for cleaning robots, which can solve at least one of the above technical problems. The specific solution is as follows:

[0007] The present invention provides a method for controlling a cleaning robot, including:

[0008] During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a wet target object is in contact with a dry cleaning component of the cleaning robot;

[0009] If the cleaning robot determines that at least a portion of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path;

[0010] The cleaning robot is controlled to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet object or making the cleaning robot circle around the wet object.

[0011] In the embodiment, the cleaning robot, when performing a cleaning task, identifies in real time whether the wet garbage is in contact with the dry cleaning assembly, so as to avoid secondary pollution caused by the mismatch between the garbage type and the cleaning mode. By automatically performing the preset cleaning strategy, the overall cleaning efficiency of the cleaning robot when encountering wet garbage can be improved, and the factors of cleaning capacity and wet garbage state are comprehensively considered, and the strategy of directly cleaning or bypassing the wet garbage is performed, so that the overall cleaning efficiency of the cleaning robot can be improved.

[0012] In some embodiments, when the first cleaning strategy is to clean at least part of the wet target object by using the wet cleaning mode, the method further comprises: controlling the cleaning robot to return to the base station to clean the wet cleaning assembly, and then cleaning the wet target object at least once; and then performing the cleaning task according to the preset original cleaning path.

[0013] In the embodiment, by controlling the cleaning robot to perform the unexpected wet target object, and making it perform self-cleaning at least once, and returning to the original cleaning task in time after the unexpected garbage is cleaned, the cleaning effect of the unexpected garbage object is ensured, and the cleaning efficiency of the overall cleaning task is ensured.

[0014] In some embodiments, the cleaning of at least part of the wet target object by using the wet cleaning mode comprises: when the first cleaning mode of the cleaning robot currently does not include wet cleaning, starting the wet cleaning mode, and cleaning at least part of the wet target object by using the wet cleaning mode.

[0015] In some embodiments, the cleaning of at least part of the wet target object by using the wet cleaning mode comprises: when the first cleaning mode of the cleaning robot currently includes wet cleaning, directly cleaning at least part of the wet target object by using the wet cleaning mode, and then performing the cleaning task according to the original preset cleaning path.

[0016] In the 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, the timely response after the wet cleaning task is performed is ensured, and the overall cleaning efficiency can be improved.

[0017] In some embodiments, the starting of the wet cleaning mode comprises: lowering the wet cleaning assembly at a second speed greater than a first speed, wherein the first speed is the speed at which the wet cleaning assembly is lowered when at least part of the wet target object is not in contact with the dry cleaning assembly of the cleaning robot and needs to be cleaned by using the wet cleaning mode.

[0018] In this embodiment, since the dry cleaning assembly of the cleaning robot has been in contact with the wet garbage at this time, it is impossible 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.

[0019] In some embodiments, further comprising: controlling the dry cleaning assembly to stop working.

[0020] In some embodiments, after the controlling the dry cleaning assembly to stop working, further comprising: controlling the cleaning robot to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is the acceleration of at least a part of the wet target object from a traveling state to a stopping state when the dry cleaning assembly of the cleaning robot is not in contact.

[0021] When an emergency occurs and the wet garbage has been contacted, the cleaning robot can quickly stop to avoid the dry cleaning assembly from further contacting the wet garbage, increasing the pollution area, and avoiding secondary pollution caused by 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 stopping state is greater than the first acceleration value in the normal operation, that is, the cleaning robot adopts emergency braking to avoid secondary pollution.

[0022] In some embodiments, the controlling the dry cleaning assembly to stop working comprises: controlling the dry cleaning assembly to retract the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed of retracting the dry cleaning assembly when at least a part of the wet target object is not in contact with the dry cleaning assembly of the cleaning robot and does not need to be cleaned in the dry cleaning mode.

[0023] In this embodiment, since an emergency occurs and the wet cleaning object has been contacted with the cleaning robot, it is impossible to retract the dry cleaning assembly at the normal speed, so the speed of retracting the dry cleaning assembly needs to be increased to avoid the dry cleaning assembly from further contacting the wet garbage, increasing the pollution area, and avoiding secondary pollution caused by the driving wheel rolling on the wet garbage.

[0024] In some embodiments, the controlling the dry cleaning assembly to stop working comprises at least one of the following: retracting the side brush, retracting the roller brush, retracting the booster plate, stopping the rotation of the side brush, and stopping the rotation of the roller brush.

[0025] In some embodiments, when the first cleaning strategy is to make the cleaning robot bypass the wet target object, further comprising: making the cleaning robot bypass the wet target object, and controlling the cleaning robot to perform the cleaning task according to the original preset cleaning path.

[0026] In this embodiment, since the amount of wet garbage exceeds the cleaning capacity of the cleaning robot, a bypass strategy can be manually or automatically executed, and the control system controls the cleaning robot to bypass and return to the original cleaning path to perform the cleaning task according to the original cleaning path. This cleaning strategy can enable the cleaning robot to perform the cleaning task without changing the original cleaning strategy. Since the unexpected situation is not considered, the original cleaning efficiency can be maintained as much as possible.

[0027] The cleaning robot includes a wet cleaning assembly for cleaning at least a portion of the wet target object in a wet cleaning mode, which includes that 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 portion of the wet cleaning assembly is located outside the body of the cleaning robot. When the wet target object is located at the edge of the obstacle, when cleaning the wet target object 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 target object near the edge of the obstacle, and when cleaning the wet target object on the side away from the edge of the obstacle, the wet cleaning assembly is adjusted to the first position for cleaning to make the cleaning area of the wet cleaning assembly cover the walking area of the drive wheel.

[0028] 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 the obstacle, the mop can be controlled to switch to outside the body of the cleaning robot, which facilitates 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 inside the body of the cleaning robot, which can clean the wet garbage and make the cleaning area of the mop cover the walking area of the drive wheel, avoiding secondary pollution of the wet garbage by the drive wheel.

[0029] In some embodiments, the cleaning of at least a portion of the wet target object in a wet cleaning mode includes controlling the cleaning robot to travel at least in a reverse manner to clean at least a portion of the wet garbage by the mop.

[0030] When the cleaning robot finds wet garbage and needs to perform cleaning on the wet garbage, the cleaning robot can be controlled to travel in a reverse manner based on a preset cleaning path to clean the wet garbage by the mop located at the rear side of the cleaning robot. In this way, since the mop first contacts the wet garbage when traveling in a reverse manner and can cover the path of the drive wheel, the cleaning robot can effectively clean the wet garbage in one pass, avoiding the rolling of the wet garbage by the drive wheel, thereby reducing the possibility of pollution.

[0031] In some embodiments, the control of the cleaning robot to travel at least in a reverse manner to clean at least a portion of the wet garbage by the mop includes:

[0032] The mop is a roller-type mop or a track-type mop. With the forward direction of the cleaning robot as a reference, the driving wheel is located in front of the mop. During the reverse mode travel, the rotation direction of the driving wheel of the cleaning robot and the rotation direction of the mop are the same. When the wet target object is located at the edge of the obstacle, when cleaning the wet target object 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 target object near the edge of the obstacle, and when cleaning the wet target object on the side away from the edge of the obstacle, the mop is adjusted to the first position for reverse cleaning to make the cleaning area of the mop cover the travel area of the driving wheel; and / or

[0033] The mop is a roller-type mop or a track-type mop. With the forward direction of the cleaning robot as a reference, the driving wheel is located in front of the mop. During the reverse mode travel, the rotation direction of the driving wheel of the cleaning robot and the rotation direction of the mop are opposite. When the wet target object is located at the edge of the obstacle, when cleaning the wet target object 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 target object near the edge of the obstacle, and when cleaning the wet target object on the side away from the edge of the obstacle, the mop is adjusted to the first position for reverse cleaning to make the cleaning area of the mop cover the travel area of the driving wheel.

[0034] In this embodiment, during the reverse mode travel, the rotation direction of the driving wheel of the cleaning robot and the rotation direction of the mop are opposite, so that the residence time of the wet cleaning assembly of the cleaning robot in the wet garbage area is longer, 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 of the driving wheel in the subsequent cleaning path due to contamination of the driving wheel. Since the driving wheel is located in front of the mop, during the reverse mode travel, when the wet garbage is located at the edge of the obstacle, when 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 when cleaning the wet garbage on the side away from the edge of the obstacle, the mop is adjusted to the first position for reverse cleaning to make the cleaning area of the mop cover the travel area of the driving wheel, so that the mop can be preferentially contacted with the wet garbage for cleaning, to avoid secondary pollution caused by contact of the driving wheel with the wet garbage.

[0035] In this embodiment, the rotation direction of the drive wheel of the cleaning robot and the rotation direction of the mop are the same during the reverse mode, which can minimize the residence time of the cleaning robot on the wet garbage surface, and avoid the dry cleaning component and the drive wheel from being contaminated with too much liquid wet garbage. Since the drive wheel is located in front of the mop, when the wet garbage is located on the edge of the obstacle, 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 the wet garbage can be cleaned to avoid secondary pollution caused by the drive wheel contacting the wet garbage. Further, the width of the mop is greater than or equal to the distance between the two drive wheels to better cover the driving area of the drive wheel.

[0036] In some embodiments, the wet target object includes liquid garbage, and the method for cleaning at least part of the wet target object in the wet cleaning mode includes: controlling the cleaning robot to first clean the liquid garbage in an arch-shaped cleaning path, and then clean the liquid garbage in a manner of moving along the original edge of the liquid garbage.

[0037] In this embodiment, by controlling the cleaning robot to first clean the liquid garbage in an arch-shaped cleaning path, and then clean the liquid garbage in a manner of moving along the original edge of the liquid garbage, the liquid garbage can be cleaned even if it is splashed during the arch-shaped cleaning, which compensates for the defect of poor cleaning effect caused by the cleaning route, and improves the cleaning efficiency of the wet garbage.

[0038] In some embodiments, the cleaning robot includes an infrared light emitter and a detector, and the wet target object includes liquid garbage. Before the cleaning robot determines whether at least part of the wet target object is in contact with the dry cleaning component of the cleaning robot, the method for determining the liquid garbage includes:

[0039] The infrared light emitter 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.

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

[0041] In this embodiment, the cleaning robot emits infrared light at a first frequency by constantly flashing during travel. The infrared light is emitted to the liquid surface. Due to the effect of surface tension, the edge of the liquid surface will reflect. The reflected light is captured by the cleaning robot detector (for example, a camera), and the clear edge profile of the liquid garbage is obtained. It is determined that the target object is liquid garbage. 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 shooting, it is easy to misjudge as dirt for larger area decorative patterns. The infrared light and camera linkage method is used to detect liquid dirt, and the misjudgment probability is small.

[0042] In some embodiments, the present application also provides a control method of a cleaning robot, comprising:

[0043] During the process that the cleaning robot performs a cleaning task along a preset cleaning path in a first cleaning mode, the cleaning robot determines whether at least a part of a dry target object contacts a wet cleaning component of the cleaning robot;

[0044] If the cleaning robot determines that at least a part of the dry target object contacts the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path;

[0045] Controlling the cleaning robot to perform a second cleaning strategy, wherein the second cleaning strategy comprises cleaning at least a part of the dry target object in a dry cleaning mode or making the cleaning robot bypass the dry target object.

[0046] The cleaning robot can directly determine whether to perform the original cleaning mode or the second cleaning strategy by real-time identification, which improves the smoothness and accuracy of the cleaning task execution, and ensures the cleaning efficiency. At the same time, it can also ensure that the cleaning strategy is changed in time when the cleaning risk occurs, avoid secondary pollution caused by the inconsistency between the garbage type and the cleaning mode, and affect the cleaning effect.

[0047] In some embodiments, when the second cleaning strategy is to clean at least a part of the dry target object in a dry cleaning mode, the method further comprises: controlling the cleaning robot to return to the base station to dump garbage, and then cleaning the dry target object at least once; and then performing the cleaning task according to the original preset cleaning path.

[0048] In this embodiment, the cleaning robot is controlled to execute the unexpected dry target object, and at least once self-cleaning is performed. At the same time, the cleaning robot returns to the original cleaning task in time after executing the unexpected garbage, which ensures the cleaning effect of the unexpected garbage and ensures the cleaning efficiency of the overall cleaning task.

[0049] In some embodiments, the cleaning at least part of the dry target object in the dry cleaning mode comprises:

[0050] When the current working mode of the cleaning robot does not include dry cleaning, starting the dry cleaning mode, and cleaning at least part of the dry target object in the dry cleaning mode.

[0051] In some embodiments, the cleaning at least part of the dry target object in the dry cleaning mode comprises:

[0052] When the first cleaning mode of the cleaning robot currently includes dry cleaning, directly cleaning at least part of the dry target object in the dry cleaning mode, and then performing the cleaning task according to the original preset cleaning path.

[0053] In this embodiment, by controlling the dry cleaning assembly to enter the dry cleaning mode state in time according to whether the dry cleaning assembly is in the running state, the timely response of performing the dry cleaning task is ensured, and the overall cleaning efficiency can be improved.

[0054] In some embodiments, the starting the dry cleaning mode comprises: lowering the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is the speed of lowering the dry cleaning assembly when at least part of the dry target object is not in contact with the wet cleaning assembly of the cleaning robot and needs to be cleaned in the dry cleaning mode.

[0055] In this embodiment, since the wet cleaning assembly of the cleaning robot has contacted the dry garbage at this time, the dry cleaning assembly cannot be lowered at the conventional speed, and therefore the speed of lowering the dry cleaning assembly needs to be increased to avoid wetting the dry garbage, increasing the cleaning difficulty, and avoiding secondary pollution caused by the driving wheel rolling the dry garbage.

[0056] In some embodiments, the method further comprises: controlling the wet cleaning assembly to stop working.

[0057] In some embodiments, after the wet cleaning assembly is controlled to stop working, the method further comprises: controlling the cleaning robot to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is the acceleration of decelerating from a running state to a stop state when at least part of the dry target object is not in contact with the wet cleaning assembly of the cleaning robot.

[0058] When an emergency occurs and at least part of the dry garbage has come into contact with the wet cleaning component, the cleaning robot can stop quickly to prevent the dry garbage from further contacting the wet cleaning component and expanding the contaminated area. At this time, the second acceleration value of the cleaning robot from normal speed to stop is greater than the first acceleration value when it stops under normal operation, that is, the cleaning robot takes emergency braking to avoid further contamination.

[0059] In some embodiments, controlling the wet cleaning component to stop working includes: controlling the wet cleaning component to retract the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning component is retracted when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and no wet cleaning mode is required for cleaning.

[0060] In this embodiment, due to the occurrence of an emergency, the dry cleaning material has come into contact with the wet cleaning component of the cleaning robot, and it is too late to retract the wet cleaning component at a normal speed. Therefore, it is necessary to increase the speed of retracting the wet cleaning component to avoid the wet cleaning component from further contacting the dry garbage, wetting the dry garbage, increasing the difficulty of cleaning, or contaminating the wet cleaning component, resulting in secondary pollution.

[0061] In some embodiments, controlling the wet cleaning assembly to stop working includes at least one of the following: retracting the main mop, retracting the side mop, stopping water supply, stopping the main mop from rotating, and stopping the side mop from rotating. It is understood that in some cases, the side mop may not be provided.

[0062] In some embodiments, when the second cleaning strategy is to make the cleaning robot go around the dry target, it also includes: when the dry target is not in contact with the wet cleaning component of the cleaning robot, controlling the cleaning robot to perform the cleaning task according to the original preset cleaning path.

[0063] In this embodiment, if the amount of dry waste exceeds the cleaning robot's cleaning capacity, a detour strategy can be manually or automatically implemented. The control system controls the cleaning robot to detour and return to the original cleaning path to continue cleaning along the original cleaning path. This cleaning strategy allows the cleaning robot to perform cleaning tasks without changing the original cleaning strategy. Since it does not consider unexpected situations, it can maintain the original cleaning efficiency as much as possible.

[0064] In some embodiments, the present application also provides a cleaning robot, which includes a robot body and a driving wheel and a cleaning component arranged on the robot body, and the cleaning component includes a wet cleaning component and a dry cleaning component; the cleaning robot is configured to perform any of the methods described above.

[0065] 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. When the real-time identified target object contacts a cleaning component of the cleaning robot and the type of the target object and the type of the cleaning component contacted do not match, the cleaning robot is controlled to immediately adopt a preset emergency cleaning strategy, which can timely prevent the occurrence of secondary pollution risk caused by the mismatch between the garbage type and the cleaning mode. 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 of the cleaning robot and the cleaning effect on the ground are improved. BRIEF DESCRIPTION OF DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the drawings needed to be used in the description of the specific embodiments or prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0067] Figure 1 is a schematic diagram of a cleaning robot structure provided by an embodiment of the present application.

[0068] Figure 2 is a flowchart of a cleaning robot control method provided by an embodiment of the present application.

[0069] Figure 3A is a schematic diagram of a movable cleaning structure of a wet cleaning component of a cleaning robot provided by an embodiment of the present application.

[0070] Figure 3B is a schematic diagram of a movable cleaning process of a wet cleaning component of a cleaning robot provided by an embodiment of the present application.

[0071] Figure 4 is a state diagram of a desktop liquid when the cleaning robot does not turn on infrared light.

[0072] Figure 5 is a state diagram of a desktop liquid when the cleaning robot turns on infrared light to irradiate the desktop liquid at a first frequency.

[0073] Figure 6 is a flowchart of a cleaning robot control method provided by another embodiment of the present application.

[0074] Figure 7 is a schematic diagram of an electronic structure of a cleaning robot provided by an embodiment of the present application.

[0075] Explanation of the reference numerals: robot body 100 , dry cleaning component 10 , wet cleaning component 20 , driving wheel 30 , roller brush 11 , side brush 12 , main mop 21 , side mop 22 . DETAILED DESCRIPTION

[0076] The technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present application, not all embodiments. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless there is a conflict.

[0077] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0078] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a" does not exclude the presence of other identical elements in the product or device comprising the element.

[0079] When the cleaning robot is performing a cleaning task, accidents may occur due to various reasons, such as robot target recognition errors, sudden appearance of garbage, causing the cleaning components of the cleaning robot to fail to avoid in time and interfere with the garbage. For example, the dry cleaning component comes into contact with wet garbage, or the wet cleaning component comes into contact with dry garbage. At this time, if the cleaning robot still cleans according to the original cleaning strategy, it will cause secondary pollution to the cleaned ground and affect the cleaning effect.

[0080] Based on this, the present application provides a control method for a cleaning robot, comprising: during the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a part of the wet target is in contact with the dry cleaning component of the cleaning robot; if the cleaning robot determines that at least a part of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; and controls the cleaning robot to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a part of the wet target or making the cleaning robot bypass the wet target.

[0081] And, a control method for a cleaning robot, comprising: while the cleaning robot is performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; if the cleaning robot determines that at least a portion of the dry target object is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; and controlling the cleaning robot to perform a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry target object or causing the cleaning robot to bypass the dry target object.

[0082] It can be seen that when the cleaning robot of the present application performs a cleaning task, it can use various technical means to detect in real time the type of target object in the cleaning path and the state of contact with the cleaning component. When the type of the target object does not match the type of the cleaning component, the current cleaning task is stopped and the first cleaning strategy or the second cleaning strategy is executed. Therefore, when the cleaning robot of the present application encounters an emergency in the cleaning path and the cleaning component has come into contact with an unmatched target object, it can stop the current cleaning mode in time and switch to the emergency cleaning strategy to avoid the occurrence of secondary contamination accidents.

[0083] Specifically, the present application provides a control method for a cleaning robot, without making any specific limitation on the structure of the cleaning robot. For example, the cleaning robot can be a floor washing robot, a mopping robot, a sweeping robot, a sweeping and mopping robot, etc. The present application takes a sweeping and mopping robot as an example for illustration.

[0084] like Figure 1 As shown, the cleaning robot includes a robot body 100, a dry cleaning assembly 10, a wet cleaning assembly 20, a drive wheel 30, and a control system disposed at the bottom of the robot body 100. The control system controls the dry cleaning assembly 10, the wet cleaning assembly 20, and the drive wheel 30 of the cleaning robot to perform corresponding cleaning tasks. The dry cleaning assembly 10 includes a roller brush 11 and a side brush 12, and the wet cleaning assembly 20 includes a main mop 21 and a side mop 22. The roller brush 11 and the side brush 12 can be independently retracted and lowered under the control of the control system. Retracting includes retracting them to a certain position on the robot body 100, such as to an air intake, and also includes lifting or raising them to lift them off the ground and place them in a non-cleaning state. The main mop 21 and the side mop 22 can also be independently retracted and lowered under the control of the control system. Retracting them includes retracting them to a certain position on the robot body 100, such as to an edge of the robot body 100, and also lifting or raising them to lift them off the ground and place them in a non-cleaning state.

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

[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 act 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 are used to identify the position and type of garbage on the travel route in real time. Optionally, the sensor assembly and / or the artificial intelligence camera module can also identify whether the garbage is in contact with the cleaning assembly in time.

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

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

[0090] Step S102: During the process that the cleaning robot performs a cleaning task along a preset cleaning path in a first cleaning mode, the cleaning robot judges whether at least a part of a wet target object is in contact with a dry cleaning assembly of the cleaning robot.

[0091] Step S104: If the cleaning robot judges that at least a part of the wet target object is in contact with the dry cleaning assembly of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path.

[0092] Step S106: Control the cleaning robot to perform a first cleaning strategy, wherein the first cleaning strategy comprises cleaning at least a part of the wet target object in a wet cleaning mode or making the cleaning robot bypass the wet target object.

[0093] When the cleaning robot performs a task, it often cleans according to a preset cleaning path and a preset first 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 recognition means. Exemplarily, the target object includes but is not limited to immovable obstacles, movable obstacles and cleanable garbage target objects. The garbage target object includes dry garbage, wet garbage, dry-wet mixed garbage and the like. The dry garbage, such as paper scraps, thread balls, hair and the like, is easy to clean by the dry cleaning assembly, but is easy to adhere to the wet cleaning assembly. The wet garbage, such as water, soy sauce, beverage and the like, is often easy to clean by the wet cleaning assembly, but is easy to pollute the dry cleaning assembly, and even causes secondary pollution. The dry-wet mixed garbage, such as overturned instant noodles, porridge and the like, is a mixture of liquid and solid, and often needs to be cleaned manually by the user or by a powerful air blower.

[0094] In the embodiment of the present application, during the travel of the cleaning robot, the cleaning robot identifies and judges whether at least a part of the wet target object contacts the dry cleaning assembly of the cleaning robot. Due to the misjudgment or failure of the identification assembly, when at least a part of the wet target object contacts the dry cleaning assembly before the dry cleaning assembly can avoid it, in order to avoid the occurrence of secondary pollution accidents due to the mismatch between the cleaning assembly and the garbage type, it is necessary to stop performing the current cleaning task and change to perform the first cleaning strategy. The first cleaning strategy includes cleaning at least a part of the wet target object in a wet cleaning mode or making the cleaning robot bypass the wet target object.

[0095] Before step S104, when the wet target object does not contact the dry cleaning assembly 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. Since the cleaning strategy is not disturbed, the cleaning robot can efficiently perform the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0096] Exemplarily, the cleaning robot performs a cleaning task according to a 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 can be performed at the same time. At the same time, 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 assembly can be determined, i.e. whether the cleaning assembly of the cleaning robot contacts the target object and whether there is a risk of contact can be determined. Through real-time identification of the sensor, when the cleaning robot is in a safe state, it can perform the cleaning task according to the current working mode without considering the existence of the target object.

[0097] For this step, the cleaning robot can directly determine whether to execute the cleaning task in the original cleaning mode or to execute the changed first cleaning strategy, thereby improving the fluency and accuracy of the cleaning task execution and ensuring the cleaning efficiency. Meanwhile, the cleaning strategy can be changed in a timely manner when a cleaning risk occurs, thereby avoiding secondary pollution caused by the inconsistency between the garbage type and the cleaning mode and affecting the cleaning effect.

[0098] In step S104, when the wet target object is in contact with the cleaning assembly, the garbage type of the target object needs to be considered. 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 and the dry cleaning assembly has been in contact with the wet target object, the cleaning robot is controlled to stop executing the cleaning task along the original preset cleaning path. The dry cleaning assembly is prevented from further interfering with the wet garbage, otherwise, on the one hand, the area of the wet garbage may be expanded, increasing the cleaning difficulty, and 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, thereby reducing the cleaning efficiency of the ground.

[0099] In step S106, after the dry cleaning assembly of the cleaning robot is in contact with the wet garbage, the control system controls the cleaning robot to clean at least part of the wet garbage in the wet cleaning mode. The control system can also control the cleaning robot to bypass the wet garbage. Whether to clean the wet garbage in the wet cleaning mode can be comprehensively considered according to the current cleaning task and cleaning capacity of the cleaning robot. For example, when the amount of wet garbage is large or dry-wet mixed, the cleaning capacity of the wet cleaning assembly is exceeded, and the cleaning robot can bypass the wet garbage and continue to execute the cleaning task along the subsequent cleaning path. This step enables the cleaning robot to execute the current wet garbage processing strategy in the optimal strategy, thereby improving the overall cleaning effect of the cleaning surface.

[0100] It should be noted that the decision of controlling the cleaning robot to clean the wet garbage in the wet cleaning mode or to make the cleaning robot bypass the wet garbage in this step can be automatically executed by the cleaning robot or manually executed by user control. In the automatic execution, 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 greater than the state of the wet garbage, for example, the area of the wet garbage is not large or there is no dry-wet mixed garbage, the cleaning task is automatically executed. Conversely, 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, in the manual execution, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0101] In some embodiments, when the first cleaning strategy is to clean at least a part of the wet target object by using the wet cleaning mode, the method further comprises the following step:

[0102] Step S106-1: controlling the cleaning robot to return to the base station to clean the wet cleaning component, and then to clean the wet target object at least once;

[0103] Step S106-3: then performing the cleaning task according to the original preset cleaning path.

[0104] When the cleaning robot finds that the dry cleaning component contacts the wet garbage, the cleaning robot is immediately controlled to clean the wet garbage by using the wet cleaning component, so as to avoid the dry cleaning component from further expanding the range of the wet garbage. It can be understood that when the amount of wet garbage is relatively large, it is difficult to clean the wet garbage completely by using the wet cleaning component once. At this time, the wet cleaning component, such as a mop, has already adhered to a large amount of wet garbage. The cleaning robot can be controlled to return to the base station to clean the wet cleaning component, and then to clean the wet target object. This is repeated until the wet target object is cleaned completely. Thereafter, the cleaning robot is controlled to exit the task of executing the first cleaning strategy, and returns to the original cleaning task to perform the original cleaning task.

[0105] In this embodiment, the cleaning robot is controlled to execute the unexpected wet target object, and is controlled to perform self-cleaning at least once. At the same time, after the unexpected garbage is executed, the cleaning robot returns to the original cleaning task in time, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0106] In some embodiments, in step S106, the cleaning of at least a part of the wet target object by using the wet cleaning mode comprises: when the first cleaning mode of the cleaning robot currently does not include wet cleaning, starting the wet cleaning mode, and cleaning at least a part of the wet target object by using the wet cleaning mode.

[0107] In some embodiments, in step S106, the cleaning of at least a part of the wet target object by using the wet cleaning mode comprises: when the first cleaning mode of the cleaning robot currently includes wet cleaning, directly cleaning at least a part of the wet target object by using the wet cleaning mode, and then performing the cleaning task according to the original preset cleaning path.

[0108] In the control of the cleaning robot to perform the wet cleaning task, one case is that only dry cleaning is in the current cleaning mode, wet cleaning is not started, and the wet cleaning assembly is in the retracted state. At this time, the wet cleaning assembly needs to be put down, the wet cleaning mode is started, and the current wet garbage is cleaned according to the preset path. Another case is that the wet cleaning is included in the current cleaning mode, that is, the cleaning assembly is in the put-down state. At this time, it is only necessary to stop the dry cleaning mode and directly continue to clean the wet garbage in the wet cleaning mode. After cleaning, the cleaning task is performed according to the original preset cleaning path.

[0109] It can be understood that no matter which case, the way to clean the wet garbage can match 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 wet garbage in the area is repeatedly cleaned by planning the turning-back path of the cleaning robot until the wet garbage is cleaned.

[0110] 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, the timely response after the wet cleaning task is performed is ensured, and the overall cleaning efficiency can be improved.

[0111] In some embodiments, the starting of the wet cleaning mode includes: putting down 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 put down when at least a part of the target object is not in contact with the dry cleaning assembly of the cleaning robot and needs to be cleaned in the wet cleaning mode.

[0112] When the dry cleaning assembly is in contact with the wet garbage, since the wet cleaning mode is not started before, the wet cleaning assembly is in the retracted state. At this time, the wet cleaning assembly needs to be put down in time and quickly so that the cleaning robot can clean the wet garbage in time, and direct rolling of the driving wheel to the wet garbage due to the wet cleaning assembly not being put down is avoided, which causes secondary pollution. Therefore, the speed at which the wet cleaning assembly is put down 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 put down when at least a part of the wet target object is not in contact with the dry cleaning assembly of the cleaning robot and needs to be cleaned in the wet cleaning mode, that is, the speed at which the wet cleaning assembly is put down when the cleaning robot is in the normal cleaning mode. For example, the speed at which the wet cleaning assembly is put down when the cleaning robot leaves the base station to start the cleaning task can also be called the original put-down speed.

[0113] It can be understood that the value of the second speed needs to be preset. The wet cleaning assembly can be controlled to be put down at the second speed after the first cleaning strategy is started.

[0114] In this embodiment, since the dry cleaning assembly of the cleaning robot has been in contact with the wet garbage at this time, it is impossible to lower the wet cleaning assembly at a regular 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.

[0115] In some other embodiments, the cleaning robot comprises a wet cleaning assembly, and cleaning at least a portion of the wet target object in the wet cleaning mode comprises:

[0116] 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 portion of the wet cleaning assembly is located outside the body of the cleaning robot. When the wet target object is located at the edge of the obstacle, the wet cleaning assembly is adjusted to the second position for cleaning to clean the wet target object near the edge of the obstacle, and the wet cleaning assembly is adjusted to the first position for cleaning to make the cleaning area of the wet cleaning assembly cover the walking area of the driving wheel when cleaning the wet target object away from the edge of the obstacle.

[0117] In this embodiment, as shown in Figure 3A 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 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 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 make the cleaning area of the mop cover the walking area of the driving wheel, thereby avoiding 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.

[0118] In some other embodiments, the wet garbage is cleaned in the wet cleaning mode by controlling the cleaning robot to travel at least in a reverse manner to clean at least a portion of the wet garbage by the mop.

[0119] When the cleaning robot finds the wet garbage and needs to perform cleaning on the wet garbage, the cleaning robot can be controlled to travel in a reverse manner based on a preset cleaning path to clean the wet garbage by the mop located at the rear side of the cleaning robot. In this way, since the mop first contacts the wet garbage and can cover the path of the driving wheel when traveling in a reverse manner, the cleaning robot can effectively clean the wet garbage in one pass, thereby avoiding rolling of the driving wheel on the wet garbage and reducing the possibility of pollution.

[0120] Furthermore, controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping includes:

[0121] 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

[0122] 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.

[0123] 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 3B As shown, when wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the obstacle edge, the mop is adjusted to the second position B and cleaned backward to clean the wet garbage near the obstacle edge. When cleaning the wet garbage away from the obstacle edge, the mop is adjusted to the first position A and cleaned backward so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel. In this way, the mop can preferentially contact the wet garbage and clean the wet garbage, thereby avoiding secondary contamination caused by the driving wheel contacting the wet garbage.

[0124] 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, 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. Figure 3B As shown in FIG. 8, 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 near the edge of the obstacle, and when cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position A to make the cleaning area of the mop cover the walking area of the drive wheel, so that the mop can be in contact with the wet garbage first and clean the wet garbage, to avoid secondary pollution caused by the drive wheel contacting the wet garbage.

[0125] In some embodiments, the cleaning robot control method further comprises: controlling the dry cleaning assembly to stop working.

[0126] In some embodiments, the control of the dry cleaning assembly to stop working comprises: controlling the dry cleaning assembly to retract the dry cleaning assembly at a fourth speed greater than a third speed, wherein the third speed is a speed at which the dry cleaning assembly is retracted when at least a part of the wet target object is not in contact with the dry cleaning assembly of the cleaning robot and does not need to be cleaned in the dry cleaning mode.

[0127] When the cleaning robot performs a cleaning task according to a preset path, according to the above-mentioned embodiments, the cleaning robot needs to give a response measure for the occurrence of the sudden situation, that is, the working state of the dry cleaning assembly should be stopped immediately, such as stopping the rotating or reciprocating cleaning state. In addition, 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 a speed at which the dry cleaning assembly is retracted when at least a part of the wet target object is not in contact with the dry cleaning assembly of the cleaning robot and does not need to be cleaned in the dry cleaning mode, that is, the speed at which the dry cleaning assembly is retracted when the cleaning robot is in a regular cleaning mode, for example, the speed at which the dry cleaning assembly is retracted when the cleaning robot finishes performing a cleaning task, which can also be called the original retraction speed.

[0128] 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 retract at the fourth speed when the sudden situation occurs.

[0129] In this embodiment, due to the emergence of the emergency, the wet cleaning object has been contacted with the cleaning robot, and the dry cleaning assembly cannot be retracted at the normal speed, so the speed of retracting the dry cleaning assembly needs to be increased to avoid the dry cleaning assembly from further contacting the wet garbage, increasing the pollution area, and avoiding the secondary pollution caused by the driving wheel rolling on the wet garbage.

[0130] 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 rotation of the side brush, and stopping the rotation of the roller brush.

[0131] It should be noted that the retracting the side brush comprises storing the side brush and lifting the side brush, and the retracting the roller brush comprises storing the roller brush and lifting the roller brush.

[0132] According to the design of the hardware structure of the cleaning robot, the side brush and the roller brush usually have the functions of storage and lifting. The storage is usually to move the side brush and the roller brush to 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. The lifting is to move the side brush and the roller brush to 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. The stopping the rotation of the side brush and the stopping the rotation of the roller brush 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. The retracting the shielding member means moving the shielding member to a certain position of the cleaning robot body in the height direction of the cleaning robot, and the retracting the shielding member can also reduce the interference of the shielding member with the ground, so as to avoid the contact of the shielding member with the wet garbage and the pollution of the shielding member.

[0133] In some embodiments, after the control method controls the dry cleaning assembly to stop working, the control method further comprises the following step: the cleaning robot moves at a second acceleration greater than the first acceleration when at least a part of the wet target object is not contacted with the dry cleaning assembly of the cleaning robot, wherein the first acceleration is the acceleration of deceleration from the running state to the stopping state.

[0134] When the emergency occurs and the wet garbage has been contacted, the cleaning robot can quickly stop to avoid the dry cleaning assembly from further contacting the wet garbage, increasing the pollution area, and avoiding the secondary pollution caused by 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 stopping is greater than the first acceleration value in the normal operation, that is, the cleaning robot adopts the emergency braking mode to avoid the occurrence of the secondary pollution.

[0135] In some embodiments, when the first cleaning strategy is to make the cleaning robot bypass the wet target object, the control method further comprises: making the cleaning robot bypass the wet target object, and controlling the cleaning robot to perform the cleaning task according to the original cleaning path.

[0136] In this embodiment, since the amount of wet garbage exceeds the cleaning capacity of the cleaning robot, a detour strategy can be manually or automatically executed, and the control system controls the cleaning robot to return to the original cleaning path after detouring to execute the cleaning task according to the original cleaning path. This cleaning strategy enables the cleaning robot to execute the cleaning task without substantially changing the original cleaning strategy, and since the unexpected situation is not considered, the original cleaning efficiency can be maintained as much as possible.

[0137] In some embodiments, the wet target object includes liquid garbage, and the cleaning of at least part of the wet target object in the wet cleaning mode includes: controlling the cleaning robot to clean the liquid garbage in an arch-shaped cleaning path first, and then in a manner of traveling along the original edge of the liquid garbage.

[0138] In this embodiment, by controlling the cleaning robot to clean the liquid garbage in an arch-shaped cleaning path first and then in a manner of traveling along the original edge of the liquid garbage, it is possible to avoid the liquid being thrown away due to the arch-shaped traveling manner and still being able to be cleaned by the subsequent edge traveling manner, thereby making up for the defect of poor cleaning effect caused by the traveling route and improving the cleaning efficiency of the wet garbage.

[0139] In some embodiments, the cleaning robot includes an infrared light emitter and a detector, and the wet target object includes liquid garbage. Before the cleaning robot determines whether at least part of the wet target object is in contact with the dry cleaning assembly of the cleaning robot, the method further includes determining the liquid garbage:

[0140] The infrared light emitter 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.

[0141] In this embodiment, the cleaning robot emits infrared light at a first frequency during traveling, and the infrared light is reflected by the surface edge tension of the liquid, and then captured by the detector of the cleaning robot to determine that the target object is liquid garbage. The first frequency can be 5-50 times per second.

[0142] As Figure 4 The state of the liquid on the table when the infrared light of the cleaning robot is not turned on. Figure 5 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 this area is captured by the detector of the cleaning robot, it is determined that the target object is liquid garbage.

[0143] As Figure 6 The control method of the cleaning robot provided by the present application includes the following method steps:

[0144] Step S202: During the cleaning robot performing the cleaning task along the preset cleaning path in the first cleaning mode, the cleaning robot determines whether at least a part of the dry target object contacts the wet cleaning assembly of the cleaning robot;

[0145] Step S204: If the cleaning robot determines that at least a part of the dry target object contacts the wet cleaning assembly of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path;

[0146] Step S206: Control the cleaning robot to perform a second cleaning strategy, wherein the second cleaning strategy comprises cleaning at least a part of the dry target object in a dry cleaning mode or making the cleaning robot bypass the dry target object.

[0147] In step S202, when the dry target object does not contact the wet cleaning assembly 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. Because the cleaning strategy is not disturbed, the cleaning robot can efficiently perform the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0148] 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 can be performed at the same time, and at the same time, 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 assembly can be determined, that is, whether the cleaning assembly of the cleaning robot contacts the target object and whether there is a risk of contact can be determined. Through real-time identification of the sensor, when the cleaning robot is in a safe state, it can perform the cleaning task according to the current working mode without considering the existence of the target object.

[0149] For this step, the cleaning robot can directly determine whether to perform the original cleaning mode or the changed second cleaning strategy through real-time identification and direct judgment, which improves the smoothness and accuracy of the cleaning task execution and guarantees the cleaning efficiency. At the same time, it can also guarantee that the cleaning strategy is changed in time when the cleaning risk occurs, avoid secondary pollution caused by the inconsistency between the garbage type and the cleaning mode, and affect the cleaning effect.

[0150] In step S204, when the target object is in contact with the cleaning assembly, the garbage type of the target object needs to be considered. When the garbage type of the target object contains dry garbage such as hair 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 wet cleaning, the control system controls the cleaning robot to stop performing the cleaning task along the preset cleaning path. The wet cleaning assembly is prevented from further interfering with the dry garbage, otherwise, on the one hand, the area of the dry garbage may be expanded, and even the dry garbage may be wetted, increasing the cleaning difficulty, on the other hand, the wet cleaning assembly may be contaminated by the dry garbage, causing the wet cleaning assembly to cause secondary pollution to the ground in the subsequent operation process, and reducing the cleaning efficiency of the ground.

[0151] In step S206, after the cleaning robot is in contact with the dry garbage, the control system controls the cleaning robot to clean at least part of the dry garbage in a dry cleaning mode; the control system can also control the cleaning robot to bypass the dry garbage. According to the current cleaning task and cleaning capacity of the cleaning robot, it is considered whether to directly use the dry cleaning assembly to clean the dry garbage, for example, when the amount of dry garbage is large or dry-wet mixed, which exceeds the cleaning capacity of the dry cleaning assembly, the cleaning robot can also bypass the dry garbage and continue to perform the cleaning task along the subsequent cleaning path. This step can enable the cleaning robot to perform the current wet garbage processing with the optimal strategy, and improve the overall cleaning effect of the cleaning surface.

[0152] It should be noted that the decision to control the cleaning robot to clean the dry garbage in a dry cleaning mode or to make the cleaning robot bypass the dry garbage in this step can be automatically executed by the cleaning robot, or manually executed by user control. In the automatic execution, the control system comprehensively judges the cleaning capacity of the dry cleaning assembly and the state of the dry garbage according to the preset conditions. When the cleaning capacity of the dry cleaning assembly is greater than the state of the dry garbage, for example, the area of the dry garbage is not large or there is no dry-wet mixed garbage, the cleaning task is automatically executed. Conversely, when the cleaning capacity of the dry cleaning assembly is insufficient to clean the dry garbage, for example, the area of the dry garbage is too large or there is dry-wet mixed garbage, the bypass task is automatically executed. In addition, in the manual execution, the user is waited for to give an instruction, and the corresponding cleaning strategy is executed according to the user instruction.

[0153] 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 capacity and dry garbage state, so that the cleaning effect is not reduced. The cleaning robot can also execute the cleaning task under the instruction of the user by notifying the user, avoiding the occurrence of an unsatisfactory cleaning effect caused by the mismatch between the cleaning capacity and the dry garbage state or the inaccurate identification of the dry garbage. Thus, the cleaning efficiency and the cleaning effect are maximized to be ensured.

[0154] In some embodiments, when the second cleaning strategy is to clean at least a part of the dry target object by using a dry cleaning mode, the method further comprises the following step:

[0155] Step S206-1: controlling the cleaning robot to return to the base station to dump the garbage, and then cleaning the dry target object at least once;

[0156] Step S206-3: then performing the cleaning task according to the original preset cleaning path.

[0157] When the cleaning robot finds that the wet cleaning component contacts the dry garbage, the cleaning robot is controlled to clean the dry garbage by using the dry cleaning component, so as to avoid the wet cleaning component from further expanding the range of the dry garbage. It can be understood that when the amount of dry garbage is relatively large, the dust box or dust bag may not have space to continue to accommodate the dry garbage after one cleaning by the dry cleaning component. The cleaning robot can be controlled to return to the base station to dump the garbage, and then clean the dry target object. This is repeated until the dry target object is cleaned. After that, the cleaning robot is controlled to exit the task of performing the second cleaning strategy, and returns to the original cleaning path to perform the original cleaning task.

[0158] In this embodiment, the cleaning robot is controlled to perform the unexpected dry target object, and is controlled to clean itself at least once. At the same time, after the unexpected garbage is cleaned, the cleaning robot returns to the original cleaning task in time, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0159] In some embodiments, in step S206, the cleaning of at least a part of the dry target object by using the dry cleaning mode comprises: when the first cleaning mode of the cleaning robot currently does not include dry cleaning, starting the dry cleaning mode, and cleaning at least a part of the dry target object by using the dry cleaning mode.

[0160] In some embodiments, in step S206, the cleaning of at least a part of the dry target object by using the dry cleaning mode comprises: when the first cleaning mode of the cleaning robot currently includes dry cleaning, directly cleaning at least a part of the wet target object by using the dry cleaning mode.

[0161] When the cleaning robot is controlled to perform the wet cleaning task, one case is that the current cleaning mode only includes wet cleaning, and the dry cleaning is not started, and the dry cleaning component is in a retracted state. At this time, the dry cleaning component needs to be lowered, the dry cleaning mode needs to be started, and the dry cleaning component needs to be cleaned according to the preset path. Another case is that the current cleaning mode includes dry cleaning, that is, the dry cleaning component is in a lowered state. At this time, the wet cleaning mode only needs to be stopped, and the dry cleaning mode can be directly continued to clean the wet garbage.

[0162] It can be understood that, no matter which case, the cleaning method for the dry garbage can be re-matched with a new cleaning strategy according to the recognition result of the dry garbage. For example, according to the size of the dry garbage area, the reciprocating movement of the dry cleaning assembly for cleaning is controlled, or the return path of the cleaning robot is planned, and the dry garbage in the area is repeatedly cleaned until the dry garbage is cleaned.

[0163] In this embodiment, by timely controlling the dry cleaning assembly to enter the dry cleaning mode state according to whether the dry cleaning assembly is in the running state, the timely response of performing the dry cleaning task is ensured, and the overall cleaning efficiency can be improved.

[0164] In some embodiments, the dry cleaning mode is opened, including: lowering 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 at least a part of the dry target is not in contact with the wet cleaning assembly of the cleaning robot and needs to be cleaned in the dry cleaning mode.

[0165] When the wet cleaning assembly is in contact with the dry garbage, the dry cleaning assembly is in the stowed state because the dry cleaning mode is not opened before. At this time, the dry cleaning assembly needs to be lowered in time and quickly so that the cleaning robot can clean the dry garbage in time, and direct rolling of the driving wheel to the dry garbage due to the dry cleaning assembly not being lowered is avoided, which causes secondary pollution. Therefore, the speed at which the dry cleaning assembly is lowered at this time is the fourth speed, which is greater than the third speed. The third speed is the speed at which the dry cleaning assembly is lowered when at least a part of the dry target is not in contact with the wet cleaning assembly of the cleaning robot and needs to be cleaned in the dry cleaning mode, that is, the speed at which the dry cleaning assembly is lowered when the cleaning robot is in the normal cleaning mode. For example, the speed at which the dry cleaning assembly is lowered when the cleaning robot leaves the base station to start performing the cleaning task can also be called the original lowering speed.

[0166] It can be understood that the speed at which the dry cleaning assembly is stowed and lowered by the cleaning robot is usually the same, so the third speed at which the dry cleaning assembly is lowered here is the same as the third speed at which the dry cleaning assembly is stowed as described above. Similarly, the fourth speed at which the dry cleaning assembly is lowered here is also the same as the fourth speed at which the dry cleaning assembly is stowed as described above.

[0167] It can be understood that the value of the fourth speed needs to be preset, and the dry cleaning assembly can be controlled to be lowered at the fourth speed when the second cleaning strategy is started.

[0168] In this embodiment, since the wet cleaning component of the cleaning robot has contacted the dry garbage at this time, it is impossible to lower the dry cleaning component at the normal speed, so the speed of lowering the dry cleaning component needs to be increased to avoid wetting the dry garbage, increasing the cleaning difficulty, and avoiding secondary pollution caused by the driving wheel rolling on the dry garbage.

[0169] In some embodiments, the cleaning robot control method further comprises: controlling the wet cleaning component to stop working.

[0170] In some embodiments, the controlling the wet cleaning component to stop working comprises: controlling the wet cleaning component to retract the wet cleaning component at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning component is retracted when at least a part of the dry target object is not contacted by the wet cleaning component of the cleaning robot and does not need to be cleaned in the wet cleaning mode.

[0171] When the cleaning robot performs a cleaning task according to a preset path, according to the above embodiments, the cleaning robot needs to take measures to deal with the emergence of the unexpected situation, and should immediately stop the wet cleaning component from working and retract the wet cleaning component. The cleaning robot is controlled to retract the wet cleaning component at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning component is retracted when at least a part of the dry target object is not contacted by the wet cleaning component of the cleaning robot and does not need to be cleaned in the wet cleaning mode, that is, a speed at which the wet cleaning component is retracted when the cleaning robot is in a normal cleaning mode, for example, a speed at which the wet cleaning component is retracted when the cleaning robot finishes performing a cleaning task, which can also be referred to as the original retraction speed.

[0172] It can be understood that the speed at which the cleaning robot retracts and lowers the wet cleaning component is usually the same, so the first speed at which the wet cleaning component is retracted herein is the same as the first speed at which the wet cleaning component is lowered as described above. Similarly, the second speed at which the wet cleaning component is retracted herein is also the same as the second speed at which the wet cleaning component is lowered as described above.

[0173] It can be understood that the value of the second speed can be preset in the cleaning robot control system, and the wet cleaning component is controlled to be retracted at the second speed when the unexpected situation occurs.

[0174] In this embodiment, since the unexpected situation occurs and the dry cleaning object has contacted the wet cleaning component of the cleaning robot, it is impossible to retract the wet cleaning component at the normal speed, so the speed of retracting the wet cleaning component needs to be increased to avoid the wet cleaning component further contacting the dry garbage, wetting the dry garbage, increasing the cleaning difficulty, or polluting the wet cleaning component, causing secondary pollution.

[0175] In some embodiments, the stopping the wet cleaning comprises 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.

[0176] It should be noted that the retracting the side mop comprises stowing the side mop and lifting the side mop, and the retracting the main mop comprises stowing the main mop and lifting the 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 moving towards 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 moving towards 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 side mop from rotating and stopping the main mop from rotating means that the positions of the side mop and the main mop are temporarily fixed, 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 and increasing the difficulty of cleaning.

[0178] In some embodiments, after the control method controls the wet cleaning assembly to stop working, the control method further comprises the following step: the cleaning robot moves at a second acceleration greater than a first acceleration when at least a part of the dry target object is not in contact with the wet cleaning assembly of the cleaning robot, wherein the first acceleration is the acceleration at which the cleaning robot decelerates from a running state to a stopped state.

[0179] When a sudden situation occurs and at least a part of the dry garbage has contacted the wet cleaning assembly, the cleaning robot can quickly stop to avoid further contact between the dry garbage and the wet cleaning assembly, so as to prevent the pollution area from expanding. At this time, the second acceleration value of the cleaning robot from the normal speed to the stopped state is greater than the first acceleration value in the normal operation, that is, the cleaning robot adopts emergency braking to avoid further pollution.

[0180] In some embodiments, when the second cleaning strategy is to make the cleaning robot bypass the dry target object, the control method further comprises the following steps: making the cleaning robot bypass the dry target object, and controlling the cleaning robot to perform a cleaning task according to the original cleaning path.

[0181] In this embodiment, since the amount of dry garbage exceeds the cleaning capacity of the cleaning robot, the bypass strategy can be manually or automatically executed, and the control system controls the cleaning robot to return to the original cleaning path after bypassing to perform a cleaning task according to the original cleaning path. This cleaning strategy can make the cleaning robot basically change the original cleaning strategy to perform a cleaning task. Since the sudden situation is not considered, the original cleaning efficiency can be maintained as much as possible.

[0182] In some embodiments, the present application also provides a cleaning robot, comprising a robot body, and a driving wheel and a cleaning assembly arranged on the robot body, the cleaning assembly comprising a wet cleaning assembly and a dry cleaning assembly; the cleaning robot is configured to perform the method of any one of the preceding embodiments.

[0183] An embodiment of the present application provides a cleaning robot, comprising a processor and a memory, the memory storing 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 preceding embodiments are implemented.

[0184] An embodiment of the present application provides a non-transitory computer readable storage medium, storing computer program instructions, when the computer program instructions are invoked and executed by a processor, the method steps of any one of the preceding embodiments are implemented.

[0185] As shown in Figure 7 , the cleaning robot can include a processing device (e.g., 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.

[0186] In general, 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 7 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.

[0187] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via 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 application are performed.

[0188] It should be noted that the computer readable medium described above in the present application can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can transmit, propagate or transport program for use by or in connection with an instruction execution system, apparatus or device. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to, wire, cable, RF (radio frequency), or the like, or any suitable combination thereof.

[0189] The above-mentioned computer readable medium can be contained in the above-mentioned robot; or can exist separately without being assembled into the robot.

[0190] Computer program code for carrying out operations of the present application 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).

[0191] The computer program instructions can also be loaded onto a computer or other programmable information processing apparatus to cause a series of operations to be performed on the computer or other programmable information processing apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable information processing apparatus implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0192] The above-described apparatus embodiments are merely illustrative, and the units described as separate units can or can not be physically separate, and the units shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed to 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 it without creative labor.

[0193] It should be noted that the above examples 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 examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features. 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.

[0194] The above examples 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 examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features. 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: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a wet target object is in contact with a dry cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet object or making the cleaning robot circle around the wet object.

2. The control method of the cleaning robot according to claim 1, characterized in that: When the first cleaning strategy is to clean at least a portion of the wet target object in a wet cleaning mode, the method further includes: Controlling the cleaning robot to return to the base station to clean the wet cleaning component and then clean the wet target object at least once; Afterwards, the cleaning task is performed according to the original preset cleaning path.

3. The control method of the cleaning robot according to claim 1, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: When the first cleaning mode currently used by the cleaning robot does not include wet cleaning, the wet cleaning mode is turned on to clean at least a portion of the wet target object in the wet cleaning mode.

4. The control method of the cleaning robot according to claim 1, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: When the first cleaning mode currently used by the cleaning robot includes wet cleaning, the cleaning robot directly adopts the wet cleaning mode to clean at least a portion of the wet target object, and then performs the cleaning task according to the original preset cleaning path.

5. The control method of the cleaning robot according to claim 3, characterized in that: The step of starting the wet cleaning mode includes: The wet cleaning assembly is lowered at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning assembly is lowered when at least a portion of the wet target is not in contact with the dry cleaning assembly of the cleaning robot and a wet cleaning mode is required for cleaning.

6. The control method of the cleaning robot according to claim 1, characterized in that: Also includes: The dry cleaning component is controlled to stop working.

7. The control method of the cleaning robot according to claim 6, characterized in that: After controlling the dry cleaning component to stop working, the method further includes: The cleaning robot is controlled to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration for decelerating from a moving state to a stopped state when at least a portion of a wet target is not in contact with a dry cleaning component of the cleaning robot.

8. The control method of the cleaning robot according to claim 6, characterized in that: The controlling the dry cleaning component to stop working comprises: The dry cleaning component is controlled to be retracted at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning component is retracted when at least a portion of the wet target is not in contact with the dry cleaning component of the cleaning robot and a dry cleaning mode is not required for cleaning.

9. The control method of the cleaning robot according to claim 6, characterized in that: The controlling the dry cleaning component to stop working includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the booster plate, stopping the side brush from rotating, and stopping the roller brush from rotating.

10. The control method of the cleaning robot according to claim 1, characterized in that: When the first cleaning strategy is to make the cleaning robot go around the wet target object, the method further includes: The cleaning robot is made to circle the wet target object, and is controlled to perform a cleaning task according to an originally preset cleaning path.

11. The control method of the cleaning robot according to claim 1, characterized in that: The cleaning robot includes a wet cleaning component, and the wet cleaning mode is used to clean at least a portion of the wet target object, 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 portion of the wet cleaning component is located outside the body of the cleaning robot. When the wet target is located at the edge of an obstacle, when cleaning the wet target close to the edge of the obstacle, the wet cleaning component is adjusted to the second position for cleaning to clean the wet target near the edge of the obstacle. When cleaning the wet target away from the edge of the 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.

12. The control method of the cleaning robot according to claim 11, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: The cleaning robot is controlled to move at least in a reverse manner to clean at least a portion of the wet object by mopping.

13. The control method of the cleaning robot according to claim 12, characterized in that: The controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet target object by mopping includes: The mop is a roller mop or a crawler mop, and based on the forward 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 object is located at the edge of an obstacle, when cleaning the wet object close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet object near the edge of the obstacle. When cleaning the wet object 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 driving wheel of the cleaning robot rotates in the opposite direction to the rotation direction of the mop. When the wet target is located at the edge of the obstacle, when cleaning the wet target close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet target near the edge of the obstacle. When cleaning the wet target 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.

14. The control method of the cleaning robot according to claim 1, characterized in that: The wet target object includes liquid garbage, and the wet cleaning mode is used to clean at least a portion of the wet target object, 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.

15. 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, the wet target object includes liquid waste, and before the cleaning robot determines whether at least a portion of the wet target object is in contact with a dry cleaning component of the cleaning robot, a method for determining the liquid waste 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.

16. A control method for a cleaning robot, characterized in that: include: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the dry target is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry object or making the cleaning robot circle around the dry object.

17. The control method of the cleaning robot according to claim 16, characterized in that: When the second cleaning strategy is to clean at least a portion of the dry target object in a dry cleaning mode, the method further includes: Controlling the cleaning robot to return to the base station to dump garbage and then clean the dry target object at least once; Afterwards, the cleaning task is performed according to the original preset cleaning path.

18. The control method of the cleaning robot according to claim 16, characterized in that: The step of cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the first cleaning mode currently set by the cleaning robot does not include dry cleaning, the dry cleaning mode is turned on to clean at least a portion of the dry target object in the dry cleaning mode.

19. The control method of the cleaning robot according to claim 16, characterized in that: The step of cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the first cleaning mode currently used by the cleaning robot includes dry cleaning, the cleaning robot directly adopts the dry cleaning mode to clean at least a portion of the dry target object, and then performs the cleaning task according to the original preset cleaning path.

20. The control method of the cleaning robot according to claim 18, characterized in that: The step of starting the dry cleaning mode includes: The dry cleaning assembly is lowered at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning assembly is lowered when at least a portion of the dry target is not in contact with the wet cleaning assembly of the cleaning robot and a dry cleaning mode is required for cleaning.

21. The control method of the cleaning robot according to claim 16, characterized in that: Also includes: The wet cleaning component is controlled to stop working.

22. The control method of the cleaning robot according to claim 21, characterized in that: After controlling the wet cleaning component to stop working, the method further includes: The cleaning robot is controlled to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration for decelerating from a moving state to a stopped state when at least a portion of a dry target is not in contact with a wet cleaning component of the cleaning robot.

23. The control method of the cleaning robot according to claim 21, characterized in that: The controlling the wet cleaning component to stop working comprises: The wet cleaning component is controlled to be retracted at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning component is retracted when at least a portion of a dry target is not in contact with the wet cleaning component of the cleaning robot and a wet cleaning mode is not required for cleaning.

24. The control method of the cleaning robot according to claim 21, characterized in that: The controlling the wet cleaning assembly to stop working includes at least one of the following: retracting the main mop, retracting the side mop, stopping water supply, stopping the main mop from rotating, and stopping the side mop from rotating.

25. The control method of the cleaning robot according to claim 16, characterized in that: When the second cleaning strategy is to make the cleaning robot go around the dry target object, the method further includes: The cleaning robot is made to circle the dry target object, and is controlled to perform a cleaning task according to an originally preset cleaning path.

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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