Cleaning robot, control method of cleaning robot and electronic equipment

Abstract

The invention discloses a cleaning robot, a control method of the cleaning robot and electronic equipment, and belongs to the technical field of robots. The cleaning robot comprises at least one side brush assembly, the side brush assembly is connected with a side brush driving device, and the side brush driving device is used for driving the side brush assembly to rotate in the first direction so that bristles of the side brush assembly can make contact with a cleaning face; the control device is electrically connected with the image acquisition device and the side brush driving device, and is used for identifying the area image, and controlling the side brush driving device to drive the side brush assembly to rotate around a second direction opposite to the first direction under the condition of determining that the to-be-cleaned area comprises the target type of stains, therefore, the bristles are separated from the cleaning surface of the to-be-cleaned area. According to the cleaning robot, the stain type of the to-be-cleaned area is recognized through the image, the side brush assembly is driven to adjust the rotating direction, the side brush is folded to be away from the ground, specific stains on the cleaning face cannot be swept, stain diffusion can be avoided, and the good cleaning effect is achieved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a cleaning robot, a control method for the cleaning robot, and an electronic device. Background Art

[0002] A cleaning robot, also known as a sweeper, has side brushes on both sides of its body. The side brushes rotate to sweep the garbage into the middle area, so that the garbage is swept into the body by the roller brush or other cleaning structure located in the middle of the body, automatically completing ground cleaning, vacuuming and other cleaning tasks.

[0003] At present, most cleaning robots complete cleaning by rotating the side brush in conjunction with other cleaning structures. The cleaning method is single and has a good cleaning effect on dust. However, for certain types of stains such as soy sauce and ketchup, the rotation of the side brush will break up the stains and spread them to the surrounding cleaned areas, resulting in poor cleaning effect. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a cleaning robot, a control method for the cleaning robot, and electronic equipment that uses image recognition to identify specific stains, adjusts the rotation direction of the side brush to lift the side brush off the ground, and prevents the stain from spreading, achieving good cleaning results for different types of stains.

[0005] In a first aspect, the present application provides a cleaning robot, comprising:

[0006] A robot body, wherein the robot body is provided with a side brush driving device and an image acquisition device, wherein the image acquisition device is used to acquire an area image of the area to be cleaned;

[0007] at least one side brush assembly, the side brush assembly being mounted on a bottom surface of the robot body, the side brush assembly being connected to the side brush driving device, the side brush driving device being configured to drive the side brush assembly to rotate in a first direction so that bristles of the side brush assembly contact a cleaning surface;

[0008] A control device is electrically connected to the image acquisition device and the side brush drive device, and is used to identify the area image. When it is determined that the area to be cleaned includes stains of the target type, the control device controls the side brush drive device to drive the side brush assembly to rotate in a second direction opposite to the first direction, so that the bristles are separated from the cleaning surface of the area to be cleaned.

[0009] According to the cleaning robot of the present application, the type of stains in the area to be cleaned is identified through images. During normal cleaning, the side brush assembly rotates around a first direction to realize the cleaning function. When the target type of stains is identified, the side brush assembly is driven to adjust the rotation direction, and the side brush is retracted off the ground, so that specific stains on the cleaning surface will not be swept, thereby avoiding the spread of stains and achieving a better cleaning effect.

[0010] According to one embodiment of the present application, the target type represents the type of stain that causes secondary pollution to the area to be cleaned and / or the side brush assembly.

[0011] According to one embodiment of the present application, the target type includes at least one of liquid stains, sticky stains, and entangled stains.

[0012] According to one embodiment of the present application, the control device is also used to identify the area image, and when it is determined that the area to be cleaned includes an obstacle, control the side brush drive device to drive the side brush assembly to rotate around the second direction so that the bristles are separated from the obstacles in the area to be cleaned.

[0013] According to one embodiment of the present application, the control device is used to control the side brush driving device to drive the side brush assembly to continuously rotate around the second direction so that the bristles remain separated from the cleaning surface of the area to be cleaned.

[0014] According to one embodiment of the present application, the bottom surface of the robot body is provided with a limit member corresponding one-to-one to the side brush assembly, and the control device is used to control the side brush driving device to drive the side brush assembly to rotate around the second direction for a target period of time and then stop, and the limit member limits the rotation of the side brush assembly to keep the bristles separated from the cleaning surface of the area to be cleaned.

[0015] According to one embodiment of the present application, the limiting member is at least one of planted hair, rubber protrusion and limiting rib.

[0016] According to one embodiment of the present application, the support portion includes a mounting seat and at least one pillar connected to the mounting seat, the mounting seat is used to connect a side brush driving device, and the side brush driving device is used to drive the support portion to rotate;

[0017] at least one brush leg, the brush leg corresponding to the support one-to-one, the brush leg comprising a mounting structure and bristles connected to the mounting structure, the mounting structure being pivotally connected to the support, the brush leg having an extended position and a retracted position relative to the support portion;

[0018] Wherein, when the support part rotates about the first direction, the brush legs are in the extended position, and the bristles are in contact with the cleaning surface; when the support part rotates about the second direction, the brush legs are in the retracted position, and the bristles are separated from the cleaning surface.

[0019] According to one embodiment of the present application, a locking structure is provided on one side of the mounting structure, and when the support portion rotates around the first direction, the locking structure stops at the pillar; when the support portion rotates around the second direction, the other side of the mounting structure stops at the pillar.

[0020] According to one embodiment of the present application, a first mounting piece extends from the end of the pillar, a second mounting piece extends from the end of the mounting structure, the second mounting piece covers the first mounting piece, and the locking structure is provided on one side of the second mounting piece.

[0021] According to one embodiment of the present application, the surface where the end of the first mounting piece and the mounting structure are in contact with each other is set as a curved surface, and the surface where the end of the second mounting piece and the pillar are in contact with each other is set as a curved surface.

[0022] In a second aspect, the present application provides a cleaning robot, comprising:

[0023] A robot body, wherein the robot body is provided with a side brush driving device;

[0024] at least one side brush assembly, the side brush assembly being mounted on a bottom surface of the robot body, the side brush assembly being connected to the side brush driving device, the side brush driving device being configured to drive the side brush assembly to rotate in a first direction so that bristles of the side brush assembly contact a cleaning surface;

[0025] The side brush driving device is used to drive the side brush assembly to rotate in a second direction opposite to the first direction, so that the bristles are separated from the cleaning surface.

[0026] According to the cleaning robot of the present application, the side brush assembly rotates around a first direction during normal cleaning to realize the cleaning function. The side brush assembly is driven to adjust the rotation direction, and the side brush is retracted off the ground. It will not sweep specific stains on the cleaning surface or touch obstacles, which can avoid the spread of stains and prevent damage to the side brush.

[0027] In a third aspect, the present application provides a control method for a cleaning robot, the cleaning robot comprising at least one side brush assembly, the side brush assembly rotating in a first direction, the bristles of the side brush assembly contacting a cleaning surface, the side brush assembly rotating in a second direction opposite to the first direction, the bristles disengaging from the cleaning surface, the method comprising:

[0028] Acquire a regional image of the area to be cleaned;

[0029] The area image is identified, and when it is determined that the area to be cleaned includes stains of the target type, the side brush assembly is controlled to rotate about the second direction so that the bristles are separated from the cleaning surface of the area to be cleaned.

[0030] According to the control method of the cleaning robot of the present application, the type of stains in the area to be cleaned is identified through images. During normal cleaning, the side brush assembly rotates around a first direction to realize the cleaning function. When the target type of stains is identified, the side brush assembly is driven to adjust the rotation direction, and the side brush is retracted off the ground, so that specific stains on the cleaning surface will not be swept, thereby avoiding the spread of stains and achieving a better cleaning effect.

[0031] According to one embodiment of the present application, the target type represents the type of stain that causes secondary pollution to the area to be cleaned and / or the side brush assembly.

[0032] According to one embodiment of the present application, the target type includes at least one of liquid stains, sticky stains, and entangled stains.

[0033] According to one embodiment of the present application, after acquiring the regional image of the area to be cleaned, the method further includes:

[0034] The area image is identified, and when it is determined that the area to be cleaned includes an obstacle, the side brush assembly is controlled to rotate around the second direction so that the bristles are separated from the obstacle in the area to be cleaned.

[0035] According to one embodiment of the present application, controlling the side brush assembly to rotate about the second direction includes:

[0036] The side brush assembly is controlled to continuously rotate around the second direction so that the bristles remain separated from the cleaning surface of the area to be cleaned.

[0037] According to one embodiment of the present application, the bottom surface of the robot body is provided with a limiter corresponding one-to-one to the side brush assembly, and controlling the side brush assembly to rotate about the second direction includes:

[0038] The side brush assembly is controlled to rotate about the second direction for a target time and then stop, and the limiting member limits the rotation of the side brush assembly so that the bristles remain separated from the cleaning surface of the area to be cleaned.

[0039] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the control method for the cleaning robot as described in the third aspect above is implemented.

[0040] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the cleaning robot as described in the third aspect above.

[0041] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the control method of the cleaning robot as described in the third aspect above.

[0042] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0043] The type of stains in the area to be cleaned is identified through images. During normal cleaning, the side brush assembly rotates in a first direction to realize the cleaning function. When the target type of stains is identified, the side brush assembly is driven to adjust the rotation direction, and the side brush is retracted off the ground, so that specific stains on the cleaning surface will not be swept, which can prevent the spread of stains and achieve better cleaning effects.

[0044] Furthermore, when stains that may cause secondary pollution to the area to be cleaned and / or the side brush assembly are identified, the side brush assembly is controlled to rotate in a second direction, and the bristles are separated from the cleaning surface of the area to be cleaned, preventing the side brush assembly from contacting the cleaning surface and causing secondary pollution.

[0045] Furthermore, after identifying that there are obstacles in the area to be cleaned, the side brush assembly is driven to rotate in the second direction, and the side brush assembly can be retracted into the diameter of the fuselage, so that the side brush assembly will not frequently hit the obstacles, effectively improving the service life of the side brush assembly.

[0046] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 This is one of the top views of the cleaning robot provided in the embodiment of the present application;

[0049] Figure 2 This is one of the side views of the cleaning robot provided in the embodiment of the present application;

[0050] Figure 3 This is the second top view of the cleaning robot provided in an embodiment of the present application;

[0051] Figure 4 This is the second side view of the cleaning robot provided in an embodiment of the present application;

[0052] Figure 5 is a top view of the side brush assembly provided in an embodiment of the present application in an extended state;

[0053] Figure 6 is a side view of the side brush assembly provided in an embodiment of the present application in an extended state;

[0054] Figure 7 is a top view of the side brush assembly in a retracted state provided by an embodiment of the present application;

[0055] Figure 8 is a side view of the side brush assembly in a retracted state provided by an embodiment of the present application;

[0056] Figure 9 1 is a schematic structural diagram of a support portion of a side brush assembly provided in an embodiment of the present application;

[0057] Figure 10 1 is a schematic structural diagram of a brush leg of a side brush assembly provided in an embodiment of the present application;

[0058] Figure 11 Schematic diagram of the structure of the pin of the side brush assembly provided in an embodiment of the present application;

[0059] Figure 12 This is a structural diagram of the side brush assembly provided in an embodiment of the present application in an extended state;

[0060] Figure 13 yes Figure 12 A magnified schematic diagram of point A in the middle;

[0061] Figure 14 This is a structural diagram of the side brush assembly in a retracted state provided by an embodiment of the present application;

[0062] Figure 15 yes Figure 14 A magnified schematic diagram of point B in the middle;

[0063] Figure 16 This is one of the partial structural diagrams of the cleaning robot provided in the embodiment of the present application;

[0064] Figure 17 This is the second partial structural diagram of the cleaning robot provided in an embodiment of the present application;

[0065] Figure 18 This is the third partial structural diagram of the cleaning robot provided in the embodiment of the present application;

[0066] Figure 19 This is the fourth partial structural diagram of the cleaning robot provided in an embodiment of the present application;

[0067] Figure 20This is the fifth partial structural diagram of the cleaning robot provided in the embodiment of the present application;

[0068] Figure 21 This is one of the flow charts of the control method of the cleaning robot provided in the embodiment of the present application;

[0069] Figure 22 This is the second flow chart of the control method of the cleaning robot provided in the embodiment of the present application;

[0070] Figure 23 This is the third flow chart of the control method of the cleaning robot provided in the embodiment of the present application;

[0071] Figure 24 It is a structural diagram of an electronic device provided in an embodiment of the present application.

[0072] Reference numerals:

[0073] Side brush assembly 100, support portion 110, mounting seat 120, support column 130, first mounting plate 131, connecting column 132,

[0074] Brush leg 140, mounting structure 150, locking structure 151, second mounting piece 152, first through hole 153, bristles 160,

[0075] Pin 170, straight rod portion 171, curved portion 172,

[0076] Robot body 200 and limiting portion 210 . DETAILED DESCRIPTION

[0077] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0078] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0079] Below, in conjunction with the accompanying drawings, the cleaning robot, the control method of the cleaning robot, the side brush assembly 100, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0080] An embodiment of the present application provides a cleaning robot.

[0081] like Figure 1 As shown, the cleaning robot includes a robot body 200, at least one side brush assembly 100 and a control device.

[0082] The robot body 200 is provided with a side brush driving device, the side brush assembly 100 is connected to the side brush driving device, and the side brush assembly 100 is installed on the bottom surface of the robot body 200 .

[0083] In actual implementation, a side brush assembly 100 may be provided on one side or both sides of the front end of the robot body 200 , and a side brush driving device drives the side brush assembly 100 to rotate to complete cleaning tasks such as sweeping and vacuuming.

[0084] It should be noted that the robot body 200 may include one or more side brush drive devices, each side brush assembly 100 is driven by a side brush drive device, or multiple side brush assemblies 100 are driven by a side brush drive device, wherein the side brush drive device can be a side brush motor or other device that converts electrical energy or other forms of energy into mechanical energy.

[0085] It is understandable that the robot body 200 may also be provided with modules such as a dust collection box, a water tank, a roller brush, and a mop.

[0086] In this embodiment, the robot body 200 is further provided with an image acquisition device, which is used to acquire an area image of the area to be cleaned.

[0087] In actual implementation, the image acquisition device can be an RGB camera, an infrared camera, a radar or a depth camera. The camera can directly acquire images, and the radar or depth camera can acquire point cloud information for mapping.

[0088] It is understandable that one or more image acquisition devices may be provided on the robot body 200 , and the multiple image acquisition devices may acquire regional images of different areas to be cleaned.

[0089] In this embodiment, the control device is electrically connected to the image acquisition device and the side brush drive device. The control device can receive the area image captured by the image acquisition device for identification. The control device can also output control instructions to the side brush drive device to control the direction, speed and duration of rotation of the side brush assembly 100 driven by the side brush drive device.

[0090] It is understandable that an image recognition algorithm may be written into the control device to recognize the area image.

[0091] In actual implementation, the control device can be a separate machine, for example, it can be the control center of the smart home system to which the cleaning robot is connected, and the control device can also be a controller on the cleaning robot.

[0092] It should be noted that the side brush drive device can drive the side brush assembly 100 to rotate in two directions. The side brush drive device is used to drive the side brush assembly 100 to rotate in a first direction so that the bristles 160 of the side brush assembly 100 contact the cleaning surface. The side brush drive device is controlled to drive the side brush assembly 100 to rotate in a second direction opposite to the first direction so that the bristles 160 of the side brush assembly 100 are separated from the cleaning surface.

[0093] For example, the first direction is clockwise and the second direction is counterclockwise. Figure 1 As shown, the side brush driving device drives the side brush assembly 100 to rotate in a counterclockwise direction, and the side brush assembly 100 is in a retracted state, as shown in FIG. Figure 2 As shown, the bristles 160 of the side brush assembly 100 in the retracted state are disengaged from the cleaning surface.

[0094] like Figure 3 As shown, the side brush driving device drives the side brush assembly 100 to rotate in a clockwise direction, and the side brush assembly 100 is in an extended state, as shown in FIG. Figure 4 As shown, the bristles 160 of the side brush assembly 100 in the extended state are in contact with the cleaning surface.

[0095] In this embodiment, by adjusting the rotation direction of the side brush assembly 100, the retracted state and the extended state of the side brush assembly 100 are switched. The retracted state is a state in which the bristles 160 of the side brush assembly 100 are separated from the cleaning surface, and the extended state is a state in which the bristles 160 of the side brush assembly 100 are in contact with the cleaning surface.

[0096] In actual implementation, the side brush assembly 100 can be a segmented structure, and the segment where the bristles 160 are located can bend as the rotation direction changes, raising the position of the bristles 160 so that the bristles 160 can be separated from the cleaning surface; the side brush assembly 100 can also be a sleeve structure, and the sleeve where the bristles 160 are located can shrink as the rotation direction changes, raising the position of the bristles 160 so that the bristles 160 can be separated from the cleaning surface; the side brush assembly 100 can also be other structures that can raise the position of the bristles 160 as the rotation direction changes.

[0097] Take the side brush assembly 100 as an example, which is a segmented structure.

[0098] The side brush assembly 100 may include a support portion 110 and a brush leg 140. The bristles 160 are located in the brush leg 140. Figure 5 As shown, the side brush assembly 100 rotates in a first direction, and the brush legs 140 extend straight along the pillars 130 of the support portion 110, as shown in FIG. Figure 6 As shown, the bristles 160 of the brush legs 140 can contact the cleaning surface.

[0099] like Figure 7 As shown, the side brush assembly 100 rotates in the second direction, and the brush legs 140 bend relative to the support 130, as shown in FIG. Figure 8 As shown, the bristles 160 of the brush legs 140 are raised so that the bristles 160 can be separated from the cleaning surface.

[0100] The control device is used to identify the area image. When it is determined that the area to be cleaned includes stains of the target type, the control device controls the side brush drive device to drive the side brush assembly 100 to rotate in a second direction opposite to the first direction so that the bristles 160 are separated from the cleaning surface of the area to be cleaned.

[0101] In this embodiment, the control device identifies the type of stains in the area to be cleaned by performing image preprocessing, feature extraction, and feature matching on the area image. When it is identified that the area to be cleaned includes stains of the target type, the side brush assembly 100 is controlled to rotate in the second direction, and the bristles 160 are separated from the cleaning surface of the area to be cleaned to prevent the spread of stains of the target type.

[0102] In actual implementation, after the cleaning robot passes through the area to be cleaned with stains of the target type, the next area to be cleaned does not have stains of the target type. The control device can control the side brush assembly 100 to rotate in the first direction, and the bristles 160 contact the cleaning surface of the area to be cleaned to achieve the cleaning function.

[0103] Among them, the target type of stains can be specific types of stains such as soy sauce and ketchup. The target type can also be customized according to user needs. The cleaning robot has a good cleaning effect on different types of stains.

[0104] In the related art, most sweepers complete cleaning by rotating the side brush in conjunction with other cleaning structures. The cleaning method is single and has a good cleaning effect on dust. However, for specific types of stains such as soy sauce and ketchup, the rotation of the side brush will break up the stains and spread them to the surrounding cleaned areas, resulting in poor cleaning effect.

[0105] According to the cleaning robot provided in the embodiment of the present application, the type of stains in the area to be cleaned is identified through images. During normal cleaning, the side brush assembly 100 rotates around a first direction to realize the cleaning function. When the target type of stains is identified, the side brush assembly 100 is driven to adjust the rotation direction, and the side brush is retracted off the ground, so that specific stains on the cleaning surface will not be swept, thereby avoiding the spread of stains and achieving a better cleaning effect.

[0106] In some embodiments, the target type represents the type of soiling that may cause secondary soiling to the area to be cleaned and / or the side brush assembly 100 .

[0107] Among them, the target type can be a stain type that causes secondary pollution to the area to be cleaned, a stain type that causes secondary pollution to the side brush assembly 100, or a stain type that causes secondary pollution to both the area to be cleaned and the side brush assembly 100.

[0108] In this embodiment, when the cleaning robot identifies stains that may cause secondary contamination to the area to be cleaned and / or the side brush assembly 100, it controls the side brush assembly 100 to rotate in a second direction, and the bristles 160 are separated from the cleaning surface of the area to be cleaned, preventing the side brush assembly 100 from contacting the cleaning surface and causing secondary contamination.

[0109] In some embodiments, the target type includes at least one of a liquid stain, a sticky stain, and a tangled stain.

[0110] In this embodiment, when the cleaning robot identifies liquid stains, sticky stains or entangled stains, the side brush assembly 100 is controlled to rotate in the second direction and the bristles 160 are off the ground to avoid secondary contamination.

[0111] Among them, liquid stains can be stains such as soy sauce, tea, milk, etc. When liquid stains are identified, the cleaning robot can drive the side brush assembly 100 to rotate in the second direction to lift the bristles 160 off the ground, thereby preventing the liquid stains from contaminating the side brush assembly 100 and preventing the side brush assembly 100 from touching the ground and rotating to spread the liquid stains.

[0112] In actual implementation, when it is recognized that the area to be cleaned includes liquid stains, the cleaning robot controls the bristles 160 to leave the ground, and can also control the mop of the robot body 200 to clean the liquid stains in the area to be cleaned.

[0113] The sticky stains may be stains such as ketchup, soybean paste or other sauces. When the sticky stains are identified, the cleaning robot can drive the side brush assembly 100 to rotate in the second direction to lift the bristles 160 off the ground, thereby preventing the sticky stains from contaminating the side brush assembly 100 and the area to be cleaned.

[0114] In actual implementation, when it is recognized that the area to be cleaned includes sticky stains, the cleaning robot controls the bristles 160 to leave the ground, and can control the mop to clean the sticky stains in the area to be cleaned, or it can not clean the area to be cleaned, output stain prompt information, and prompt other cleaning equipment or users to perform manual cleaning.

[0115] In some embodiments, for pet households, the sticky substance stain may also be pet feces.

[0116] In this embodiment, when it is recognized that the area to be cleaned includes pet feces, the cleaning robot can control the bristles 160 to be off the ground, not clean the area to be cleaned, output a stain prompt message, and prompt other cleaning equipment or users to perform manual cleaning.

[0117] Tangled stains may be human hair, loose hair from clothing, pet hair, power cords, and the like, which are easily entangled on the side brush assembly 100. When entangled stains are identified, the cleaning robot can drive the side brush assembly 100 to rotate in a second direction to lift the bristles 160 off the ground, thereby avoiding entanglement and contamination of the side brush assembly 100 and reducing the frequency of maintenance requirements for the side brush assembly 100.

[0118] In actual implementation, when it is recognized that the area to be cleaned includes human hair, floating hair from clothing or pet hair, the cleaning robot controls the bristles 160 off the ground and can control the dust suction structure of the body to clean the area to be cleaned. When it is recognized that the area to be cleaned includes the power cord, the cleaning robot controls the bristles 160 off the ground and can output a prompt message to prompt the user to perform manual cleaning.

[0119] In some embodiments, the control device is also used to identify the area image. When it is determined that the area to be cleaned includes obstacles, the side brush drive device is controlled to drive the side brush assembly 100 to rotate in a second direction to separate the bristles 160 from the obstacles in the area to be cleaned.

[0120] In this embodiment, after identifying that there are obstacles in the area to be cleaned, the side brush assembly 100 is driven to rotate in the second direction, and the side brush assembly 100 can be retracted into the diameter of the fuselage, so that the side brush assembly 100 will not frequently collide with the obstacles, effectively improving the service life of the side brush assembly 100.

[0121] For example, when the cleaning robot is cleaning normally, the side brush assembly 100 rotates in a first direction. By identifying the area image and determining that the area to be cleaned includes an obstacle such as a weight scale, the side brush assembly 100 is driven to rotate in a second direction, and the bristles 160 are off the ground. The side brush assembly 100 can be retracted to within the diameter of the body, and the side brush assembly 100 will not frequently collide with the weight scale, thereby effectively improving the service life of the side brush assembly 100.

[0122] In some embodiments, the control device is used to control the side brush driving device to drive the side brush assembly 100 to continuously rotate around the second direction so that the bristles 160 remain separated from the cleaning surface of the area to be cleaned.

[0123] In this embodiment, the side brush assembly 100 is driven to maintain rotation in the second direction, and the centrifugal force is used to maintain the side brush assembly 100 in a retracted state, keeping the bristles 160 off the ground.

[0124] It is understandable that when the side brush assembly 100 stops rotating and is in a stationary state, the bristles 160 may contact the cleaning surface, and the side brush assembly 100 can be retracted by utilizing centrifugal force by maintaining the rotation.

[0125] In some embodiments, the bottom surface of the robot body 200 is provided with a limiter corresponding one-to-one to the side brush assembly 100. The control device is used to control the side brush driving device to drive the side brush assembly 100 to rotate in the second direction for a target period of time and then stop. The limiter limits the rotation of the side brush assembly 100 to keep the bristles 160 separated from the cleaning surface of the area to be cleaned.

[0126] In this embodiment, after the side brush assembly 100 is retracted and raised, the limiter contacts the side brush assembly 100. The limiter can limit the rotation of the side brush assembly 100 by providing external resistance such as friction or magnetism, thereby keeping the bristles 160 off the ground.

[0127] In actual implementation, after driving the side brush assembly 100 to rotate in the second direction for a target time, the side brush assembly 100 can be raised to contact with the limiter or establish a stable contact relationship with the limiter, and the target time can be adjusted according to the distance the side brush assembly 100 is raised or the contact time with the limiter.

[0128] like Figure 16 As shown, the bottom surface of the robot body 200 is provided with a limiter, and each limiter can be provided with a plurality of limit portions 210, such as Figure 17 and Figure 18 As shown, the bristles 160 are kept away from the cleaning surface by the contact between the limiting portion 210 and the side brush assembly 100.

[0129] When the cleaning robot is performing normal cleaning, Figure 19 As shown, the limiting portion 210 of the limiting member may not contact the side brush assembly 100, or the side brush assembly 100 may rotate in the first direction to overcome the resistance of the limiting portion 210, as shown in FIG. Figure 20 As shown, the bristles 160 are in contact with the cleaning surface, and the side brush assembly 100 performs a cleaning function.

[0130] In some embodiments, the limiting member is at least one of planted hair, rubber protrusion and limiting rib.

[0131] In this embodiment, the implanted hairs, rubber protrusions or limiting ribs contact the brush legs 140 and apply resistance. When the support portion 110 stops rotating in the second direction, the brush legs 140 remain in the retracted position due to the resistance.

[0132] In some embodiments, the side brush assembly 100 includes a support portion 110 and at least one brush leg 140 . The support portion 110 is a component connected to the side brush driving device, and the brush leg 140 is a component of the bristles 160 having a cleaning function.

[0133] like Figure 9 As shown, the support portion 110 includes a mounting seat 120 and at least one pillar 130 connected to the mounting seat 120 . The mounting seat 120 is used to connect a side brush driving device, and the side brush driving device is used to drive the support portion 110 to rotate.

[0134] In this embodiment, the brush legs 140 of the side brush assembly 100 correspond to the pillars 130 one by one, and each pillar 130 is connected to a brush leg 140. Figure 10 As shown, the brush leg 140 includes a mounting structure 150 and bristles 160 connected to the mounting structure 150 .

[0135] The mounting structure 150 is pivotally connected to the support 130 , that is, the brush leg 140 can rotate around a certain point on the support portion 110 , and the brush leg 140 has an extended position and a retracted position relative to the support portion 110 .

[0136] In this embodiment, the support portion 110 rotates about a first direction, the brush legs 140 are in an extended position, and the bristles 160 contact the cleaning surface; the support portion 110 rotates about a second direction opposite to the first direction, the brush legs 140 are in a retracted position, and the bristles 160 are disengaged from the cleaning surface.

[0137] In some embodiments, a locking structure 151 is provided on one side of the mounting structure 150 , and when the supporting portion 110 rotates about the first direction, the locking structure 151 stops against the pillar 130 .

[0138] In some embodiments, the support portion 110 rotates about the second direction, and the other side of the mounting structure 150 stops at the support pillar 130 .

[0139] In some embodiments, a first mounting piece 131 extends from the end of the pillar 130 , a second mounting piece 152 extends from the end of the mounting structure 150 , the second mounting piece 152 covers the first mounting piece 131 , and the locking structure 151 is disposed on one side of the second mounting piece 152 .

[0140] In some embodiments, the surface where the end of the first mounting piece 131 and the mounting structure 150 are in contact with each other is a curved surface, and the surface where the end of the second mounting piece 152 and the support 130 are in contact with each other is a curved surface.

[0141] An embodiment of the present application also provides a cleaning robot, comprising a robot body 200 and at least one side brush assembly 100 .

[0142] The robot body 200 is provided with a side brush driving device, the side brush assembly 100 is connected to the side brush driving device, and the side brush assembly 100 is installed on the bottom surface of the robot body 200.

[0143] In actual implementation, a side brush assembly 100 may be provided on one side or both sides of the front end of the robot body 200 , and a side brush driving device drives the side brush assembly 100 to rotate to complete cleaning tasks such as sweeping and vacuuming.

[0144] It should be noted that the robot body 200 may include one or more side brush drive devices, each side brush assembly 100 is driven by a side brush drive device, or multiple side brush assemblies 100 are driven by a side brush drive device, wherein the side brush drive device can be a side brush motor or other device that converts electrical energy or other forms of energy into mechanical energy.

[0145] It is understandable that the robot body 200 may also be provided with modules such as a dust collection box, a water tank, a roller brush, and a mop.

[0146] For example, the first direction is clockwise and the second direction is counterclockwise. Figure 1 As shown, the side brush driving device drives the side brush assembly 100 to rotate in a counterclockwise direction, and the side brush assembly 100 is in a retracted state, as shown in FIG. Figure 2 As shown, the bristles 160 of the side brush assembly 100 in the retracted state are disengaged from the cleaning surface.

[0147] like Figure 3 As shown, the side brush driving device drives the side brush assembly 100 to rotate in a clockwise direction, and the side brush assembly 100 is in an extended state, as shown in FIG. Figure 4 As shown, the bristles 160 of the side brush assembly 100 in the extended state are in contact with the cleaning surface.

[0148] In this embodiment, by adjusting the rotation direction of the side brush assembly 100, the retracted state and the extended state of the side brush assembly 100 are switched. The retracted state is a state in which the bristles 160 of the side brush assembly 100 are separated from the cleaning surface, and the extended state is a state in which the bristles 160 of the side brush assembly 100 are in contact with the cleaning surface.

[0149] The side brush driving device is used to drive the side brush assembly 100 to rotate in a first direction so that the bristles 160 of the side brush assembly 100 contact the cleaning surface, and the side brush driving device is controlled to drive the side brush assembly 100 to rotate in a second direction opposite to the first direction so that the bristles 160 of the side brush assembly 100 are separated from the cleaning surface.

[0150] In actual implementation, the side brush assembly 100 can be a segmented structure, and the segment where the bristles 160 are located can bend as the rotation direction changes, raising the position of the bristles 160 so that the bristles 160 can be separated from the cleaning surface; the side brush assembly 100 can also be a sleeve structure, and the sleeve where the bristles 160 are located can shrink as the rotation direction changes, raising the position of the bristles 160 so that the bristles 160 can be separated from the cleaning surface; the side brush assembly 100 can also be other structures that can raise the position of the bristles 160 as the rotation direction changes.

[0151] According to the cleaning robot provided by the embodiment of the present application, the side brush assembly rotates around a first direction during normal cleaning to realize the cleaning function, and the side brush assembly is driven to adjust the rotation direction, and the side brush is retracted off the ground, and will not sweep specific stains on the cleaning surface or touch obstacles, which can avoid the spread of stains and prevent damage to the side brush.

[0152] An embodiment of the present application also provides a control method for a cleaning robot, which can be applied to the cleaning robot in the above embodiment.

[0153] The control method for a cleaning robot provided in an embodiment of the present application may be executed by the above-mentioned cleaning robot, electronic device, or a functional module or functional entity in the electronic device that can implement the control method for the cleaning robot.

[0154] Among them, the cleaning robot includes at least one side brush assembly 100, the side brush assembly 100 rotates around a first direction, the bristles 160 of the side brush assembly 100 contact the cleaning surface, and the side brush assembly 100 rotates around a second direction opposite to the first direction, and the bristles 160 are separated from the cleaning surface.

[0155] like Figure 21 As shown, the control method of the cleaning robot includes: step 2110 and step 2120.

[0156] Step 2110: Acquire an area image of the area to be cleaned.

[0157] In this step, the regional image of the area to be cleaned can be collected by the image acquisition device on the cleaning robot, or by other image acquisition devices (for example, a home surveillance camera).

[0158] In actual implementation, the area image may be a visible light image, an infrared image, or a point cloud image.

[0159] Step 2120 : Identify the area image, and when it is determined that the area to be cleaned includes stains of the target type, control the side brush assembly 100 to rotate in a second direction to separate the bristles 160 from the cleaning surface of the area to be cleaned.

[0160] In this step, the area image can be subjected to image preprocessing, feature extraction, feature matching and other processing to identify the type of stains in the area to be cleaned. When it is identified that the area to be cleaned includes stains of the target type, the side brush assembly 100 is controlled to rotate in the second direction, and the bristles 160 are separated from the cleaning surface of the area to be cleaned to prevent the spread of stains of the target type.

[0161] In actual implementation, the control device of the cleaning robot can perform image processing to control the side brush assembly 100 to rotate in the second direction, or other electronic devices (for example, a smart home console) can recognize the regional image and send a signal to the cleaning robot based on the recognition result. The cleaning robot controls the side brush assembly 100 to rotate in the second direction based on the signal to lift the bristles 160 off the ground.

[0162] According to the control method of the cleaning robot provided in the embodiment of the present application, the type of stains in the area to be cleaned is identified through images. During normal cleaning, the side brush assembly 100 rotates around a first direction to realize the cleaning function. When the target type of stains is identified, the side brush assembly 100 is driven to adjust the rotation direction, and the side brush is retracted off the ground, so that specific stains on the cleaning surface will not be swept, thereby avoiding the spread of stains and achieving a better cleaning effect.

[0163] In some embodiments, the target type represents the type of soiling that may cause secondary soiling to the area to be cleaned and / or the side brush assembly 100 .

[0164] Among them, the target type can be a stain type that causes secondary pollution to the area to be cleaned, a stain type that causes secondary pollution to the side brush assembly 100, or a stain type that causes secondary pollution to both the area to be cleaned and the side brush assembly 100.

[0165] In this embodiment, when the cleaning robot identifies stains that may cause secondary contamination to the area to be cleaned and / or the side brush assembly 100, it controls the side brush assembly 100 to rotate in a second direction, and the bristles 160 are separated from the cleaning surface of the area to be cleaned, preventing the side brush assembly 100 from contacting the cleaning surface and causing secondary contamination.

[0166] In some embodiments, the target type includes at least one of a liquid stain, a sticky stain, and a tangled stain.

[0167] In this embodiment, when the cleaning robot identifies liquid stains, sticky stains or entangled stains, the side brush assembly 100 is controlled to rotate in the second direction and the bristles 160 are off the ground to avoid secondary contamination.

[0168] In some embodiments, after obtaining the regional image of the area to be cleaned in step 2110, the control method of the cleaning robot may further include:

[0169] The area image is identified, and when it is determined that the area to be cleaned includes obstacles, the side brush assembly 100 is controlled to rotate in the second direction to separate the bristles 160 from the obstacles in the area to be cleaned.

[0170] In this embodiment, after identifying that there are obstacles in the area to be cleaned, the side brush assembly 100 is driven to rotate in the second direction, and the side brush assembly 100 can be retracted into the diameter of the fuselage, so that the side brush assembly 100 will not frequently collide with the obstacles, effectively improving the service life of the side brush assembly 100.

[0171] It can be understood that the purpose of controlling the side brush assembly 100 to rotate about the second direction is to retract the side brush assembly 100 and keep the bristles 160 off the ground. The following is a detailed description of retracting the side brush assembly 100 and keeping the bristles 160 off the ground from two different implementation angles.

[0172] In some embodiments, step 2120, controlling the side brush assembly 100 to rotate about a second direction, includes:

[0173] The side brush assembly 100 is controlled to continuously rotate in the second direction so that the bristles 160 remain separated from the cleaning surface of the area to be cleaned.

[0174] In this embodiment, the side brush assembly 100 is driven to maintain rotation in the second direction, and the centrifugal force is used to maintain the side brush assembly 100 in a retracted state, keeping the bristles 160 off the ground.

[0175] In some embodiments, the bottom surface of the robot body 200 is provided with a stopper corresponding to the side brush assembly 100. Step 2120, controlling the side brush assembly 100 to rotate about the second direction, includes:

[0176] The side brush assembly 100 is controlled to rotate in the second direction for a target period of time and then stop, and the limiter limits the rotation of the side brush assembly 100 so that the bristles 160 remain separated from the cleaning surface of the area to be cleaned.

[0177] In this embodiment, after the side brush assembly 100 is retracted and raised, the limiting member contacts the side brush assembly 100 . The limiting member can limit the rotation of the side brush assembly 100 by providing friction or magnetic force, thereby keeping the bristles 160 off the ground.

[0178] Two specific embodiments are described below.

[0179] like Figure 22 As shown, the cleaning robot is cleaning normally and recognizes that there are stains of the target type in front. The computing unit of the control device outputs instructions to the side brush motor, the side brush motor performs reverse rotation, the side brush assembly 100 runs to the retracted state, and the bristles 160 are off the ground.

[0180] The side brush assembly 100 maintains a lift-off state by continuously rotating. The cleaning robot passes through the stain area smoothly and recognizes that there is no stain of the target type in front. The computing unit outputs instructions to the side brush motor, and the side brush motor performs a forward rotation action. The side brush assembly 100 runs to the extended state and cleans normally.

[0181] In this embodiment, the side brush assembly 100 continuously rotates and utilizes centrifugal force to maintain the retracted state of the side brush assembly 100 and keep the bristles 160 off the ground.

[0182] like Figure 23 As shown, the cleaning robot is cleaning normally and recognizes that there are stains of the target type in front. The computing unit of the control device outputs instructions to the side brush motor, the side brush motor performs reverse rotation, the side brush assembly 100 runs to the retracted state, and the bristles 160 are off the ground.

[0183] The side brush assembly 100 stops rotating and maintains its lift-off state through external resistance. The cleaning robot passes through the stain area smoothly and recognizes that there are no stains of the target type in front. The computing unit outputs instructions to the side brush motor, and the side brush motor performs a forward rotation action. The side brush assembly 100 runs to the extended state and cleans normally.

[0184] In this embodiment, a limiter may be provided on the bottom surface of the robot body 200. After the side brush assembly 100 is retracted and raised, the limiter contacts the side brush assembly 100, and limits the rotation of the side brush assembly 100 by providing external resistance such as friction or magnetism, thereby keeping the bristles 160 off the ground.

[0185] In some embodiments, as Figure 24 As shown, an embodiment of the present application also provides an electronic device 2400, including a processor 2401, a memory 2402, and a computer program stored in the memory 2402 and executable on the processor 2401. When the program is executed by the processor 2401, each process of the control method embodiment of the above-mentioned cleaning robot is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0186] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0187] An embodiment of the present application also provides a non-transitory computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the various processes of the above-mentioned cleaning robot control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0188] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0189] An embodiment of the present application also provides a computer program product, including a computer program, which implements the control method of the cleaning robot when executed by a processor.

[0190] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0191] The embodiment of the present application further provides a side brush assembly 100 , which can switch between an extended position and a retracted position by adjusting the rotation direction, thereby lifting the bristles 160 off the ground.

[0192] In actual implementation, the side brush assembly 100 can be applied to the cleaning robot and the control method of the cleaning robot in the above-mentioned embodiment. When the cleaning robot recognizes the target type of stains, it adjusts the rotation direction of the side brush assembly 100 and retracts the side brush assembly 100 to lift the bristles 160 off the ground.

[0193] like Figure 7 As shown, the side brush assembly 100 of the embodiment of the present application includes a support portion 110 and at least one brush leg 140. The support portion 110 is a component connected to the side brush driving device, and the brush leg 140 is a component of the bristles 160 with a cleaning function.

[0194] It is understandable that the connection between the support portion 110 and the side brush driving device can be detachable, and the detachable connection can be achieved by connecting means such as threads and snaps.

[0195] like Figure 9 As shown, the support portion 110 includes a mounting seat 120 and at least one pillar 130 connected to the mounting seat 120 . The mounting seat 120 is used to connect a side brush driving device, and the side brush driving device is used to drive the support portion 110 to rotate.

[0196] In actual implementation, the side brush driving device can be a side brush motor, and the mounting base 120 can be connected to the output end of the side brush motor. The rotation of the side brush motor drives the mounting base 120 and the support 130 on the mounting base 120 to rotate.

[0197] In this embodiment, the brush legs 140 of the side brush assembly 100 correspond to the pillars 130 one by one, and each pillar 130 is connected to a brush leg 140. Figure 10As shown, the brush leg 140 includes a mounting structure 150 and bristles 160 connected to the mounting structure 150 .

[0198] The mounting structure 150 is pivotally connected to the support 130 , that is, the brush leg 140 can rotate around a certain point on the support portion 110 , and the brush leg 140 has an extended position and a retracted position relative to the support portion 110 .

[0199] like Figure 5 As shown, the brush leg 140 is in an extended position relative to the support portion 110, and the brush leg 140 extends along the straight line direction of the support 130, and the side brush assembly 100 is in an extended state; Figure 7 As shown, the brush legs 140 are in a retracted position relative to the support portion 110 , the brush legs 140 are bent relative to the pillars 130 , and the side brush assembly 100 is in a retracted state.

[0200] In this embodiment, the support portion 110 rotates about a first direction, the brush legs 140 are in an extended position, and the bristles 160 contact the cleaning surface; the support portion 110 rotates about a second direction opposite to the first direction, the brush legs 140 are in a retracted position, and the bristles 160 are disengaged from the cleaning surface.

[0201] Among them, the support part 110 rotates around the first direction, the brush leg 140 extends straight along the pillar 130 of the support part 110, the brush leg 140 rotates around the rotation center of the support part 110, and the bristles 160 contact the cleaning surface to realize the cleaning function of the side brush assembly 100.

[0202] The support part 110 rotates about the second direction, and the brush leg 140 bends relative to the pillar 130. In the process of the support part 110 rotating from about the first direction to about the second direction, the brush leg 140 rotates about the position pivotally connected to the pillar 130 and then stops, the position of the bristles 160 is raised, and the bristles 160 are separated from the cleaning surface, thereby avoiding stains or obstacles.

[0203] The first direction and the second direction are two opposite rotation directions. The first direction can be clockwise or counterclockwise, and the second direction can be counterclockwise or clockwise.

[0204] In the related art, some sweepers are equipped with a lifting structure to lift the side brush to separate it from the ground, but this type of technology will add redundant transmission structures and increase the manufacturing cost of the equipment.

[0205] According to the side brush assembly 100 provided in the embodiment of the present application, the support part 110 and the brush leg 140 are designed in sections, the mounting seat 120 of the support part 110 is connected to the side brush driving device for driving, and the brush leg 140 is pivotally connected to the pillar 130 of the support part 110 through the mounting structure 150. When the support part 110 rotates in a first direction, the brush leg 140 extends to realize the cleaning function. When the support part 110 rotates in a second direction, the brush leg 140 retracts and does not touch the ground. Without the need for an additional transmission mechanism, the side brush can be lifted off the ground, thereby reducing damage to the side brush and effectively preventing the spread of stains.

[0206] In some embodiments, as Figure 10 As shown, a locking structure 151 is provided on one side of the mounting structure 150 . When the supporting portion 110 rotates around the first direction, the locking structure 151 stops at the pillar 130 .

[0207] Among them, the locking structure 151 can be a structure such as a protrusion or a side wing, which can stop at the pillar 130 when the support part 110 rotates around the first direction, keeping the brush leg 140 extending straight along the pillar 130 of the support part 110, so that the brush leg 140 can rotate with the rotation of the support part 110 to achieve the cleaning function.

[0208] For example, Figure 12 and Figure 13 As shown, the first direction is counterclockwise, and the locking structure 151 is a protrusion arranged on the right side of the end of the mounting structure 150. When the support part 110 rotates in the counterclockwise direction, the locking structure 151 on the right side of the mounting structure 150 can stop at the pillar 130, so that the brush leg 140 can rotate with the rotation of the support part 110.

[0209] In some embodiments, the support portion 110 rotates about the second direction, and the other side of the mounting structure 150 stops at the support pillar 130 .

[0210] It can be understood that the locking structure 151 is provided on one side of the mounting structure 150, and no structure for realizing the stopping function is provided on the other side of the end of the mounting structure 150. When the support portion 110 rotates about the second direction, the brush leg 140 rotates about the position pivotally connected to the pillar 130 until the side of the mounting structure 150 where the locking structure 151 is not provided stops against the pillar 130, and the brush leg 140 switches to the retracted position.

[0211] For example, Figure 14 and Figure 15As shown, the second direction is clockwise, and the locking structure 151 is arranged on the right side of the end of the mounting structure 150. When the support portion 110 rotates in the clockwise direction, the locking structure 151 on the right side of the mounting structure 150 disengages from the pillar 130, and the mounting structure 150 rotates in the clockwise direction around the position pivotally connected to the pillar 130. When the left side of the mounting structure 150 stops at the pillar 130, the brush leg 140 no longer rotates, and the brush leg 140 switches to the retracted position.

[0212] In this embodiment, a locking structure 151 is provided on one side of the mounting structure 150 of the brush leg 140 to ensure that when the side brush assembly 100 rotates in a first direction, the brush leg 140 can be extended straight, and when rotating in a second direction, the brush leg 140 can bend and retract, thereby realizing the switching of the brush leg 140 between the extended position and the retracted position.

[0213] In actual implementation, the mounting structure 150 can be made of rubber material. The mounting structure 150 has a certain elasticity. When the support part 110 rotates in the first direction or the second direction, the two sides of the mounting structure 150 stop at the pillar 130, and the pillar 130 will not cause structural damage to the mounting structure 150.

[0214] In some embodiments, a first mounting piece 131 extends from the end of the pillar 130 , a second mounting piece 152 extends from the end of the mounting structure 150 , the second mounting piece 152 covers the first mounting piece 131 , and the locking structure 151 is disposed on one side of the second mounting piece 152 .

[0215] For example, Figure 9 As shown, a first mounting piece 131 extends from the end of the support 130. Figure 10 As shown, a second mounting piece 152 extends from the end of the mounting structure 150 .

[0216] In this embodiment, the first mounting piece 131 and the second mounting piece 152 are installed in an alternating and overlapping manner, and the contact area between the mounting structure 150 and the support 130 is large, providing a sufficient support plane for the pivoting of the brush leg 140, ensuring the stability of the brush leg 140 in the straight extended and bent states.

[0217] In this embodiment, the locking structure 151 is arranged on one side of the second mounting piece 152. The locking structure 151 can be a protrusion extending from one side of the end of the second mounting piece 152. The locking structure 151 can also be a side wing at one side end of the second mounting piece 152. The locking structure 151 can also include both a protrusion and a side wing.

[0218] In actual implementation, the support portion 110 rotates around the first direction. When the locking structure 151 is a protrusion, the protrusion stops on the body of the pillar 130. When the locking structure 151 is a side wing, the protrusion stops on the first mounting piece 131 of the pillar 130.

[0219] In some embodiments, the surface where the end of the first mounting piece 131 and the mounting structure 150 are in contact with each other is a curved surface, and the surface where the end of the second mounting piece 152 and the support 130 are in contact with each other is a curved surface.

[0220] The end of the first mounting piece 131 is set to a curved surface, and the surface of the mounting structure 150 that is in contact with the end of the first mounting piece 131 is set to a curved surface that matches the shape and size of the end of the first mounting piece 131. The end of the second mounting piece 152 is set to a curved surface, and the surface of the pillar 130 that is in contact with the end of the second mounting piece 152 is set to a curved surface that matches the shape and size of the end of the second mounting piece 152.

[0221] In this embodiment, the arrangement of the arc surface ensures smooth rotation of the mounting structure 150 relative to the support 130 .

[0222] In some embodiments, the pillar 130 is provided with a connecting column 132 , the mounting structure 150 is provided with a first through hole 153 , the connecting column 132 passes through the first through hole 153 and is connected to the mounting structure 150 , and the brush leg 140 rotates around the axial direction of the connecting column 132 .

[0223] like Figure 15 As shown, the connecting column 132 passes through the first through hole 153 on the mounting structure 150 , and the mounting structure 150 rotates around the axial direction of the connecting column 132 . By adjusting the rotation direction, both sides of the mounting structure 150 stop at the support 130 .

[0224] In actual implementation, the connecting column 132 can be set on the first mounting plate 131, and the first through hole 153 can be set on the second mounting plate 152. After the connecting column 132 passes through the first through hole 153, the brush leg 140 and the support part 110 can be pivotally connected through an external connecting part. The pivotal connection between the brush leg 140 and the support part 110 can also be achieved through the structural design of the connecting column 132 or the first through hole 153 (for example, a snap-on design).

[0225] The connecting member may be a pin 170 , a clamp or other components that can limit the brush leg 140 from being separated from the connecting column 132 of the support portion 110 .

[0226] In some embodiments, the side brush assembly 100 may further include a pin 170 . A second through hole is provided at the end of the connecting column 132 that passes through the mounting structure 150 , and the pin 170 passes through the second through hole.

[0227] In this embodiment, the pin 170 serves as a connecting member to achieve a pivotable connection between the brush leg 140 and the support portion 110.

[0228] In some embodiments, as Figure 11As shown, the pin 170 includes a straight rod portion 171 and a curved portion 172 connected to the straight rod portion 171 . The straight rod portion 171 and the curved portion 172 extend in the same direction. One end of the straight rod portion 171 passes through the second through hole, and the curved portion 172 stops at the outer side of the connecting column 132 .

[0229] In this embodiment, one end of the straight rod portion 171 passes through the second through hole, and the other end of the straight rod portion 171 is connected to the curved portion 172. The other end of the straight rod portion 171 and the curved portion 172 have the same extension direction, and the gaps between various positions on the curved portion 172 and the straight rod portion 171 are different in size. The free ends of the straight rod portion 171 and the curved portion 172 can be designed to be larger to facilitate one end (i.e., the free end) of the straight rod portion 171 to pass through the second through hole, thereby facilitating the installation and disassembly of the pin 170.

[0230] The bent portion 172 of the pin 170 abuts against the outer side of the connecting column 132 , and the pin 170 can ensure that the brush leg 140 and the support portion 110 are firmly connected.

[0231] A specific embodiment is described below.

[0232] The support part 110 of the side brush assembly 100 includes three pillars 130, and the side brush assembly 100 also includes three brush legs 140 arranged corresponding to the three pillars 130. The pillars 130 are provided with connecting pillars 132. The brush legs 140 are connected to the pillars 130 and can rotate around the connecting pillars 132 on the pillars 130. The brush legs 140 are provided with a locking structure 151.

[0233] like Figure 12 As shown, when the support portion 110 rotates in the first direction, the locking structure 151 on the brush leg 140 stops on the support 130, and the brush leg 140 is in the extended position, as shown in FIG. Figure 14 As shown, when the support portion 110 rotates in the second direction, the side of the brush leg 140 away from the locking structure 151 stops on the pillar 130, and the brush leg 140 is in a retracted position. The transition between the two states will be quickly completed under the action of the centrifugal force of the rotation direction switching.

[0234] like Figure 5 As shown, the side brush assembly 100 rotates in the first direction and is in an extended state. Figure 6 As shown, the brush legs 140 extend the bristles 160 to contact the cleaning surface, as shown in FIG. Figure 7 As shown, the side brush assembly 100 rotates in the second direction, and is in a retracted state. The rotation diameter of the side brush assembly 100 is smaller than the rotation diameter of the extended state. Figure 8 As shown, the brush legs 140 are retracted and the bristles 160 are raised. The bristles 160 are positioned higher than the drive wheels and universal wheels on the robot body 200 and are at a certain distance from the cleaning surface, so as to avoid stains or obstacles.

[0235] An embodiment of the present application also provides a cleaning robot, which includes a robot body 200 and at least one side brush assembly 100 as described in the above embodiment. The side brush assembly 100 can switch between an extended position and a retracted position by adjusting the rotation direction to achieve the bristles 160 off the ground.

[0236] In this embodiment, the robot body 200 is provided with a side brush driving device, the side brush assembly 100 is installed on the bottom surface of the robot body 200, and the mounting base 120 of the side brush assembly 100 is connected to the side brush driving device.

[0237] Among them, the side brush assembly 100 includes a support part 110 and at least one brush leg 140, the support part 110 includes a mounting seat 120 and at least one pillar 130 connected to the mounting seat 120, the mounting seat 120 is used to connect the side brush drive device, and the side brush drive device is used to drive the support part 110 to rotate. The brush legs 140 and pillars 130 of the side brush assembly 100 correspond one to one, and each pillar 130 is connected to a brush leg 140.

[0238] The brush leg 140 includes a mounting structure 150 and bristles 160 connected to the mounting structure 150 . The mounting structure 150 is pivotally connected to the support 130 . The brush leg 140 has an extended position and a retracted position relative to the support portion 110 .

[0239] In this embodiment, the support portion 110 rotates about a first direction, the brush legs 140 are in an extended position, and the bristles 160 contact the cleaning surface; the support portion 110 rotates about a second direction opposite to the first direction, the brush legs 140 are in a retracted position, and the bristles 160 are disengaged from the cleaning surface.

[0240] According to the cleaning robot provided in the embodiment of the present application, the side brush assembly 100 has a segmented design of a support part 110 and a brush leg 140, the mounting seat 120 of the support part 110 is connected to the side brush driving device for driving, and the brush leg 140 is pivotally connected to the pillar 130 of the support part 110 through the mounting structure 150. When the support part 110 rotates in a first direction, the brush leg 140 extends to realize the cleaning function. When the support part 110 rotates in a second direction, the brush leg 140 retracts and does not touch the ground. Without the need for an additional transmission mechanism, the side brush can be lifted off the ground, thereby reducing damage to the side brush and effectively preventing the spread of stains.

[0241] In some embodiments, the bottom surface of the robot body 200 is provided with a limiter corresponding to the side brush assembly 100 , and the brush leg 140 is in the retracted position, and the limiter contacts the brush leg 140 to limit the movement of the brush leg 140 .

[0242] In this embodiment, after the side brush assembly 100 is retracted and raised, the limiter contacts the brush leg 140 of the side brush assembly 100. The limiter can limit the movement of the brush leg 140 by providing external resistance such as friction or magnetism, thereby keeping the bristles 160 off the ground.

[0243] In some embodiments, a limiting member is provided on the bottom surface of the robot body 200 , and each limiting member may be provided with a plurality of limiting portions 210 .

[0244] For example, Figure 16 As shown, the side brush assembly 100 includes three brush legs 140. Three limiting portions 210 are provided at the location where the side brush assembly 100 is installed. When the support portion 110 stops rotating in the second direction, each limiting portion 210 contacts a brush leg 140 to limit movement.

[0245] In this embodiment, one side brush assembly 100 corresponds to one limiting member, and one brush leg 140 corresponds to one limiting portion 210, ensuring that the bristles 160 can be stably off the ground when the side brush assembly 100 rotates in the second direction.

[0246] In actual implementation, when the support portion 110 rotates about the first direction, the driving force of the side brush driving device can overcome the resistance between the limiter and the brush leg 140, so that the brush leg 140 can be switched to the extended state to achieve the cleaning function.

[0247] In some embodiments, the limiting member is at least one of planted hair, rubber protrusion and limiting rib.

[0248] In this embodiment, the implanted hairs, rubber protrusions or limiting ribs contact the brush legs 140 and apply resistance. When the support portion 110 stops rotating in the second direction, the brush legs 140 remain in the retracted position due to the resistance.

[0249] For example, Figure 17 and Figure 18 As shown, the limiting member is a planted hair, which contacts the mounting structure 150 or the bristles 160 of the brush leg 140. When the support portion 110 stops rotating in the second direction, resistance is provided so that the brush leg 140 can be maintained in the retracted position.

[0250] When the cleaning robot is performing normal cleaning, Figure 19 As shown, the bristles may not contact the brush legs 140, or the side brush assembly 100 may rotate in the first direction to overcome the resistance of the limiting portion 210, as shown in FIG. Figure 20 As shown, the bristles 160 touch the ground to perform a cleaning function.

[0251] A specific embodiment is described below.

[0252] The cleaning robot is provided with two side brush assemblies 100 , which are respectively located at the front ends of the left and right sides in the forward direction of the machine. The side brush assembly 100 is designed in sections with a support portion 110 and a brush leg 140 .

[0253] like Figure 3 and Figure 4 As shown, when the side brush assembly 100 is driven to rotate in the first direction, the brush leg 140 is in the extended position and cleans the ground normally; Figure 1 and Figure 2 As shown, when the side brush assembly 100 is driven to rotate in the second direction, the brush legs 140 are in the retracted position, and the bristles 160 are off the ground to avoid stains or obstacles.

[0254] In this embodiment, it is possible to identify by image whether there are specific stains or obstacles in the area to be cleaned by the cleaning robot. When there are specific stains or obstacles in the area to be cleaned, the rotation direction is changed to retract the brush leg 140. Without the need for an additional transmission mechanism, the side brush can be lifted off the ground, thereby reducing damage to the side brush and effectively preventing the spread of stains.

[0255] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0256] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0257] In the description of this application, "first feature" and "second feature" may include one or more of the features, and "plurality" means two or more. The first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features not being in direct contact but being in contact through another feature between them.

[0258] In the description of this application, a first feature “on”, “above” and “above” a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0259] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0260] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning robot, characterized in that: include: A robot body, wherein the robot body is provided with a side brush driving device and an image acquisition device, wherein the image acquisition device is used to acquire an area image of the area to be cleaned; at least one side brush assembly, the side brush assembly being mounted on a bottom surface of the robot body, the side brush assembly being connected to the side brush driving device, the side brush driving device being configured to drive the side brush assembly to rotate in a first direction so that bristles of the side brush assembly contact a cleaning surface; A control device is electrically connected to the image acquisition device and the side brush drive device, and is used to identify the area image. When it is determined that the area to be cleaned includes stains of the target type, the control device controls the side brush drive device to drive the side brush assembly to rotate in a second direction opposite to the first direction, so that the bristles are separated from the cleaning surface of the area to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The target type represents the type of stain that causes secondary pollution to the area to be cleaned and / or the side brush assembly.

3. The cleaning robot according to claim 2, characterized in that: The target type includes at least one of a liquid stain, a sticky stain, and a tangled stain.

4. The cleaning robot according to claim 1, characterized in that: The control device is also used to identify the area image, and when it is determined that the area to be cleaned includes an obstacle, control the side brush drive device to drive the side brush assembly to rotate around the second direction to separate the bristles from the obstacles in the area to be cleaned.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that: The control device is used to control the side brush driving device to drive the side brush assembly to continuously rotate around the second direction, so that the bristles remain separated from the cleaning surface of the area to be cleaned.

6. The cleaning robot according to any one of claims 1 to 4, characterized in that: The bottom surface of the robot body is provided with a limiter corresponding to the side brush assembly one by one. The control device is used to control the side brush driving device to drive the side brush assembly to rotate around the second direction for a target time and then stop. The limiter limits the rotation of the side brush assembly so that the bristles remain separated from the cleaning surface of the area to be cleaned.

7. The cleaning robot according to claim 6, characterized in that: The limiting member is at least one of planted hair, rubber protrusion and limiting rib.

8. The cleaning robot according to any one of claims 1 to 4, characterized in that: The side brush assembly comprises: A support portion, the support portion comprising a mounting seat and at least one pillar connected to the mounting seat, the mounting seat being used to connect a side brush driving device, and the side brush driving device being used to drive the support portion to rotate; at least one brush leg, the brush leg corresponding to the support one-to-one, the brush leg comprising a mounting structure and bristles connected to the mounting structure, the mounting structure being pivotally connected to the support, the brush leg having an extended position and a retracted position relative to the support portion; Wherein, when the support part rotates about the first direction, the brush legs are in the extended position, and the bristles are in contact with the cleaning surface; when the support part rotates about the second direction, the brush legs are in the retracted position, and the bristles are separated from the cleaning surface.

9. The cleaning robot according to claim 8, characterized in that: A locking structure is provided on one side of the mounting structure. When the support portion rotates around the first direction, the locking structure stops at the pillar. When the support portion rotates around the second direction, the other side of the mounting structure stops at the pillar.

10. The cleaning robot according to claim 9, characterized in that: A first mounting piece extends from the end of the pillar, a second mounting piece extends from the end of the mounting structure, the second mounting piece covers the first mounting piece, and the locking structure is provided on one side of the second mounting piece.

11. The cleaning robot according to claim 10, characterized in that: The surface where the end of the first mounting piece and the mounting structure are in contact with each other is set as an arc surface, and the surface where the end of the second mounting piece and the pillar are in contact with each other is set as an arc surface.

12. A cleaning robot, characterized in that: include: A robot body, wherein the robot body is provided with a side brush driving device; at least one side brush assembly, the side brush assembly being mounted on a bottom surface of the robot body, the side brush assembly being connected to the side brush driving device, the side brush driving device being configured to drive the side brush assembly to rotate in a first direction so that bristles of the side brush assembly contact a cleaning surface; The side brush driving device is used to drive the side brush assembly to rotate in a second direction opposite to the first direction, so that the bristles are separated from the cleaning surface.

13. A control method for a cleaning robot, characterized in that: The cleaning robot includes at least one side brush assembly, the side brush assembly rotates in a first direction, bristles of the side brush assembly contact a cleaning surface, and the side brush assembly rotates in a second direction opposite to the first direction, the bristles disengage from the cleaning surface, and the method includes: Acquire a regional image of the area to be cleaned; The area image is identified, and when it is determined that the area to be cleaned includes stains of the target type, the side brush assembly is controlled to rotate about the second direction so that the bristles are separated from the cleaning surface of the area to be cleaned.

14. The control method of the cleaning robot according to claim 13, characterized in that: The target type represents the type of stain that causes secondary pollution to the area to be cleaned and / or the side brush assembly.

15. The control method of the cleaning robot according to claim 14, characterized in that: The target type includes at least one of a liquid stain, a sticky stain, and a tangled stain.

16. The control method of the cleaning robot according to claim 13, characterized in that: After acquiring the regional image of the area to be cleaned, the method further includes: The area image is identified, and when it is determined that the area to be cleaned includes an obstacle, the side brush assembly is controlled to rotate around the second direction so that the bristles are separated from the obstacle in the area to be cleaned.

17. The control method of the cleaning robot according to any one of claims 13 to 16, characterized in that: The controlling the side brush assembly to rotate about the second direction comprises: The side brush assembly is controlled to continuously rotate around the second direction so that the bristles remain separated from the cleaning surface of the area to be cleaned.

18. The control method of the cleaning robot according to any one of claims 13 to 16, characterized in that: The bottom surface of the robot body is provided with a limiting member corresponding to the side brush assembly one by one, and the controlling the side brush assembly to rotate about the second direction includes: The side brush assembly is controlled to rotate about the second direction for a target time and then stop, and the limiting member limits the rotation of the side brush assembly so that the bristles remain separated from the cleaning surface of the area to be cleaned.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method of the cleaning robot according to any one of claims 13 to 18 is implemented.

20. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the cleaning robot according to any one of claims 13 to 18 is implemented.

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