Cleaning method and apparatus of cleaning robot, cleaning robot, device, and medium

Abstract

This application provides a cleaning method, apparatus, robot, device, and medium for a cleaning robot, relating to the field of cleaning equipment technology. It includes: during the cleaning process of the cleaning robot on an area to be cleaned, if a heavily soiled area is detected, determining the soiled area of ​​the heavily soiled area; if the soiled area is greater than a preset threshold, controlling the robot to move forward to clean at least a portion of the heavily soiled area using the mop assembly; if the soiled area is less than or equal to the preset threshold, controlling the robot to move backward to clean at least a portion of the heavily soiled area using the mop assembly. Since backward cleaning pushes dirt out of the heavily soiled area and contaminates adjacent areas, for large areas of heavily soiled areas, forward cleaning is used to avoid pushing dirt into uncleaned areas and prevent contamination spread; for small areas of heavily soiled areas, backward cleaning is used to avoid the drive wheels contacting or spreading dirt, thus improving the cleaning effect.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning method, apparatus, cleaning robot, equipment and medium for a cleaning robot. Background Technology

[0002] With the continuous advancement of intelligent robot technology, cleaning robots are showing a trend towards diversification and intelligence in their cleaning modes, especially in their ability to handle heavily soiled areas.

[0003] In existing technologies, when a cleaning robot detects a heavily soiled area, it adjusts the cleaning mode to clean the heavily soiled area multiple times.

[0004] However, when cleaning heavily soiled areas, cleaning robots may push dirt from the heavily soiled areas into uncleaned areas, causing the pollution to spread. Moreover, repeatedly cleaning the same area may also lead to a waste of time and energy, affecting cleaning efficiency. Summary of the Invention

[0005] This application provides a cleaning method, apparatus, cleaning robot, equipment, and medium for a cleaning robot. The robot dynamically adjusts its direction of travel and cleaning strategy based on the size of the soiled area, thereby optimizing the cleaning effect, reducing pollution diffusion, and improving overall cleaning efficiency.

[0006] In a first aspect, this application provides a cleaning method for a cleaning robot, the cleaning robot including a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot; the method includes:

[0007] During the cleaning process of the cleaning robot, if a heavily soiled area is detected, the area of ​​dirt in the heavily soiled area is determined.

[0008] If it is determined that the dirty area is greater than a preset threshold, the cleaning robot is controlled to move forward to clean at least part of the heavily soiled area using the mop assembly;

[0009] If the dirty area is determined to be less than or equal to a preset threshold, the cleaning robot is controlled to move backward to clean at least part of the heavily soiled area using the mop assembly.

[0010] In this way, by detecting and assessing the area of ​​dirt in heavily soiled areas, the cleaning robot can make intelligent cleaning decisions and select appropriate heavy-duty cleaning strategies. When a cleaning robot cleans a large dirty area in a backward manner, it may push a large amount of dirt into the surrounding area, which not only expands the area that needs to be cleaned but may also cause adjacent areas to become contaminated. Therefore, for large dirty areas, when the detected dirt area exceeds a preset threshold, the cleaning robot can adopt a forward cleaning approach. This effectively controls the spread of dirt and treats the area based on the appropriate heavy-duty cleaning strategy, reducing unnecessary repeated cleaning.

[0011] For small, dirty areas, although backward cleaning will push some dirt out of the heavily soiled area, the amount pushed out is small, and the impact on the surrounding area is minimal. Furthermore, backward cleaning allows the mop assembly to preferentially contact the dirt, thus avoiding contamination of the drive wheels and dry cleaning components, and preventing dirt from being spread to other areas by the drive wheels. Therefore, when the detected dirty area is less than or equal to a preset threshold, the cleaning robot can use a backward cleaning method and treat the heavily soiled area according to the corresponding heavy-soil cleaning strategy, maintaining efficient cleaning performance.

[0012] Therefore, by automatically detecting heavily soiled areas, assessing the area of ​​dirt, and adjusting cleaning strategies, cleaning robots can provide more efficient and high-quality cleaning services, reduce the number of repeated cleanings, save time and energy, and thus improve cleaning results and user satisfaction.

[0013] Optionally, determine the soiled area of ​​the heavily soiled area, including:

[0014] Control the cleaning robot to travel to at least one target point before the heavily contaminated area in order to identify the target center area of ​​the heavily contaminated area;

[0015] The dirty area of ​​the heavily polluted zone is determined based on the target central area.

[0016] In this way, by moving to at least one target point and identifying the target center area, the cleaning robot can more accurately identify and assess heavily soiled areas, reduce misjudgments and omissions, and thus more accurately assess the soiled area. This allows the cleaning robot to select appropriate cleaning strategies, such as forward cleaning or backward cleaning, thereby improving cleaning efficiency and effectiveness.

[0017] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0018] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the boundary information of the heavily polluted area;

[0019] The cleaning robot is then guided to move along the boundary of the heavily contaminated area to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the target center area.

[0020] In this way, by performing an initial scan at the first target point in front of the heavily polluted area, the cleaning robot can determine the boundary information of the heavily polluted area, which helps to clarify the scope of the heavily polluted area. By moving along the boundary and performing a second scan at the second target point in front of the other side, the cleaning robot can more accurately determine the target center area of ​​the heavily polluted area. Through multiple scans and boundary movement, the recognition accuracy of the target center area of ​​the heavily polluted area is improved. By verifying the heavily polluted area at the second target point, the existence of the heavily polluted area is accurately confirmed, reducing misjudgments and omissions, and ensuring the effectiveness of the cleaning task.

[0021] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0022] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the first central area;

[0023] The cleaning robot is then guided to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the second central area.

[0024] The target central area of ​​the heavily polluted area is determined based on the first and second central areas.

[0025] In this way, by scanning multiple times on different sides of the heavily soiled area, the cleaning robot can more accurately identify and locate the central area of ​​the heavily soiled area. This multiple scanning method reduces the error caused by a single scan, and by comparing and integrating scan data from different angles, the cleaning robot can also more reliably confirm the target central area of ​​the heavily soiled area. Therefore, by performing multiple scans from different angles, the cleaning robot can more accurately identify the target central area of ​​the heavily soiled area, thereby more accurately determining the soiled area.

[0026] Optionally, at least some heavily soiled areas may be cleaned, including:

[0027] Control the cleaning robot to return to the first target point;

[0028] After the cleaning robot is positioned at the first target point, control the cleaning robot to enter at least part of the heavily soiled area for cleaning.

[0029] In this way, by returning to the first target point and then entering the heavily soiled area to begin cleaning, the cleaning robot can clean the heavily soiled area in an orderly manner according to the pre-planned path, reducing the possibility of omissions and repeated cleaning, and improving the overall cleaning effect.

[0030] Optionally, at least some heavily soiled areas may be cleaned, including:

[0031] The first cleaning frame for heavily contaminated areas is determined based on the target central area and the preset range;

[0032] The cleaning robot is controlled to clean at least a portion of the heavily soiled areas within the first cleaning frame based on a heavy-soil cleaning strategy.

[0033] In this way, by defining a first cleaning frame, the cleaning robot can focus on cleaning heavily soiled areas, ensuring that these areas are thoroughly cleaned and improving the cleaning effect. It can also avoid cleaning surfaces outside the first cleaning frame, reducing time and resource waste and improving cleaning efficiency. For example, heavy-duty cleaning agents can be used in concentrated areas to avoid wasting cleaning agents in unnecessary places, thereby saving resources.

[0034] Optionally, the method also includes:

[0035] After the cleaning robot cleans at least part of the heavily soiled area within the first cleaning frame based on the heavy soiling cleaning strategy, if a dirty area is detected and it is determined that the second cleaning frame corresponding to the dirty area overlaps with the first cleaning frame, the cleaning robot is controlled to clean the dirty area based on the preset cleaning strategy.

[0036] Since preset cleaning strategies are generally more energy-efficient than heavy-duty cleaning strategies and are suitable for handling lightly soiled or splashed areas, by detecting whether the second cleaning box corresponding to the soiled area overlaps with the first cleaning box corresponding to the heavily soiled area, it can be determined that there is a soiled area that has been treated using the preset cleaning strategy. This avoids repeatedly using the high-energy-consuming heavy-duty cleaning strategy to clean the soiled area, reducing unnecessary high-intensity cleaning operations, such as reducing power consumption and cleaning agent usage, thereby improving overall cleaning efficiency. This allows the cleaning robot to complete the task faster and reduces the time spent repeatedly cleaning the same heavily soiled area.

[0037] Optionally, the method also includes:

[0038] Identify the type of contamination in heavily polluted areas;

[0039] If it is determined that the type of dirt is incompatible with the type of the first mop assembly currently installed on the cleaning robot, the cleaning robot is controlled to return to the cleaning base station to replace the second mop assembly that is compatible with the type of dirt.

[0040] After the cleaning robot replaces the second mop assembly, control the cleaning robot to return to the heavily soiled area for cleaning.

[0041] Different types of dirt require mop attachments made of different materials or with different functions for effective removal. By selecting mop attachments tailored to the type of dirt in heavily soiled areas, cleaning robots can more effectively handle dirt, improving cleaning results. Furthermore, using specially designed mop attachments to handle specific types of dirt can reduce the amount of cleaning agent used and cleaning time, thereby optimizing resource utilization and lowering cleaning costs. In addition, the automated mop attachment replacement process reduces user intervention, making the cleaning process more convenient and efficient.

[0042] Optionally, at least some heavily soiled areas may be cleaned, including:

[0043] After the cleaning robot cleans at least part of the heavily soiled area based on the bow-shaped cleaning path, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area along the edge.

[0044] By combining the bow-shaped cleaning path with edge cleaning, the entire heavily soiled area, including edges and corners, can be thoroughly cleaned, avoiding any omissions. The bow-shaped cleaning path ensures that the cleaning robot covers a large area of ​​heavily soiled areas during the initial cleaning, minimizing omissions. By switching to edge cleaning after the bow-shaped cleaning path, the cleaning robot can detect and address areas that may have been missed during the initial cleaning, ensuring that all heavily soiled areas are thoroughly cleaned and improving the cleaning effect.

[0045] Optionally, at least some heavily soiled areas may be cleaned, including:

[0046] After controlling the cleaning robot to clean at least part of the heavily soiled area along the edge, control the cleaning robot to clean the remaining at least part of the heavily soiled area based on the bow-shaped cleaning path.

[0047] In this way, when cleaning heavily soiled areas, edge cleaning allows for precise assessment of the area and shape of the soiling, helping the cleaning robot select appropriate cleaning strategies and preset paths, thus improving the targeting and efficiency of cleaning. Furthermore, after edge cleaning, using a bow-shaped cleaning path ensures effective coverage of the entire heavily soiled area, improving cleaning results. In addition, this edge-to-interior cleaning sequence helps optimize the cleaning path and improve cleaning efficiency.

[0048] Optionally, the mop assembly has a first position located inside the body and a second position located at least partially outside the body; cleaning at least partially heavily soiled areas includes:

[0049] When the heavily soiled area is located on one side of the target obstacle, the mop assembly is controlled to be in a second position to clean at least a portion of the heavily soiled area on the side closer to the target obstacle, and the mop assembly is controlled to be in a first position to clean at least a portion of the heavily soiled area on the side farther from the target obstacle.

[0050] Because the mop assembly can switch between internal and external positions, the cleaning robot can flexibly adapt to different cleaning scenarios. Especially when encountering obstacles, adjusting the mop's position ensures effective operation in various environments. When approaching an obstacle, the mop assembly is positioned externally, extending beyond the robot's body. This allows for closer edge cleaning, ensuring that the obstacle's edges are cleaned, improving coverage, reducing omissions, and preventing direct contact with the obstacle, minimizing potential damage to both the obstacle and the robot itself. Conversely, when moving away from obstacles, the mop assembly is positioned internally for routine cleaning of areas away from the obstacle, ensuring comprehensive coverage of heavily soiled areas. Therefore, combining these two positions allows the cleaning robot to flexibly adapt to different environments and cleaning needs, reducing the need for repetitive cleaning and ensuring effective cleaning of all heavily soiled areas, including edges and open areas.

[0051] Optionally, the method also includes:

[0052] If a heavily soiled area is determined to have dry and / or stubborn heavy soiling, the cleaning robot body is controlled to tilt backward around the mop assembly as a fulcrum to clean the heavily soiled area based on the mop assembly.

[0053] By increasing the pressure of the mop assembly, the cleaning robot can more effectively remove stubborn and dry dirt, improving cleaning results. This tilting method effectively removes stubborn dirt, reduces the need for repeated cleaning, saves time and resources, and ensures thorough cleaning. Furthermore, since the tilting motion applies pressure to the cleaning surface without increasing the motor load or pressurizing devices, it reduces the number of parts and the complexity of the robot, thereby lowering overall energy consumption and manufacturing costs.

[0054] Optionally, the cleaning robot also includes a rear omnidirectional wheel with a third position and a fourth position. In the third position, the rear omnidirectional wheel contacts the cleaning surface, and in the fourth position, the rear omnidirectional wheel is a first distance away from the cleaning surface. The drive wheel has a fifth position a second distance away from the cleaning surface. Controlling the body of the cleaning robot to tilt backward around the mop assembly as a fulcrum includes:

[0055] The omnidirectional wheels are positioned in the fourth position, and the drive wheels are positioned in the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

[0056] In this way, when encountering dry, heavy-duty stains and / or stubborn stains, the rear casters are adjusted to the fourth position to maintain a certain distance from the cleaning surface. At the same time, the drive wheels are adjusted to the fifth position to prevent them from floating. This causes the cleaning robot's body to tilt backward around the mop assembly as a fulcrum. The tilted mop assembly applies greater pressure to dry, heavy-duty stains and / or stubborn stains, which can more effectively remove stubborn dirt and improve cleaning results. This method of increasing physical pressure may reduce the reliance on chemical cleaning agents, thereby reducing the amount of cleaning agents used and saving energy consumption.

[0057] Furthermore, the machine tilts automatically by adjusting the wheel position, eliminating the need for complex user operations and improving the user experience. Moreover, pressurization is achieved through simple mechanical adjustments, which also reduces manufacturing and maintenance costs.

[0058] Optionally, the cleaning robot also includes front omnidirectional wheels with a sixth raised position and drive wheels with a fifth position at a second distance from the cleaning surface; controlling the cleaning robot's body to tilt backward around the mop assembly as a fulcrum includes:

[0059] Position the front omnidirectional wheels to the sixth position and the drive wheels to the fifth position to tilt the cleaning robot's body backward around the mop assembly.

[0060] By controlling the front casters to the sixth position and the drive wheels to the fifth position, the machine body is tilted, increasing the pressure of the mop assembly on the cleaning surface. This allows for more effective removal of stubborn dirt and heavy dry stains, enabling the task to be completed in a shorter time and improving overall work efficiency. Furthermore, achieving the tilt through simple mechanical adjustments avoids complex hydraulic or electric pressurization structures, reducing manufacturing and maintenance costs.

[0061] Optionally, the method also includes:

[0062] After the cleaning robot finishes cleaning the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop assembly;

[0063] After cleaning is completed, the cleaning robot is controlled to return to the target position before entering the heavily soiled area and continue cleaning the remaining areas in the area to be cleaned.

[0064] In this way, after cleaning heavily soiled areas, the mop assembly may accumulate a large amount of dirt. By controlling the cleaning robot to return to the cleaning base station to clean the mop assembly in a timely manner, it can ensure that it maintains a good cleaning effect in subsequent cleaning. Furthermore, cleaning the mop assembly can also prevent dirt from being carried from heavily soiled areas to other areas, thus preventing cross-contamination. In addition, automatically returning to the cleaning base station to clean the mop assembly and continue cleaning reduces manual intervention, improves cleaning efficiency, reduces the user's operational burden, and improves ease of use.

[0065] Secondly, this application provides a cleaning method for a cleaning robot, the cleaning robot including a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot; the method includes:

[0066] If a heavily soiled area is detected during the cleaning process of the cleaning robot, the robot is controlled to move to at least one target point before the heavily soiled area.

[0067] After the cleaning robot travels to at least one target point, the area of ​​dirt in the heavily soiled area is determined;

[0068] If it is determined that the dirty area is greater than a preset threshold, the cleaning robot is controlled to move forward to clean at least part of the heavily soiled area using the mop assembly;

[0069] If the dirty area is determined to be less than or equal to a preset threshold, the cleaning robot is controlled to move backward to clean at least part of the heavily soiled area using the mop assembly.

[0070] Therefore, after detecting a heavily soiled area, the cleaning robot first moves to at least one target point to scan, which can accurately determine the size of the soiled area, reduce the possibility of misjudgment, and the accurate identification of the soiled area also helps to ensure that as many heavily soiled areas as possible are covered, reducing omissions and blind spots. Thus, based on the accurate size of the soiled area, an appropriate heavy soil cleaning strategy can be determined, such as a forward cleaning strategy or a backward cleaning strategy.

[0071] When a cleaning robot cleans a large, dirty area in a backward motion, it may push a large amount of dirt into the surrounding area. This not only expands the area that needs cleaning but may also contaminate adjacent areas. Therefore, for large, dirty areas, when the detected dirty area exceeds a preset threshold, the cleaning robot can adopt a forward cleaning strategy for heavily soiled areas. This effectively controls the spread of dirt and reduces unnecessary repeated cleaning.

[0072] For small, dirty areas, although back-moving cleaning will push some dirt out of the heavily soiled area, the amount pushed out is small, and the impact on the surrounding area is minimal. Furthermore, back-moving cleaning allows the mop assembly to preferentially contact the dirt, thus avoiding contamination of the drive wheels and dry cleaning components, and preventing dirt from being spread to other areas by the drive wheels. Therefore, when the detected dirty area is less than or equal to a preset threshold, the cleaning robot can employ a back-moving cleaning strategy for heavily soiled areas, thereby maintaining efficient cleaning performance.

[0073] In this way, by automatically detecting heavily soiled areas, accurately determining the soiled area at at least one target point, and adjusting the cleaning strategy, the cleaning robot can more intelligently handle heavily soiled areas of different sizes, ensuring that heavily soiled areas of different soiled areas can be cleaned reasonably.

[0074] Thirdly, this application provides a cleaning device for a cleaning robot, the cleaning robot including a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot; the device includes:

[0075] The first determining module is used to determine the area of ​​dirt in the heavily soiled area when the cleaning robot detects a heavily soiled area during the cleaning process of the area to be cleaned.

[0076] The first control module is used to control the cleaning robot to move forward and clean at least part of the heavily soiled area by using the mop assembly when it is determined that the soiled area is greater than a preset threshold.

[0077] The second control module is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

[0078] Fourthly, this application provides a cleaning device for a cleaning robot, the cleaning robot including a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot; the device includes:

[0079] The third control module is used to control the cleaning robot to move to at least one target point before the heavily soiled area when a heavily soiled area is detected during the cleaning process of the cleaning robot.

[0080] The second determining module is used to determine the dirty area of ​​the heavily soiled area after the cleaning robot has traveled to at least one target point;

[0081] The fourth control module is used to control the cleaning robot to move forward and clean at least part of the heavily soiled area by using the mop assembly when it is determined that the soiled area is greater than a preset threshold.

[0082] The fifth control module is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

[0083] Fifthly, this application provides a cleaning robot, which includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly based on the forward direction of the cleaning robot's movement; the cleaning robot is used to perform the methods of either the first or second aspect.

[0084] Sixthly, this application provides an electronic device, including: a memory and a processor;

[0085] The memory stores the instructions that the computer executes;

[0086] The processor executes computer execution instructions stored in memory, causing the processor to perform the method as described in either the first or second aspect.

[0087] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in either the first or second aspect.

[0088] Eighthly, this application provides a computer program product including a computer program that, when executed by a processor, implements the method of either the first aspect or the second aspect.

[0089] It should be noted that the third to eighth aspects of this application correspond to the technical solutions of the first and second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, so they will not be repeated here.

[0090] In summary, this application provides a cleaning method, apparatus, robot, device, and medium for a cleaning robot. During the cleaning process, the robot monitors the surrounding environment in real time. Upon detecting a heavily soiled area, a heavy-soil cleaning logic is triggered. Accordingly, the area of ​​the heavily soiled area needs to be determined. Furthermore, the detected area of ​​the heavily soiled area is compared with a preset threshold. Since backward cleaning by the cleaning robot can push dirt out of the heavily soiled area, contaminating adjacent areas and expanding the contamination, when the detected dirty area exceeds the preset threshold, the cleaning robot is controlled to clean the heavily soiled area in a forward motion to avoid pushing excessive dirt into uncleaned areas. This prevents the spread of pollution. In large, heavily soiled areas, forward cleaning allows the robot to cover a larger area with a more stable path, reducing the number of repeated cleanings, saving time and energy, and thus improving cleaning efficiency. When the soiled area of ​​a heavily soiled area is detected to be less than or equal to a preset threshold, the cleaning robot is controlled to clean in a backward motion, so that the mop assembly contacts the heavily soiled area before the drive wheels, thus avoiding the drive wheels from contacting and spreading dirt. Moreover, backward cleaning also reduces the risk of dirt adhering to the drive wheels, thus preventing dirt from being carried to other areas. For small, heavily soiled areas, backward cleaning can handle dirt more precisely, ensuring thorough cleaning and reducing missed areas. Attached Figure Description

[0091] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0092] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application;

[0093] Figure 2 This is a schematic diagram of the positional structure of a mop assembly provided in an embodiment of this application;

[0094] Figure 3 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0095] Figure 4 A schematic flowchart illustrating a cleaning method using a cleaning robot provided in an embodiment of this application;

[0096] Figure 5 A schematic diagram illustrating a scenario for determining the soiled area of ​​a heavily polluted region, provided as an embodiment of this application;

[0097] Figure 6 This is a schematic diagram illustrating a scenario for cleaning a heavily contaminated area, provided as an embodiment of this application.

[0098] Figure 7A schematic diagram of a preset path for cleaning a heavily contaminated area provided in an embodiment of this application;

[0099] Figure 8 A schematic diagram of another preset path for cleaning heavily soiled areas provided in this application embodiment;

[0100] Figure 9 This is a schematic diagram illustrating a scenario for cleaning a heavily contaminated area, provided as an embodiment of this application.

[0101] Figure 10 This is a schematic diagram illustrating a tilted state of a cleaning robot provided in an embodiment of this application;

[0102] Figure 11 A schematic flowchart illustrating another cleaning method for a cleaning robot provided in an embodiment of this application;

[0103] Figure 12 This is a schematic diagram of the structure of a cleaning device for a cleaning robot provided in an embodiment of this application;

[0104] Figure 13 A schematic diagram of the structure of a cleaning device for another cleaning robot provided in an embodiment of this application;

[0105] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0106] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0107] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and purpose. For example, "first device" and "second device" are merely used to distinguish different devices and do not limit their order of execution. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0108] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0109] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0110] In existing technologies, when a cleaning robot detects a heavily soiled area, it adjusts the cleaning mode to clean the heavily soiled area multiple times.

[0111] However, when cleaning heavily soiled areas, cleaning robots may push dirt from the heavily soiled areas into uncleaned areas, causing the pollution to spread. Moreover, repeatedly cleaning the same area may also lead to a waste of time and energy, affecting cleaning efficiency.

[0112] To address the aforementioned problems, this application provides a cleaning method for a cleaning robot. During the cleaning process, the robot monitors the surrounding environment in real time. Upon detecting a heavily soiled area, a heavy-soil cleaning logic is triggered. Accordingly, the area of ​​the heavily soiled area needs to be determined. Furthermore, the detected area of ​​the heavily soiled area is compared with a preset threshold. Since backward cleaning by the cleaning robot can push dirt out of the heavily soiled area, contaminating adjacent areas and expanding the contamination, when the detected dirty area exceeds the preset threshold, the robot is controlled to clean the heavily soiled area in a forward-moving manner. This avoids pushing excessive dirt into uncleaned areas, thereby preventing contamination. In addition to spreading dirt, forward cleaning allows the robot to cover large areas with a more stable path in large, heavily soiled areas, reducing the number of repeated cleanings, saving time and energy, and thus improving cleaning efficiency. When the detected dirty area of ​​a heavily soiled area is less than or equal to a preset threshold, the cleaning robot is controlled to clean in a backward motion, so that the mop assembly contacts the heavily soiled area before the drive wheels, thereby avoiding the drive wheels from contacting and spreading dirt. Moreover, backward cleaning also reduces the risk of dirt adhering to the drive wheels, thus avoiding the spread of dirt to other areas. For small, heavily soiled areas, backward cleaning can handle dirt more precisely, ensuring thorough cleaning and reducing missed areas.

[0113] The heavily polluted area can be an area where the degree of dirtiness is greater than the first threshold. In this embodiment of the application, the size of the first threshold is not specifically limited, but can be set based on the actual application scenario requirements.

[0114] Optionally, the types of dirt in heavily soiled areas include, but are not limited to, liquid dirt, mixed solid-liquid dirt, stubborn stains, and dried liquid dirt; for example, liquid dirt can be milk, soy sauce, coffee, urine, etc., mixed solid-liquid dirt can be a mixture of liquid dirt and particulate matter, and stubborn stains can be tape marks, etc.

[0115] It should be noted that the cleaning method for cleaning robots provided in this application is applied to cleaning robots, for example, Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning robot 100 includes a mop assembly 102 and a drive wheel 101. With the forward direction of the cleaning robot 100 as a reference, the drive wheel 101 is located in front of the mop assembly 102.

[0116] Optionally, the mop assembly 102 includes a mop and a drive unit for driving the mop to rotate. The drive wheel 101 is located in front of the mop. The mop can be a roller mop, a track mop, or a disc mop. This application embodiment does not specifically limit the type of the mop assembly 102.

[0117] Roller mops use a rotating motion to wipe the cleaning surface, while tracked mops use a continuous cyclical motion. Tracked mops offer a larger contact area and are particularly suitable for handling stubborn dirt. Disc mops clean the surface by rotating clockwise or counterclockwise, and the rotation speed can be adjusted according to cleaning needs. Higher rotation speeds are typically used for stubborn dirt, while lower speeds are used for general cleaning.

[0118] For example, Figure 2 This is a schematic diagram of the positional structure of a mop assembly provided in an embodiment of this application, as shown below. Figure 2 As shown in Figure A, the mop assembly 102 has a first position located inside the body, such as... Figure 2 As shown in Figure B, the mop assembly 102 also has a second position located at least partially outside the body.

[0119] Optionally, the mop assembly 102, at the first position, can cover an area greater than or equal to the maximum edge of the drive wheel 101, such as... Figure 2 As shown in Figure A, the length of the dashed line in the mop assembly 102 is greater than the length of the dashed line from the leftmost end to the rightmost end of the drive wheel 101.

[0120] Optional, such as Figure 2As shown in Figure B, at the fourth position, the mop assembly 102 extends outward, that is, the length of the mop to the left of the dotted line represents the length of the outward extension of the mop. The area that the mop assembly 102 can cover is greater than the edge of the cleaning robot 100 body.

[0121] Optionally, the cleaning robot 100 also includes a rear omnidirectional wheel (not shown in the figure), the rear omnidirectional wheel having a third position and a fourth position, in the third position the rear omnidirectional wheel is in contact with the cleaning surface, and in the fourth position the rear omnidirectional wheel is a first distance away from the cleaning surface; the drive wheel 101 has a fifth position a second distance away from the cleaning surface.

[0122] In this application, the first distance may refer to the preset distance of the rear caster away from the cleaning surface. The embodiments of this application do not specifically limit the size of the first distance. The first distance may be determined based on a specific cleaning mode or operation. For example, different first distances may be set when it is necessary to increase the pressure of the mop assembly 102 or when crossing obstacles.

[0123] It is understood that when the drive wheel is in the fifth position, it is a second distance away from the cleaning surface. This second distance can be a pre-set fixed height. This configuration is used to adjust the pressure distribution of the cleaning robot 100 on different cleaning surfaces. In this embodiment, the size of the second distance is not specifically limited. By fixing the drive wheel at a fixed height and preventing it from floating, the weight of the machine body can be concentrated on the mop assembly 102, increasing the pressure on the mop assembly 102, ensuring good contact between the mop assembly 102 and the cleaning surface, and improving the cleaning effect.

[0124] Optionally, the drive wheel also has a position that contacts the cleaning surface to provide driving force during the cleaning operation.

[0125] Optionally, the cleaning robot 100 also includes a front omnidirectional wheel (not shown in the figure), which has a sixth position that can be raised.

[0126] In the sixth position, the front caster wheel is raised and does not contact the cleaning surface. The raising of the front caster wheel can be based on a lifting structure or other structure control. This application embodiment does not specifically limit this. This configuration can be used for specific cleaning modes or operations, such as when it is necessary to increase the pressure of the mop assembly.

[0127] In this way, the weight of the cleaning robot 100 is more distributed on the mop assembly 102, thereby increasing the pressure of the mop assembly 102 on the cleaning surface and thus enhancing the cleaning effect, especially when dealing with stubborn dirt.

[0128] Optionally, the cleaning robot may also include dry cleaning components, such as side brush assemblies or roller brush assemblies (not shown in the figure).

[0129] Optionally, the cleaning robot 100 may also include: a sensor assembly and / or an artificial intelligence (AI) camera module, wherein the sensor assembly and / or AI camera module are disposed on the body of the cleaning robot 100, for example, at any position on the front, rear or middle side of the body, and this embodiment does not specifically limit this.

[0130] The sensor assembly is used to detect environmental information, including obstacles, clean surface type, degree of dirtiness, presence of dirty areas, and type of dirty areas. The sensor assembly may include infrared sensors, ultrasonic sensors, lidar, etc. The embodiments of this application do not specifically limit the type of sensor assembly.

[0131] It should be noted that the types of cleaning robots can include sweeping robots, mopping robots, etc., and this application does not specifically limit the types of cleaning robots.

[0132] For example, Figure 3 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 3 As shown, the cleaning method of the cleaning robot provided in this application can be applied in a home setting, which includes the cleaning robot 100.

[0133] During the cleaning process of the cleaning robot 100 cleaning the living room, based on the detection of heavily soiled areas in front of it by multiple sensors, the robot determines the area of ​​dirt corresponding to the heavily soiled area and compares the area of ​​dirt with a preset threshold to determine whether the heavily soiled area is a large area of ​​dirt or a small area of ​​dirt.

[0134] Because the cleaning robot 100 pushes dirt out of heavily soiled areas when cleaning in reverse, it can spread a significant amount of dirt to surrounding areas, potentially contaminating adjacent areas. However, when cleaning small soiled areas, although the robot pushes dirt out of heavily soiled areas, it only pushes out a small portion, having minimal impact on adjacent areas. Furthermore, when cleaning small soiled areas in reverse, the mop assembly can contact the dirt before the dry cleaning components and drive wheels, preventing contamination of these components and avoiding the drive wheels spreading dirt to other areas, thus optimizing subsequent use.

[0135] Therefore, if the dirty area corresponding to the heavily soiled area is detected to be greater than a preset threshold, the cleaning robot 100 is controlled to move forward and clean at least part of the heavily soiled area based on the corresponding heavy soiling cleaning strategy. If the dirty area corresponding to the heavily soiled area is detected to be less than or equal to the preset threshold, the cleaning robot 100 is controlled to move backward and clean at least part of the heavily soiled area based on the corresponding heavy soiling cleaning strategy.

[0136] In this way, the direction of movement is dynamically adjusted according to the area of ​​dirt in heavily polluted areas, which optimizes the cleaning effect, reduces the spread of pollution, and improves the overall cleaning efficiency.

[0137] It should be noted that this application can also be applied to shopping malls, schools, and offices. The embodiments of this application do not limit the specific application scenarios; the above are merely illustrative examples.

[0138] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0139] For example, Figure 4 This is a schematic flowchart illustrating a cleaning method for a cleaning robot provided in an embodiment of this application. The cleaning method for this cleaning robot is applied to... Figure 1 The cleaning robot shown is, for example Figure 4 As shown, the cleaning method of this cleaning robot includes the following steps:

[0140] S401. When the cleaning robot detects a heavily soiled area during the cleaning process of the area to be cleaned, determine the area of ​​dirt in the heavily soiled area.

[0141] Optionally, the cleaning robot can acquire sensor information and use image processing algorithms or AI algorithms to identify whether there are heavily soiled areas in the sensor information. If a heavily soiled area is identified, a predefined algorithm can be used to determine the area of ​​dirt corresponding to that heavily soiled area.

[0142] The predefined algorithm can be a geometric calculation or pixel counting algorithm, etc. The embodiments of this application do not limit the specific algorithm corresponding to the predefined algorithm. The above is just an example.

[0143] In this step, by accurately assessing the area of ​​dirt in heavily soiled areas, the cleaning robot can select an appropriate heavy-soil cleaning strategy, such as a forward cleaning strategy or a backward cleaning strategy, thereby improving cleaning efficiency and effectiveness.

[0144] It should be noted that the forward cleaning heavy-duty cleaning strategy is a heavy-duty cleaning strategy that moves in a forward manner, and the backward cleaning heavy-duty cleaning strategy is a heavy-duty cleaning strategy that moves in a backward manner. For the sake of simplicity, the embodiments of this application are mostly described as forward cleaning heavy-duty cleaning strategy and backward cleaning heavy-duty cleaning strategy.

[0145] Among them, the heavy-duty cleaning strategy can refer to the specific cleaning methods and operating modes used when dealing with particularly dirty areas such as liquid stains or stubborn stains. This heavy-duty cleaning strategy includes adjusting the cleaning intensity, changing the type of mop components, adjusting the cleaning speed, adjusting the number of cleaning cycles, and changing the cleaning path to ensure that the heavily soiled area is thoroughly and effectively cleaned.

[0146] For example, a forward-moving cleaning strategy for heavily soiled areas could involve a cleaning robot cleaning in a forward-moving manner, but at a reduced speed or with increased cleaning intensity to ensure thorough cleaning. It should be noted that the specific content of the heavy-soil cleaning strategy described in this application is not limited; it can be determined based on the configuration of the cleaning robot or the type of dirt in the heavily soiled area.

[0147] S402. If it is determined that the dirty area is greater than a preset threshold, control the cleaning robot to move forward to clean at least part of the heavily soiled area using the mop assembly.

[0148] In this embodiment, the preset threshold is a pre-set critical value or critical area used to determine whether different heavy-duty cleaning strategies need to be adopted. For example, the preset threshold is 0.8m×0.8m. This embodiment does not specifically limit the size of the preset threshold. The dirty area is compared with the preset threshold to determine whether the cleaning robot should adopt a forward or backward heavy-duty cleaning strategy.

[0149] Optionally, different types of cleaning surfaces correspond to different preset thresholds, or different types of dirt correspond to different preset thresholds, or different heavy-duty cleaning strategies correspond to different preset thresholds, or different application scenario requirements correspond to different preset thresholds. The basis for setting the preset threshold in this application embodiment is not specifically limited. For example, the preset threshold can also be set by the user based on a terminal device. The preset threshold can be dynamically adjusted, and the terminal device establishes a communication connection with the cleaning robot.

[0150] For example, the dirty area is compared with a preset threshold. If the dirty area is greater than the preset threshold, a heavy-duty cleaning strategy is triggered. Furthermore, the cleaning robot is controlled to move forward based on a preset path and clean at least part of the heavily soiled area using the mop component.

[0151] The preset path can be at least one of the following: a bow-shaped cleaning path, an edge cleaning path, a return-shaped cleaning path, etc. The preset path can also be a combination of at least two cleaning paths. This application embodiment does not specifically limit this.

[0152] S403. If it is determined that the dirty area is less than or equal to a preset threshold, control the cleaning robot to move backward to clean at least part of the heavily soiled area using the mop assembly.

[0153] For example, the dirty area is compared with a preset threshold. If the dirty area is less than or equal to the preset threshold, a heavy-duty cleaning strategy in a backward manner is triggered. Furthermore, the cleaning robot is controlled to move backward based on a preset path and clean at least part of the heavily soiled area through the mop component.

[0154] The preset path is the same as the definition described in S402, and will not be repeated here.

[0155] Optionally, during the cleaning process, the cleaning effect or the area of ​​dirt can be continuously monitored, and the preset path can be adjusted in real time as needed.

[0156] In this way, by detecting and assessing the area of ​​dirt in heavily soiled areas, the cleaning robot can make intelligent cleaning decisions and select appropriate heavy-duty cleaning strategies. When a cleaning robot cleans a large dirty area in a backward manner, it may push a large amount of dirt into the surrounding area, which not only expands the area that needs to be cleaned but may also cause adjacent areas to become contaminated. Therefore, for large dirty areas, when the detected dirt area exceeds a preset threshold, the cleaning robot can adopt a forward cleaning approach. This effectively controls the spread of dirt and treats the area based on the appropriate heavy-duty cleaning strategy, reducing unnecessary repeated cleaning.

[0157] For small, dirty areas, although backward cleaning will push some dirt out of the heavily soiled area, the amount pushed out is small, and the impact on the surrounding area is minimal. Furthermore, backward cleaning allows the mop assembly to preferentially contact the dirt, thus avoiding contamination of the drive wheels and dry cleaning components, and preventing dirt from being spread to other areas by the drive wheels. Therefore, when the detected dirty area is less than or equal to a preset threshold, the cleaning robot can use a backward cleaning method and treat the heavily soiled area according to the corresponding heavy-soil cleaning strategy, maintaining efficient cleaning performance.

[0158] Therefore, by automatically detecting heavily soiled areas, assessing the area of ​​dirt, and adjusting cleaning strategies, cleaning robots can provide more efficient and high-quality cleaning services, reduce the number of repeated cleanings, save time and energy, and thus improve cleaning results and user satisfaction.

[0159] Optionally, determine the soiled area of ​​the heavily soiled area, including:

[0160] Control the cleaning robot to travel to at least one target point before the heavily contaminated area in order to identify the target center area of ​​the heavily contaminated area;

[0161] The dirty area of ​​the heavily polluted zone is determined based on the target central area.

[0162] In this embodiment of the application, the target central region refers to the central part of the heavily polluted area. The target central region can be a virtual central region or central location point calculated based on AI algorithm, or it can be the central location point or central region corresponding to the shape of the heavily polluted area determined based on geometric algorithm. This embodiment of the application does not specifically limit the definition of the target central region.

[0163] For example, Figure 5 This application provides a schematic diagram of a scenario for determining the dirty area of ​​a heavily polluted region, as illustrated in the embodiments of this application. Figure 5 As shown, taking the determination of the soiled area of ​​a heavily soiled region based on two target points as an example, the cleaning robot 100 detects a heavily soiled region at location point A based on the original cleaning path. Further, the cleaning robot 100 is controlled to move to location point B to detect the heavily soiled region again. Then, the cleaning robot 100 is controlled to move to location point C to re-detect the heavily soiled region. If a heavily soiled region is determined, the target center area of ​​the heavily soiled region is further determined. Based on the target center area, a predefined algorithm is used to determine the soiled area of ​​the heavily soiled region.

[0164] Optionally, at location point B, the heavily polluted area can be detected again to determine the target center area of ​​the heavily polluted area. In this embodiment of the application, the target point for determining the target center area is not specifically limited. If the target center area is determined at multiple target points, the multiple target center areas can be merged or mutually corrected to determine the target center area used to determine the dirty area.

[0165] It should be noted that the embodiments of this application do not specifically limit the number and location of target points before traveling to the heavily polluted area. They can be set based on conditions such as the size of the dirty area and the type of dirt in the heavily polluted area. For example, the larger the dirty area, the more target points need to be traveled.

[0166] In this way, by moving to at least one target point and identifying the target center area, the cleaning robot can more accurately identify and assess heavily soiled areas, reduce misjudgments and omissions, and thus more accurately assess the soiled area. This allows the cleaning robot to select appropriate cleaning strategies, such as forward cleaning or backward cleaning, thereby improving cleaning efficiency and effectiveness.

[0167] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0168] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the boundary information of the heavily polluted area;

[0169] The cleaning robot is then guided to move along the boundary of the heavily contaminated area to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the target center area.

[0170] In this embodiment, the first target point is typically located at the edge of the heavily polluted area to facilitate preliminary scanning, such as... Figure 5 The location point is shown in B. The second target point is a certain distance away from the first target point. In this embodiment of the application, the size of the distance between the two is not specifically limited. Optionally, the distance is 1 / N of the length of the boundary of the heavily polluted area, such as the distance between the second target point and the first target point being 1 / 4 of the length of the boundary of the heavily polluted area.

[0171] For example, at the first target point, the cleaning robot uses sensors, such as cameras and lidar, to perform a preliminary scan of the heavily soiled area, collecting boundary information. This boundary information includes identifying the outer contour and approximate shape of the dirt. Further, based on the boundary information obtained from the preliminary scan, the robot travels along the boundary of the heavily soiled area to the second target point on the other side of the heavily soiled area. Figure 5 At the location shown in C, the cleaning robot performs a second scan at the second target point. Combining the data from the two scans, the heavily contaminated area is rechecked to confirm its existence and identify the target center area of ​​the heavily contaminated area.

[0172] In this way, by performing an initial scan at the first target point in front of the heavily polluted area, the cleaning robot can determine the boundary information of the heavily polluted area, which helps to clarify the scope of the heavily polluted area. By moving along the boundary and performing a second scan at the second target point in front of the other side, the cleaning robot can more accurately determine the target center area of ​​the heavily polluted area. Through multiple scans and boundary movement, the recognition accuracy of the target center area of ​​the heavily polluted area is improved. By verifying the heavily polluted area at the second target point, the existence of the heavily polluted area is accurately confirmed, reducing misjudgments and omissions, and ensuring the effectiveness of the cleaning task.

[0173] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0174] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the first central area;

[0175] The cleaning robot is then guided to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the second central area.

[0176] The target central area of ​​the heavily polluted area is determined based on the first and second central areas.

[0177] For example, at the first target point, the cleaning robot uses sensors such as cameras and lidar to perform a preliminary scan of the heavily soiled area and uses a predefined algorithm to identify the first central area. Further, the cleaning robot is controlled to move to the second target point on the other side of the heavily soiled area. At the second target point, the cleaning robot performs a second scan and uses a predefined algorithm to identify the second central area. Combining the data from the first and second central areas, the target central area of ​​the heavily soiled area is determined through data fusion.

[0178] Optionally, the target central region of the heavily polluted area can be determined by merging or correcting the first and second central regions. Merging can be done by taking the mean or weighted average, or by overlaying images. Correction can be done by comparing the positional differences between the two central regions, identifying and correcting possible deviations, or by analyzing the relative positional relationship between the two regions and adjusting the position of the central point to more accurately reflect the actual center of the heavily polluted area.

[0179] It should be noted that the method for determining the target central area of ​​a heavily polluted area in this application embodiment is not specifically limited; the above is merely an example.

[0180] In this way, by scanning multiple times on different sides of the heavily soiled area, the cleaning robot can more accurately identify and locate the central area of ​​the heavily soiled area. This multiple scanning method reduces the error caused by a single scan, and by comparing and integrating scan data from different angles, the cleaning robot can also more reliably confirm the target central area of ​​the heavily soiled area. Therefore, by performing multiple scans from different angles, the cleaning robot can more accurately identify the target central area of ​​the heavily soiled area, thereby more accurately determining the soiled area.

[0181] Optionally, at least some heavily soiled areas may be cleaned, including:

[0182] Control the cleaning robot to return to the first target point;

[0183] After the cleaning robot is positioned at the first target point, control the cleaning robot to enter at least part of the heavily soiled area for cleaning.

[0184] For example, such as Figure 5As shown, after scanning the heavily soiled area again at location C, confirming the existence of the heavily soiled area and identifying the target center area of ​​the heavily soiled area, the cleaning robot can be controlled to return to location B, so that the cleaning robot 100 can enter at least part of the heavily soiled area from location B to clean it.

[0185] In this way, by returning to the first target point and then entering the heavily soiled area to begin cleaning, the cleaning robot can clean the heavily soiled area in an orderly manner according to the pre-planned path, reducing the possibility of omissions and repeated cleaning, and improving the overall cleaning effect.

[0186] Optionally, at least some heavily soiled areas may be cleaned, including:

[0187] The first cleaning frame for heavily contaminated areas is determined based on the target central area and the preset range;

[0188] The cleaning robot is controlled to clean at least a portion of the heavily soiled areas within the first cleaning frame based on a heavy-soil cleaning strategy.

[0189] In this embodiment, the preset range can be determined by the cleaning robot based on experience data or user settings. This embodiment does not specifically limit the preset range; it is pre-defined and can be the size of the area within the first cleaning frame, or a range determined with the target center area as the center point and a preset length as the radius or side length. For example... Figure 5 As shown, taking a rectangular cleaning frame as an example, the preset range can be 0.8m × 1m; if the first cleaning frame is a rectangle or a square, the preset range can be 1m × 1m; if the first cleaning frame is a rectangle or a circle, the preset range can be an area with the target center area as the center and a radius of 1m, where the target center area is... Figure 5 Black dots in the middle.

[0190] For example, after the cleaning robot identifies the target center area of ​​the heavily soiled area through sensor information, it can determine a first cleaning frame that includes the target center area based on the target center area and a preset cleaning range. Within the first cleaning frame, the cleaning robot adopts a specific heavy soiling cleaning strategy to clean the heavily soiled area. For example, in heavily soiled areas where the soiled area is greater than a preset threshold, a forward cleaning strategy is adopted; in heavily soiled areas where the soiled area is less than or equal to the preset threshold, a backward cleaning strategy is adopted.

[0191] The first cleaning frame can be a rectangular or other shaped area used to define the area that needs to be cleaned. The first cleaning frame can be a virtual target frame. Optionally, the first cleaning frame can also be displayed visually on the terminal device for the user to view. That is, after the cleaning robot generates the first cleaning frame, it is sent to the terminal device that has established a communication connection with the cleaning robot for visual display.

[0192] Optionally, users can also define the size and location of the first cleaning box as needed based on the terminal device to provide a more personalized cleaning service.

[0193] In this way, by defining a first cleaning frame, the cleaning robot can focus on cleaning heavily soiled areas, ensuring that these areas are thoroughly cleaned and improving the cleaning effect. It can also avoid cleaning surfaces outside the first cleaning frame, reducing time and resource waste and improving cleaning efficiency. For example, heavy-duty cleaning agents can be used in concentrated areas to avoid wasting cleaning agents in unnecessary places, thereby saving resources.

[0194] Optionally, the method also includes:

[0195] After the cleaning robot cleans at least part of the heavily soiled area within the first cleaning frame based on the heavy soiling cleaning strategy, if a dirty area is detected and it is determined that the second cleaning frame corresponding to the dirty area overlaps with the first cleaning frame, the cleaning robot is controlled to clean the dirty area based on the preset cleaning strategy.

[0196] In this embodiment, the preset cleaning strategy may refer to the original cleaning strategy used by the cleaning robot when cleaning the area to be cleaned, or it may refer to other strategies different from the heavy-duty cleaning strategy. This embodiment does not specifically limit the preset cleaning strategy. Optionally, the preset cleaning strategy may also include a preset path when cleaning.

[0197] It should be noted that the dirt in heavily soiled areas may be due to the adjacent areas pushed out by the cleaning robot, or a small amount of dirt splashed onto the surrounding areas, or a small amount of dirt not located within the first cleaning frame. If the heavily soiled cleaning logic is triggered again for the pushed-out dirt, the splashed dirt, or the small amount of dirt not located within the first cleaning frame, i.e., cleaning is performed based on the heavily soiled cleaning strategy, it may cause waste of resources and time, affecting cleaning efficiency. Therefore, for these special areas, cleaning can be performed based on a preset cleaning strategy to save power consumption.

[0198] The method for identifying these special areas can be achieved by determining the overlap range of the cleaning frames corresponding to the two heavily contaminated areas. If the second cleaning frame overlaps with the first cleaning frame, it indicates that the second detected heavily contaminated area is one of these special areas. For example, Figure 6 This application provides a schematic diagram of a scenario for cleaning a heavily contaminated area, as illustrated in the embodiments of this application. Figure 6 As shown, after the cleaning robot 100 cleans the heavily soiled area in the first cleaning frame 1 based on the heavy soil cleaning strategy, it detects the presence of a dirty area and determines the second cleaning frame 2 corresponding to the dirty area. By comparison, it is found that the first cleaning frame 1 and the second cleaning frame 2 overlap, so the second cleaning frame 2 can be determined as a special area. At this time, the cleaning robot 100 can be controlled to clean the dirty area in the second cleaning frame 2 based on the preset cleaning strategy.

[0199] It should be noted that cleaning the heavily soiled area within the first cleaning frame 1 based on the heavy soil cleaning strategy can be based on a forward cleaning strategy to clean heavily soiled areas with a soiled area greater than a preset threshold, or it can be based on a backward cleaning strategy to clean heavily soiled areas with a soiled area less than or equal to the preset threshold. Similarly, the cleaning of at least some heavily soiled areas described in the following embodiments can include both of the above situations, which will not be explained further in the following embodiments.

[0200] Since preset cleaning strategies are generally more energy-efficient than heavy-duty cleaning strategies and are suitable for handling lightly soiled or splashed areas, by detecting whether the second cleaning box corresponding to the soiled area overlaps with the first cleaning box corresponding to the heavily soiled area, it can be determined that there is a soiled area that has been treated using the preset cleaning strategy. This avoids repeatedly using the high-energy-consuming heavy-duty cleaning strategy to clean the soiled area, reducing unnecessary high-intensity cleaning operations, such as reducing power consumption and cleaning agent usage, thereby improving overall cleaning efficiency. This allows the cleaning robot to complete the task faster and reduces the time spent repeatedly cleaning the same heavily soiled area.

[0201] Optionally, the method also includes:

[0202] Identify the type of contamination in heavily polluted areas;

[0203] If it is determined that the type of dirt is incompatible with the type of the first mop assembly currently installed on the cleaning robot, the cleaning robot is controlled to return to the cleaning base station to replace the second mop assembly that is compatible with the type of dirt.

[0204] After the cleaning robot replaces the second mop assembly, control the cleaning robot to return to the heavily soiled area for cleaning.

[0205] In this application embodiment, the type of dirt can include wet heavy dirt, dry heavy dirt, and stubborn heavy dirt. Wet heavy dirt can refer to dirt containing liquid components, such as spilled beverages, pet urine, oil stains or sauces in the kitchen, etc. Dry heavy dirt can refer to solid dirt without liquid components. This type of dirt is usually formed by dust, dirt or other dry particulate matter, such as rice stains, dry chocolate stains, dried wet heavy dirt, etc. Stubborn heavy dirt can refer to dirt that is difficult to remove, such as black scratches left on the soles of shoes, tape marks left by tape, and dirt accumulation that has not been cleaned for a long time. This application embodiment does not specifically limit the types of dirt.

[0206] Optionally, a mapping table can be pre-set to store various types of dirt and the mapping relationship between different types of dirt and the applicable mop component types. This way, after determining the type of dirt in a heavily soiled area, the type of mop component that matches the type of dirt can be quickly identified and matched.

[0207] It should be noted that, in this application, the process of matching the type of dirt with the type of the first mop assembly refers to determining whether the first mop assembly for cleaning the heavily soiled area is suitable for cleaning the heavily soiled area in order to achieve a better cleaning effect.

[0208] In this step, the cleaning robot can identify the type of the currently installed first mop assembly, and then compare the type of dirt in the identified heavily soiled area with the type of the first mop assembly. If the currently installed first mop assembly is suitable for handling the type of dirt, the cleaning robot can continue cleaning. If the currently installed first mop assembly is not suitable for handling the type of dirt, the cleaning robot can decide whether to replace it with a second mop assembly to ensure that an effective mop assembly is used to clean the heavily soiled area.

[0209] The cleaning robot can identify the type of the first mop assembly through sensors or confirm the type of the first mop assembly through user input. This application embodiment does not specifically limit the method for determining the type of the first mop assembly.

[0210] After the cleaning robot determines that the type of dirt is incompatible with the type of the first mop assembly, the cleaning robot can immediately and automatically navigate back to the cleaning base station. Since the cleaning base station is equipped with at least one type of spare mop assembly, after the cleaning robot returns to the cleaning base station, it selects a second mop assembly that is compatible with the type of dirt in the cleaning base station. This compatibility process can be determined based on the previously established mapping relationship between the type of dirt and the mop assembly. This application embodiment does not specifically limit the compatibility process.

[0211] Furthermore, after the cleaning robot replaces the second mop component at the cleaning base station, it can immediately and automatically navigate back to the heavily soiled area and use the newly installed second cleaning component to efficiently clean the heavily soiled area, ensuring that the heavily soiled area is fully treated.

[0212] The second mop assembly is a cleaned mop assembly that is compatible with the type of dirt. It is understood that at least one type of mop assembly stored in the cleaning base station is a clean mop assembly.

[0213] Understandably, different types of dirt correspond to different types of mop components. These different types of mop components may differ in at least some aspects of cleaning power, water retention, and heat retention. For example, different types of mop components may include water-locking mop types, phase-change mop types, and high-strength scraping mop types. For wet heavy dirt, the corresponding mop component type is the water-locking mop type; for stubborn stains, the corresponding mop component type is the high-strength scraping mop type; and for dry heavy dirt, the corresponding mop component type is the phase-change mop type.

[0214] It should be noted that the embodiments of this application do not specifically limit the type of mop assembly corresponding to different types of dirt; the above are merely illustrative examples.

[0215] Different types of dirt require mop attachments made of different materials or with different functions for effective removal. By selecting mop attachments tailored to the type of dirt in heavily soiled areas, cleaning robots can more effectively handle dirt, improving cleaning results. Furthermore, using specially designed mop attachments to handle specific types of dirt can reduce the amount of cleaning agent used and cleaning time, thereby optimizing resource utilization and lowering cleaning costs. In addition, the automated mop attachment replacement process reduces user intervention, making the cleaning process more convenient and efficient.

[0216] Optionally, at least some heavily soiled areas may be cleaned, including:

[0217] After the cleaning robot cleans at least part of the heavily soiled area based on the bow-shaped cleaning path, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area along the edge.

[0218] For example, Figure 7 This is a schematic diagram of a preset path for cleaning a heavily contaminated area, provided in an embodiment of this application. Figure 7As shown, the cleaning robot 100 performs initial cleaning using a bow-shaped cleaning path in at least some heavily soiled areas. This bow-shaped cleaning path design allows the cleaning robot 100 to cover a large area. Furthermore, after cleaning at least some heavily soiled areas, it switches to edge cleaning mode to detect whether there are any areas missed during the initial cleaning or whether the heavily soiled areas after the initial cleaning are clean. Further, if it is detected that there are still at least some heavily soiled areas remaining or that the heavily soiled areas after the initial cleaning are not clean, the bow-shaped cleaning path can be used to continue cleaning these areas. The above process can be repeated multiple times until the heavily soiled areas are clean.

[0219] Optionally, if it is detected that there are still at least some heavily soiled areas remaining or that the heavily soiled areas after preliminary cleaning have not been cleaned completely, other cleaning strategies or preset paths can be adopted for cleaning. This application embodiment does not specifically limit this.

[0220] It should be noted that controlling the cleaning robot to clean the remaining at least part of the heavily soiled area along the edge can be done by circling around the boundary of the remaining at least part of the area to determine the dirty area of ​​the remaining at least part of the area, and then selecting an appropriate cleaning strategy or a preset path for cleaning. The embodiments of this application do not limit the purpose and specific method of edge cleaning, and the edge cleaning can also be partial edge cleaning.

[0221] By combining the bow-shaped cleaning path with edge cleaning, the entire heavily soiled area, including edges and corners, can be thoroughly cleaned, avoiding any omissions. The bow-shaped cleaning path ensures that the cleaning robot covers a large area of ​​heavily soiled areas during the initial cleaning, minimizing omissions. By switching to edge cleaning after the bow-shaped cleaning path, the cleaning robot can detect and address areas that may have been missed during the initial cleaning, ensuring that all heavily soiled areas are thoroughly cleaned and improving the cleaning effect.

[0222] Optionally, at least some heavily soiled areas may be cleaned, including:

[0223] After controlling the cleaning robot to clean at least part of the heavily soiled area along the edge, control the cleaning robot to clean the remaining at least part of the heavily soiled area based on the bow-shaped cleaning path.

[0224] For example, Figure 8 This is a schematic diagram of another preset path for cleaning heavily soiled areas provided in an embodiment of this application, such as... Figure 8As shown, after cleaning at least part of the heavily soiled area along the edge, the cleaning robot 100 switches to a bow-shaped cleaning path to clean the remaining at least part of the heavily soiled area. The above process can be repeated multiple times until the heavily soiled area is cleaned. The edge cleaning fluid may include part of the edge cleaning, and the remaining at least part of the area may refer to the remaining heavily soiled area determined after edge cleaning.

[0225] It should be noted that edge cleaning may involve circling around the boundary of at least part of the heavily soiled area to determine the soiled area of ​​at least part of the heavily soiled area, and then selecting an appropriate cleaning strategy or a preset path for cleaning. The embodiments of this application do not limit the purpose and specific method of edge cleaning; the above are merely illustrative examples.

[0226] In this way, when cleaning heavily soiled areas, edge cleaning allows for precise assessment of the area and shape of the soiling, helping the cleaning robot select appropriate cleaning strategies and preset paths, thus improving the targeting and efficiency of cleaning. Furthermore, after edge cleaning, using a bow-shaped cleaning path ensures effective coverage of the entire heavily soiled area, improving cleaning results. In addition, this edge-to-interior cleaning sequence helps optimize the cleaning path and improve cleaning efficiency.

[0227] Optionally, at least some heavily soiled areas may be cleaned, including:

[0228] When the heavily soiled area is located on one side of the target obstacle, the mop assembly is controlled to be in a second position to clean at least a portion of the heavily soiled area on the side closer to the target obstacle, and the mop assembly is controlled to be in a first position to clean at least a portion of the heavily soiled area on the side farther from the target obstacle.

[0229] In this embodiment of the application, the target obstacle can refer to any object or structure that may affect the normal operation of the cleaning robot, such as walls, tables, sofas, refrigerators, etc. This embodiment of the application does not specifically limit the type of target obstacle.

[0230] In this application, the side closer to the target obstacle can refer to the position where the distance between the target obstacle and the target obstacle is less than the second threshold, or it can be the part of the heavily soiled area closest to the target obstacle. On the side closer to the target obstacle, the mop assembly usually needs to be in a second position outside the body in order to better clean along the edge of the target obstacle.

[0231] The side furthest from the target obstacle can refer to a location where the distance to the target obstacle is greater than or equal to the second threshold, or it can be a portion of a heavily soiled area that is farther from the target obstacle. On this side, the presence of the target obstacle does not require special attention. The mop assembly can be positioned in its primary position inside the machine body for routine cleaning operations.

[0232] It should be noted that the embodiments of this application do not specifically limit the size of the second threshold. It can be determined based on the width between the target obstacle and the heavily polluted area, or it can be determined based on the type of the target obstacle.

[0233] For example, taking a wall as the target obstacle, Figure 9 This application provides a schematic diagram of a scenario for cleaning a heavily contaminated area, as illustrated in the embodiments of this application. Figure 9 As shown, when the cleaning robot 100 detects a heavily soiled area while performing a cleaning task along a wall, it can control the mop assembly 102 to be in a second position to clean at least a portion of the heavily soiled area near the wall, i.e., the mop assembly 102 expands outward for cleaning. Further, after cleaning at least a portion of the heavily soiled area near the wall, the mop assembly 102 is controlled to switch from the second position to a first position to clean at least a portion of the heavily soiled area away from the target obstacle, i.e., the mop assembly 102 retracts inward for cleaning. Figure 9 The dashed lines in the medium to heavy pollution area can be used to distinguish the side closer to the target obstacle from the side farther away from the target obstacle.

[0234] It should be noted that, in this embodiment of the application, after the cleaning robot detects a heavily soiled area, the order in which it first cleans at least a portion of the heavily soiled area on the side closer to the target obstacle, or on the side farther from the target obstacle, is not specifically limited. Figure 9 In the scenario shown, you can first clean at least part of the heavily soiled area on the side away from the wall, and then clean at least part of the heavily soiled area on the side closer to the target obstacle along the edge, or you can alternate between the two.

[0235] It should also be noted that, in the embodiments of this application, the position of the mop assembly is not specifically limited before cleaning at least some heavily soiled areas; it can be in the second position or the fourth position.

[0236] Because the mop assembly can switch between internal and external positions, the cleaning robot can flexibly adapt to different cleaning scenarios. Especially when encountering obstacles, adjusting the mop's position ensures effective operation in various environments. When approaching an obstacle, the mop assembly is positioned externally, extending beyond the robot's body. This allows for closer edge cleaning, ensuring that the obstacle's edges are cleaned, improving coverage, reducing omissions, and preventing direct contact with the obstacle, minimizing potential damage to both the obstacle and the robot itself. Conversely, when moving away from obstacles, the mop assembly is positioned internally for routine cleaning of areas away from the obstacle, ensuring comprehensive coverage of heavily soiled areas. Therefore, combining these two positions allows the cleaning robot to flexibly adapt to different environments and cleaning needs, reducing the need for repetitive cleaning and ensuring effective cleaning of all heavily soiled areas, including edges and open areas.

[0237] Optionally, the method also includes:

[0238] If a heavily soiled area is determined to have dry and / or stubborn heavy soiling, the cleaning robot body is controlled to tilt backward around the mop assembly as a fulcrum to clean the heavily soiled area based on the mop assembly.

[0239] For example, Figure 10 This is a schematic diagram illustrating a tilted state of a cleaning robot provided in an embodiment of this application, as shown below. Figure 10 As shown in Figure A, the cleaning robot uses the mop assembly as a fulcrum and tilts the robot body backward by adjusting its center of gravity. Figure 10 As shown in Figure B, this tilting motion increases the pressure of the mop assembly on the cleaning surface, thereby enhancing the cleaning effect, especially when dealing with stubborn dirt. Therefore, by tilting the body, the mop assembly can apply greater pressure to help remove dry and stubborn dirt, especially for disc mops, where the pressure is more effective.

[0240] In addition, cleaning robots can dynamically adjust their tilt angle and cleaning intensity based on the type or distribution of dirt to optimize cleaning results.

[0241] Optionally, the tilt angle is 1°-10°. An excessively large tilt angle may cause the fuselage to tip over.

[0242] By increasing the pressure of the mop assembly, the cleaning robot can more effectively remove stubborn and dry dirt, improving cleaning results. This tilting method effectively removes stubborn dirt, reduces the need for repeated cleaning, saves time and resources, and ensures thorough cleaning. Furthermore, since the tilting motion applies pressure to the cleaning surface without increasing the motor load or pressurizing devices, it reduces the number of parts and the complexity of the robot, thereby lowering overall energy consumption and manufacturing costs.

[0243] Optionally, controlling the cleaning robot's body to tilt backward around the mop assembly as a fulcrum includes:

[0244] The omnidirectional wheels are positioned in the fourth position, and the drive wheels are positioned in the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

[0245] For example, such as Figure 10 As shown, the cleaning robot also includes a rear omnidirectional wheel 103, as shown in A of 10, which is in the third position, as shown in... Figure 10 As shown in Figure B, the rear swivel wheel 103 is in the fourth position, and the drive wheel 101 is in the fifth position.

[0246] In this way, when encountering dry, heavy-duty stains and / or stubborn stains, the rear casters are adjusted to the fourth position to maintain a certain distance from the cleaning surface. At the same time, the drive wheels are adjusted to the fifth position to prevent them from floating. This causes the cleaning robot's body to tilt backward around the mop assembly as a fulcrum. The tilted mop assembly applies greater pressure to dry, heavy-duty stains and / or stubborn stains, which can more effectively remove stubborn dirt and improve cleaning results. This method of increasing physical pressure may reduce the reliance on chemical cleaning agents, thereby reducing the amount of cleaning agents used and saving energy consumption.

[0247] Furthermore, the machine tilts automatically by adjusting the wheel position, eliminating the need for complex user operations and improving the user experience. Moreover, pressurization is achieved through simple mechanical adjustments, which also reduces manufacturing and maintenance costs.

[0248] Optionally, the cleaning robot also includes front omnidirectional wheels with a sixth raised position and drive wheels with a fifth position at a second distance from the cleaning surface; controlling the cleaning robot's body to tilt backward around the mop assembly as a fulcrum includes:

[0249] Position the front omnidirectional wheels to the sixth position and the drive wheels to the fifth position to tilt the cleaning robot's body backward around the mop assembly.

[0250] For example, if the cleaning robot has front casters, the casters can be adjusted to the sixth position to lift them up and reduce their contact with the cleaning surface, while the drive wheels are kept in the fifth position. With the above adjustment, the body of the cleaning robot tilts backward around the mop assembly as a fulcrum. This tilt increases the pressure of the mop assembly on the cleaning surface, thereby enhancing the cleaning effect.

[0251] It should be noted that if the cleaning robot has front and rear omnidirectional wheels, the front omnidirectional wheels can be controlled to the sixth position and the rear omnidirectional wheels to the fourth position, while the drive wheels are kept in the fifth position, so that the body of the cleaning robot can tilt backward around the mop assembly as a fulcrum.

[0252] By controlling the front casters to the sixth position and the drive wheels to the fifth position, the machine body is tilted, increasing the pressure of the mop assembly on the cleaning surface. This allows for more effective removal of stubborn dirt and heavy dry stains, enabling the task to be completed in a shorter time and improving overall work efficiency. Furthermore, achieving the tilt through simple mechanical adjustments avoids complex hydraulic or electric pressurization structures, reducing manufacturing and maintenance costs.

[0253] Optionally, the method also includes:

[0254] After the cleaning robot finishes cleaning the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop assembly;

[0255] After cleaning is completed, the cleaning robot is controlled to return to the target position before entering the heavily soiled area and continue cleaning the remaining areas in the area to be cleaned.

[0256] For example, after completing the cleaning task of a heavily soiled area, the cleaning robot can automatically navigate back to the cleaning base station. At the cleaning base station, the mop assembly can be cleaned. After cleaning, the cleaning robot automatically navigates back to the target position before entering the heavily soiled area. This ensures the continuity of the cleaning task. Starting from the target position, the cleaning robot continues to clean the remaining parts of the area to be cleaned, ensuring thorough coverage of the entire area and avoiding missed areas.

[0257] Optionally, the remaining part of the area to be cleaned can be cleaned by continuing to clean along the original preset path, or by replanning the path for cleaning. This application embodiment does not specifically limit this.

[0258] Optionally, after the cleaning robot has finished cleaning at least part of the heavily soiled area, it can be controlled to return to the cleaning base station to clean the mop assembly. After cleaning, the cleaning robot can be controlled to return to the heavily soiled area to continue cleaning.

[0259] In this way, after cleaning heavily soiled areas, the mop assembly may accumulate a large amount of dirt. By controlling the cleaning robot to return to the cleaning base station to clean the mop assembly in a timely manner, it can ensure that it maintains a good cleaning effect in subsequent cleaning. Furthermore, cleaning the mop assembly can also prevent dirt from being carried from heavily soiled areas to other areas, thus preventing cross-contamination. In addition, automatically returning to the cleaning base station to clean the mop assembly and continue cleaning reduces manual intervention, improves cleaning efficiency, reduces the user's operational burden, and improves ease of use.

[0260] For example, Figure 11 This is a schematic flowchart of another cleaning method for a cleaning robot provided in an embodiment of this application. The cleaning method for this cleaning robot is applied to... Figure 1 The cleaning robot shown is, for example Figure 11 As shown, the cleaning method of this cleaning robot includes the following steps:

[0261] S1101. When a heavily soiled area is detected during the cleaning process of the cleaning robot, the cleaning robot is controlled to move to at least one target point before the heavily soiled area.

[0262] In this step, when a heavily soiled area is detected, the cleaning robot is controlled to move to at least one target point before the heavily soiled area to scan the heavily soiled area at least once. This helps the cleaning robot to more accurately identify the heavily soiled area, avoid omissions or misidentifications, and thus understand the specific situation of the heavily soiled area, such as determining the type of dirt, size of dirt, and dirt boundaries.

[0263] S1102. After the cleaning robot travels to at least one target point, determine the area of ​​dirt in the heavily soiled area.

[0264] In this step, scanning the heavily soiled area at least once to determine the size of the soiled area helps the cleaning robot more accurately identify the size of the heavily soiled area.

[0265] S1103. If it is determined that the dirty area is greater than a preset threshold, the cleaning robot is controlled to move forward to clean at least part of the heavily soiled area using the mop assembly.

[0266] S1104. If it is determined that the dirty area is less than or equal to a preset threshold, control the cleaning robot to move backward to clean at least part of the heavily soiled area using the mop assembly.

[0267] It should be noted that the specific implementation principles and processes of S1103-S1104 can be referred to the descriptions of S402-S403 above, as the processes are similar and will not be repeated here.

[0268] Therefore, after detecting a heavily soiled area, the cleaning robot first moves to at least one target point to scan, which can accurately determine the size of the soiled area, reduce the possibility of misjudgment, and the accurate identification of the soiled area also helps to ensure that as many heavily soiled areas as possible are covered, reducing omissions and blind spots. Thus, based on the accurate size of the soiled area, an appropriate heavy soil cleaning strategy can be determined, such as a forward cleaning strategy or a backward cleaning strategy.

[0269] When a cleaning robot cleans a large, dirty area in a backward motion, it may push a large amount of dirt into the surrounding area. This not only expands the area that needs cleaning but may also contaminate adjacent areas. Therefore, for large, dirty areas, when the detected dirty area exceeds a preset threshold, the cleaning robot can adopt a forward cleaning strategy for heavily soiled areas. This effectively controls the spread of dirt and reduces unnecessary repeated cleaning.

[0270] For small, dirty areas, although back-moving cleaning will push some dirt out of the heavily soiled area, the amount pushed out is small, and the impact on the surrounding area is minimal. Furthermore, back-moving cleaning allows the mop assembly to preferentially contact the dirt, thus avoiding contamination of the drive wheels and dry cleaning components, and preventing dirt from being spread to other areas by the drive wheels. Therefore, when the detected dirty area is less than or equal to a preset threshold, the cleaning robot can employ a back-moving cleaning strategy for heavily soiled areas, thereby maintaining efficient cleaning performance.

[0271] In this way, by automatically detecting heavily soiled areas, accurately determining the soiled area at at least one target point, and adjusting the cleaning strategy, the cleaning robot can more intelligently handle heavily soiled areas of different sizes, ensuring that heavily soiled areas of different soiled areas can be cleaned reasonably.

[0272] Optionally, after the cleaning robot has traveled to at least one target point, the area of ​​soiling in the heavily soiled area is determined, including:

[0273] Control the cleaning robot to travel to at least one target point before the heavily contaminated area in order to identify the target center area of ​​the heavily contaminated area;

[0274] The dirty area of ​​the heavily polluted zone is determined based on the target central area.

[0275] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0276] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the boundary information of the heavily polluted area;

[0277] The cleaning robot is then guided to move along the boundary of the heavily contaminated area to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the target center area.

[0278] Optionally, the cleaning robot is controlled to travel to at least one target point before the heavily contaminated area to identify the target center area of ​​the heavily contaminated area, including:

[0279] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the first central area;

[0280] The cleaning robot is then guided to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the second central area.

[0281] The target central area of ​​the heavily polluted area is determined based on the first and second central areas.

[0282] Optionally, at least some heavily soiled areas may be cleaned, including:

[0283] Control the cleaning robot to return to the first target point;

[0284] After the cleaning robot is positioned at the first target point, control the cleaning robot to enter at least part of the heavily soiled area for cleaning.

[0285] Optionally, at least some heavily soiled areas may be cleaned, including:

[0286] The first cleaning frame for heavily contaminated areas is determined based on the target central area and the preset range;

[0287] The cleaning robot is controlled to clean at least a portion of the heavily soiled areas within the first cleaning frame based on a heavy-soil cleaning strategy.

[0288] Optionally, the method also includes:

[0289] After the cleaning robot cleans at least part of the heavily soiled area within the first cleaning frame based on the heavy soiling cleaning strategy, if a dirty area is detected and it is determined that the second cleaning frame corresponding to the dirty area overlaps with the first cleaning frame, the cleaning robot is controlled to clean the dirty area based on the preset cleaning strategy.

[0290] Optionally, the method also includes:

[0291] Identify the type of contamination in heavily polluted areas;

[0292] If it is determined that the type of dirt is incompatible with the type of the first mop assembly currently installed on the cleaning robot, the cleaning robot is controlled to return to the cleaning base station to replace the second mop assembly that is compatible with the type of dirt.

[0293] After the cleaning robot replaces the second mop assembly, control the cleaning robot to return to the heavily soiled area for cleaning.

[0294] Optionally, at least some heavily soiled areas may be cleaned, including:

[0295] After the cleaning robot cleans at least part of the heavily soiled area based on the bow-shaped cleaning path, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area along the edge.

[0296] Optionally, at least some heavily soiled areas may be cleaned, including:

[0297] After controlling the cleaning robot to clean at least part of the heavily soiled area along the edge, control the cleaning robot to clean the remaining at least part of the heavily soiled area based on the bow-shaped cleaning path.

[0298] Optionally, at least some heavily soiled areas may be cleaned, including:

[0299] When the heavily soiled area is located on one side of the target obstacle, the mop assembly is controlled to be in a second position to clean at least a portion of the heavily soiled area on the side closer to the target obstacle, and the mop assembly is controlled to be in a first position to clean at least a portion of the heavily soiled area on the side farther from the target obstacle.

[0300] Optionally, the method also includes:

[0301] If a heavily soiled area is determined to have dry and / or stubborn heavy soiling, the cleaning robot body is controlled to tilt backward around the mop assembly as a fulcrum to clean the heavily soiled area based on the mop assembly.

[0302] Optionally, controlling the cleaning robot's body to tilt backward around the mop assembly as a fulcrum includes:

[0303] The omnidirectional wheels are positioned in the fourth position, and the drive wheels are positioned in the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

[0304] Optionally, controlling the cleaning robot's body to tilt backward around the mop assembly as a fulcrum includes:

[0305] Position the front omnidirectional wheels to the sixth position and the drive wheels to the fifth position to tilt the cleaning robot's body backward around the mop assembly.

[0306] Optionally, the method also includes:

[0307] After the cleaning robot finishes cleaning the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop assembly;

[0308] After cleaning is completed, the cleaning robot is controlled to return to the target position before entering the heavily soiled area and continue cleaning the remaining areas in the area to be cleaned.

[0309] It should be noted that the specific implementation principles and effects of the above embodiments can be found in the above description. Figure 4 The relevant descriptions and effects of all embodiments will not be elaborated upon here.

[0310] In the foregoing embodiments, the cleaning method of the cleaning robot provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the electronic device serving as the execution entity may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0311] For example, Figure 12 This is a schematic diagram of the structure of a cleaning device for a cleaning robot provided in an embodiment of this application, as shown below. Figure 12 As shown, the cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the robot's forward direction. The cleaning device 1200 of the cleaning robot includes:

[0312] The first determining module 1201 is used to determine the area of ​​dirt in the heavily soiled area when the cleaning robot detects a heavily soiled area during the cleaning process of the area to be cleaned.

[0313] The first control module 1202 is used to control the cleaning robot to move forward in order to clean at least part of the heavily soiled area by means of the mop assembly when it is determined that the soiled area is greater than a preset threshold.

[0314] The second control module 1203 is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

[0315] Optionally, the first determining module 1201 includes a control unit and a determining unit;

[0316] The control unit is used to control the cleaning robot to travel to at least one target point before the heavily contaminated area, so as to identify the target center area of ​​the heavily contaminated area.

[0317] The determination unit is used to determine the dirty area of ​​the heavily polluted area based on the target central area.

[0318] Optional, control unit, specifically used for:

[0319] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the boundary information of the heavily polluted area;

[0320] The cleaning robot is then guided to move along the boundary of the heavily contaminated area to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the target center area.

[0321] Optional, control unit, specifically used for:

[0322] Control the cleaning robot to move to the first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the first central area;

[0323] The cleaning robot is then guided to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the second central area.

[0324] The target central area of ​​the heavily polluted area is determined based on the first and second central areas.

[0325] Optionally, both the first control module 1202 and the second control module 1203 include a cleaning unit, which is used for:

[0326] Control the cleaning robot to return to the first target point;

[0327] After the cleaning robot is positioned at the first target point, control the cleaning robot to enter at least part of the heavily soiled area for cleaning.

[0328] Optionally, the cleaning unit is used for:

[0329] The first cleaning frame for heavily contaminated areas is determined based on the target central area and the preset range;

[0330] The cleaning robot is controlled to clean at least a portion of the heavily soiled areas within the first cleaning frame based on a heavy-soil cleaning strategy.

[0331] Optionally, the cleaning device 1200 of the cleaning robot also includes a sixth control module, which is used for:

[0332] After the cleaning robot cleans at least part of the heavily soiled area within the first cleaning frame based on the heavy soiling cleaning strategy, if a dirty area is detected and it is determined that the second cleaning frame corresponding to the dirty area overlaps with the first cleaning frame, the cleaning robot is controlled to clean the dirty area based on the preset cleaning strategy.

[0333] Optionally, the cleaning device 1200 of the cleaning robot also includes a seventh control module, which is used for:

[0334] Identify the type of contamination in heavily polluted areas;

[0335] If it is determined that the type of dirt is incompatible with the type of the first mop assembly currently installed on the cleaning robot, the cleaning robot is controlled to return to the cleaning base station to replace the second mop assembly that is compatible with the type of dirt.

[0336] After the cleaning robot replaces the second mop assembly, control the cleaning robot to return to the heavily soiled area for cleaning.

[0337] Optionally, the cleaning unit is used for:

[0338] After the cleaning robot cleans at least part of the heavily soiled area based on the bow-shaped cleaning path, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area along the edge.

[0339] Optionally, the cleaning unit is used for:

[0340] After controlling the cleaning robot to clean at least part of the heavily soiled area along the edge, control the cleaning robot to clean the remaining at least part of the heavily soiled area based on the bow-shaped cleaning path.

[0341] Optionally, the mop assembly has a first position located inside the body and a second position located at least partially outside the body; the cleaning unit is used for:

[0342] When the heavily soiled area is located on one side of the target obstacle, the mop assembly is controlled to be in a second position to clean at least a portion of the heavily soiled area on the side closer to the target obstacle, and the mop assembly is controlled to be in a first position to clean at least a portion of the heavily soiled area on the side farther from the target obstacle.

[0343] Optionally, the cleaning device 1200 of the cleaning robot also includes an eighth control module, which is used for:

[0344] If a heavily soiled area is determined to have dry and / or stubborn heavy soiling, the cleaning robot body is controlled to tilt backward around the mop assembly as a fulcrum to clean the heavily soiled area based on the mop assembly.

[0345] Optionally, the cleaning robot also includes a rear omnidirectional wheel with a third position and a fourth position. In the third position, the rear omnidirectional wheel is in contact with the cleaning surface, and in the fourth position, the rear omnidirectional wheel is a first distance away from the cleaning surface. The drive wheel has a fifth position with a second distance away from the cleaning surface. This eighth control module is specifically used for:

[0346] The omnidirectional wheels are positioned in the fourth position, and the drive wheels are positioned in the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

[0347] Optionally, the cleaning robot also includes front omnidirectional wheels, which have a sixth raised position, and drive wheels have a fifth position at a second distance from the cleaning surface; the eighth control module is specifically used for:

[0348] Position the front omnidirectional wheels to the sixth position and the drive wheels to the fifth position to tilt the cleaning robot's body backward around the mop assembly.

[0349] Optionally, the cleaning device 1200 of the cleaning robot also includes a ninth control module, which is used for:

[0350] After the cleaning robot finishes cleaning the heavily soiled area, control the cleaning robot to return to the cleaning base station to clean the mop assembly;

[0351] After cleaning is completed, the cleaning robot is controlled to return to the target position before entering the heavily soiled area and continue cleaning the remaining areas in the area to be cleaned.

[0352] It should be noted that the specific implementation principle and effect of the cleaning device 1200 of the above-mentioned cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0353] Figure 13 A schematic diagram of the structure of a cleaning device for another cleaning robot provided in an embodiment of this application is shown below. Figure 13 As shown, the cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot's movement; the cleaning device 1300 of the cleaning robot includes:

[0354] The third control module 1301 is used to control the cleaning robot to move to at least one target point before the heavily soiled area when a heavily soiled area is detected during the cleaning process of the cleaning robot.

[0355] The second determining module 1302 is used to determine the dirty area of ​​the heavily soiled area after the cleaning robot has traveled to at least one target point;

[0356] The fourth control module 1303 is used to control the cleaning robot to move forward in order to clean at least part of the heavily soiled area by means of the mop assembly when it is determined that the soiled area is greater than a preset threshold.

[0357] The fifth control module 1304 is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

[0358] It should be noted that the specific implementation principles of each module in the cleaning device 1300 of the cleaning robot can be referred to the specific implementation principles of each module in the cleaning device 1200 of the cleaning robot. The processes are similar and will not be elaborated further here.

[0359] It should also be noted that the effect of the cleaning device 1300 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0360] This application also provides an electronic device. Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 14 As shown, the electronic device 1400 may include: a processor 1401 and a memory 1402 communicatively connected to the processor 1401; the memory 1402 stores a computer program; the processor 1401 executes the computer program stored in the memory 1402, causing the processor 1401 to perform the method described in any of the above embodiments.

[0361] The memory 1402 and the processor 1401 can be connected via bus 1403.

[0362] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0363] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0364] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0365] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0366] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0367] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0368] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0369] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0370] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0371] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0372] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0373] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0374] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0375] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0376] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0377] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0378] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot. The method includes: During the cleaning process of the cleaning robot, if a heavily soiled area is detected, the area of ​​dirt in the heavily soiled area is determined. If it is determined that the dirty area is greater than a preset threshold, the cleaning robot is controlled to move forward to clean at least part of the heavily soiled area using the mop assembly; If it is determined that the soiled area is less than or equal to a preset threshold, the cleaning robot is controlled to move backward to clean at least a portion of the heavily soiled area using the mop assembly.

2. The method according to claim 1, characterized in that, Determining the dirty area of ​​the heavily polluted zone includes: Control the cleaning robot to travel to at least one target point before the heavily polluted area in order to identify the target center area of ​​the heavily polluted area; The dirty area of ​​the heavily polluted zone is determined based on the target central area.

3. The method according to claim 2, characterized in that, The step of controlling the cleaning robot to travel to at least one target point before the heavily contaminated area, in order to identify the target center area of ​​the heavily contaminated area, includes: The cleaning robot is controlled to move to a first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the boundary information of the heavily polluted area. The cleaning robot is then guided to move along the boundary of the heavily soiled area to the second target point on the other side of the heavily soiled area to scan the heavily soiled area again and determine the target center area.

4. The method according to claim 2, characterized in that, The step of controlling the cleaning robot to travel to at least one target point before the heavily contaminated area, in order to identify the target center area of ​​the heavily contaminated area, includes: The cleaning robot is controlled to move to a first target point before the heavily polluted area to perform a preliminary scan of the heavily polluted area and determine the first central area. The cleaning robot is then guided to move to the second target point on the other side of the heavily contaminated area to scan the heavily contaminated area again and determine the second central area. The target central area of ​​the heavily polluted area is determined based on the first central area and the second central area.

5. The method according to claim 3 or 4, characterized in that, The cleaning of at least a portion of the heavily soiled areas includes: Control the cleaning robot to return to the first target point; After the cleaning robot is positioned at the first target point, the cleaning robot is controlled to enter at least part of the heavily soiled area for cleaning.

6. The method according to claim 2, characterized in that, The cleaning of at least a portion of the heavily soiled areas includes: A first cleaning frame for the heavily polluted area is determined based on the target central area and the preset range; The cleaning robot is controlled to clean at least a portion of the heavily soiled areas within the first cleaning frame based on a heavy-soil cleaning strategy.

7. The method according to claim 6, characterized in that, The method further includes: After the cleaning robot cleans at least part of the heavily soiled area within the first cleaning frame based on the heavy soiling cleaning strategy, if a dirty area is detected and it is determined that the second cleaning frame corresponding to the dirty area overlaps with the first cleaning frame, the cleaning robot is controlled to clean the dirty area based on a preset cleaning strategy.

8. The method according to claim 1, characterized in that, The method further includes: Determine the type of dirt in the heavily soiled area; If it is determined that the type of dirt is incompatible with the type of the first mop assembly currently installed on the cleaning robot, the cleaning robot is controlled to return to the cleaning base station to replace the second mop assembly that is compatible with the type of dirt. After the cleaning robot replaces the second mop assembly, it is controlled to return to the heavily soiled area for cleaning.

9. The method according to claim 1, characterized in that, The cleaning of at least a portion of the heavily soiled areas includes: After controlling the cleaning robot to clean at least part of the heavily soiled area based on a bow-shaped cleaning path, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area along the edge.

10. The method according to claim 1, characterized in that, The cleaning of at least a portion of the heavily soiled areas includes: After controlling the cleaning robot to clean at least part of the heavily soiled area along the edge, the cleaning robot is then controlled to clean the remaining at least part of the heavily soiled area based on a bow-shaped cleaning path.

11. The method according to claim 1, characterized in that, The mop assembly has a first position located inside the body and a second position located at least partially outside the body; the cleaning of at least a portion of the heavily soiled area includes: When the heavily soiled area is located on one side of the target obstacle, the mop assembly is controlled to be in the second position to clean at least a portion of the heavily soiled area on the side closer to the target obstacle, and the mop assembly is controlled to be in the first position to clean at least a portion of the heavily soiled area on the side farther from the target obstacle.

12. The method according to claim 1, characterized in that, The method further includes: If it is determined that the heavily soiled area contains dry heavy soiling and / or stubborn heavy soiling, the body of the cleaning robot is controlled to tilt backward around the mop assembly as a fulcrum, so as to clean the heavily soiled area based on the mop assembly.

13. The method according to claim 12, characterized in that, The cleaning robot also includes a rear omnidirectional wheel, which has a third position and a fourth position. In the third position, the rear omnidirectional wheel is in contact with the cleaning surface, and in the fourth position, the rear omnidirectional wheel is a first distance away from the cleaning surface. The drive wheel has a fifth position that is a second distance away from the cleaning surface; The control of the cleaning robot's body tilting backward around the mop assembly as a fulcrum includes: The rear caster is controlled to the fourth position, and the drive wheel is controlled to the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

14. The method according to claim 12, characterized in that, The cleaning robot also includes a front omnidirectional wheel, which has a sixth raised position, and the drive wheel has a fifth position at a second distance from the cleaning surface; controlling the body of the cleaning robot to tilt backward around the mop assembly as a fulcrum includes: The front omnidirectional wheel is controlled to the sixth position, and the drive wheel is controlled to the fifth position, so that the body of the cleaning robot tilts backward around the mop assembly.

15. The method according to claim 1, characterized in that, The method further includes: After the cleaning robot finishes cleaning the heavily soiled area, it is controlled to return to the cleaning base station to clean the mop assembly. After cleaning is completed, the cleaning robot is controlled to return to the target position before entering the heavily soiled area and continue cleaning the remaining areas in the area to be cleaned.

16. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot. The method includes: If a heavily soiled area is detected during the cleaning process of the cleaning robot, the cleaning robot is controlled to move to at least one target point before the heavily soiled area. After the cleaning robot travels to the at least one target point, the area of ​​dirt in the heavily soiled area is determined; If it is determined that the dirty area is greater than a preset threshold, the cleaning robot is controlled to move forward to clean at least part of the heavily soiled area using the mop assembly; If it is determined that the soiled area is less than or equal to a preset threshold, the cleaning robot is controlled to move backward to clean at least a portion of the heavily soiled area using the mop assembly.

17. A cleaning device for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot. The device includes: The first determining module is used to determine the area of ​​dirt in the heavily soiled area when the cleaning robot detects a heavily soiled area during the cleaning process of the area to be cleaned. The first control module is used to control the cleaning robot to move forward in order to clean at least part of the heavily soiled area by means of the mop assembly when it is determined that the soiled area is greater than a preset threshold. The second control module is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

18. A cleaning device for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot. The device includes: The third control module is used to control the cleaning robot to move to at least one target point before the heavily soiled area when a heavily soiled area is detected during the cleaning process of the cleaning robot. The second determining module is used to determine the dirty area of ​​the heavily soiled area after the cleaning robot travels to the at least one target point; The fourth control module is used to control the cleaning robot to move forward and clean at least part of the heavily soiled area by using the mop assembly when it is determined that the soiled area is greater than a preset threshold. The fifth control module is used to control the cleaning robot to move backward in order to clean at least part of the heavily soiled area by means of the mop assembly when the soiled area is determined to be less than or equal to a preset threshold.

19. A cleaning robot, characterized in that, The cleaning robot includes a mop assembly and drive wheels, with the drive wheels located in front of the mop assembly, based on the forward direction of the cleaning robot's movement; the cleaning robot is used to perform the method as described in any one of claims 1-16.

20. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-16.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-16.

22. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-16.

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