Cleaning robot control method, device and equipment, robot and medium

Abstract

The invention provides a control method, device and equipment of a cleaning robot, the robot and a medium, and relates to the technical field of cleaning equipment.The cleaning robot comprises a driving assembly and a cleaning assembly, the driving assembly at least comprises a driving wheel and a first driving motor, and the cleaning assembly at least comprises mop cloth and a second driving motor; the first driving motor drives the driving wheel to move, and the second driving motor drives the mop to move; comprising the steps that in the process that the cleaning robot executes a cleaning task, the type of the cleaning task and / or the scene requirement of a current to-be-cleaned area is determined; according to the type of the cleaning task and / or scene requirements, the driving mode of the driving assembly and the cleaning assembly is determined, and the running state of the cleaning robot is controlled based on the driving mode, so that the robot can flexibly adjust the driving mode by introducing the independent driving assembly and cleaning assembly; and the first driving motor and the second driving motor concentrate on specific tasks respectively, so that power waste is avoided, and the overall efficiency is improved.

Description

Technical Field

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

[0002] In the field of smart homes, robotic vacuum cleaners have become an important tool for improving the quality of family life. However, as users demand higher cleaning efficiency and smart features, the design and functions of robotic vacuum cleaners are constantly evolving. For example, some robotic vacuum cleaners have begun to adopt a tracked mop structure to enhance their obstacle-crossing ability and adaptability.

[0003] In existing technologies, tracked sweeping robots generally use drive wheels as the main power source, while the tracked mop serves as a passive transmission structure, driving the tracked mop to move by means of the rotation of the drive wheels.

[0004] However, since tracked mops are typically passively followed by other mops, they cannot be flexibly adjusted according to different cleaning needs, which may result in poor cleaning performance and even limit their speed and climbing ability. Summary of the Invention

[0005] This application provides a control method, device, equipment, robot, and medium for a cleaning robot. By optimizing the power distribution relationship between the drive wheel and the mop, the cleaning robot can flexibly control the drive mode under different drive modes. In particular, it enables the tracked mop to provide driving force when needed, thereby solving the problems of existing tracked mop structures that mainly rely on drive wheels for movement, have low power utilization efficiency, single cleaning mode, and insufficient control flexibility.

[0006] In a first aspect, this application provides a control method for a cleaning robot. The cleaning robot includes a drive component and a cleaning component. The drive component includes at least a drive wheel and a first drive motor. The cleaning component includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The method includes:

[0007] During the cleaning robot's cleaning task, the type of cleaning task and / or the scenario requirements of the current area to be cleaned are determined.

[0008] Based on the type of cleaning task and / or scenario requirements, determine the driving mode of the drive component and cleaning component, and control the operating status of the cleaning robot based on the driving mode.

[0009] Compared to the passive rotation of traditional tracked mop structures, which lack the ability to flexibly adjust according to different cleaning needs, this application designs independent drive and cleaning components, enabling the cleaning robot to flexibly adjust its drive mode in different scenario requirements and cleaning tasks. This flexibility not only improves the cleaning effect of the cleaning robot but also significantly enhances its adaptability and efficiency. Furthermore, this application identifies the type of cleaning task and / or scenario requirements, and then intelligently selects and adjusts the drive mode, enabling the cleaning robot to automatically optimize its operating state in different cleaning scenarios. For example, it can achieve ideal cleaning results under different cleaning surfaces and dirt conditions, move on different terrains, and improve its travel speed and climbing ability.

[0010] Therefore, this application can not only realize power distribution and steering control under different working conditions, but also dynamically switch multiple drive modes according to the type of cleaning task and / or scenario requirements, providing a more efficient cleaning process and overall energy efficiency, thereby improving the intelligence level of the cleaning robot and user experience. It can also adjust the power output according to specific cleaning needs or the type of cleaning task, avoid unnecessary energy waste, and improve the robot's energy efficiency and endurance.

[0011] Optionally, the mop can be a tracked mop or a roller mop.

[0012] Different mop types offer varying cleaning effects for different types of dirt and surface materials. For example, tracked mops are suitable for scenarios requiring large-area coverage and even cleaning, such as hard floors or tile surfaces, while roller mops are ideal for stubborn stains and deep cleaning, such as carpets or areas with noticeable dirt. Therefore, by offering both tracked and roller mops, the cleaning robot can adapt to different cleaning tasks and surface types. This versatility ensures the cleaning robot achieves ideal cleaning results in various environments. Furthermore, since the mop is driven by a separate second drive motor, either tracked or roller mops provide additional assistance during the cleaning robot's movement.

[0013] Optionally, the drive mode is used to adjust the output torque of the first drive motor and the second drive motor, and / or to adjust the power of the first drive motor and the second drive motor to be different.

[0014] In this application, by adjusting the power of the mop motor, the cleaning robot can provide stronger cleaning power when needed, ensuring ideal cleaning results under various soiling conditions. By dynamically adjusting the torque of the drive motor, the cleaning robot can more effectively cope with different terrains and obstacles, improving its maneuverability and obstacle-crossing ability. Therefore, through reasonable torque and power adjustment, the energy consumption of the drive motor and other mechanical components can be reduced. When needed, by adjusting the output torque or power of the first and second drive motors, the burden on the drive wheels can be reduced, and ineffective power consumption can be reduced, effectively extending the battery life of the cleaning robot and improving energy utilization efficiency.

[0015] Optionally, based on the type of cleaning task, the driving mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0016] When the cleaning task is determined to be cleaning a heavily soiled area, the first drive assembly is controlled to provide a first torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive assembly is controlled to provide a second torque to the mop to drive the mop to rotate in a second direction.

[0017] The first direction and the second direction are opposite.

[0018] Therefore, this reverse-cooperative driving mode allows the mop to make deeper contact with and wipe the cleaning surface, significantly improving its ability to remove stubborn dirt. This driving mode reduces cleaning time because the cleaning robot can handle difficult-to-remove stains more quickly. This efficient cleaning method reduces the time spent in heavily soiled areas, allowing the cleaning robot to complete cleaning tasks more quickly in heavily soiled areas, thereby improving overall cleaning efficiency, reducing the need for repetitive cleaning, and increasing overall efficiency. Furthermore, by precisely controlling the torque of the drive components, the cleaning robot can apply greater force when needed and conserve energy when not needed. This energy optimization helps extend the working time and battery life of the cleaning robot.

[0019] Optionally, based on the type of cleaning task, the driving mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0020] When the cleaning task is determined to be cleaning a wet stained area, the first drive assembly is controlled to provide a third torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive assembly is controlled not to provide torque to the mop so that the mop is in a stopped state.

[0021] Therefore, this drive mode, where the drive wheels move independently, allows the mop to be used as a static mop by turning off the mop drive in appropriate scenarios and relying solely on the drive wheels for movement. This avoids the spread of stains that might occur due to mop movement, ensuring that the cleaning effect is concentrated on the stained area, improving cleaning quality and optimizing cleaning results. Furthermore, a stationary mop can better absorb wet stains, enhancing its ability to remove wet stains and ensuring a clean surface. In addition, stopping the mop's movement reduces energy consumption, as no additional power is needed for the mop's rotation. This helps extend the cleaning robot's battery life, allowing it to perform cleaning tasks for longer periods.

[0022] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0023] When the scenario requirement is determined to be an obstacle crossing scenario, the first drive component is controlled to provide a fourth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive component is controlled to provide a fifth torque to the mop to drive the mop to rotate in the first direction.

[0024] Therefore, this dual-power collaborative drive mode allows the cleaning robot to utilize its power more effectively, providing sufficient power support when overcoming obstacles. This significantly enhances the robot's ability to traverse complex terrains such as carpets and thresholds, improving overall maneuverability. By rationally allocating power, the cleaning robot can also maintain efficient energy use during obstacle crossing, avoiding unnecessary energy consumption. Furthermore, by synchronously driving the wheels and mop, the cleaning robot can obtain better traction and stability, helping it maintain balance during obstacle crossing and reducing the risk of tipping over or slipping. In addition, this drive mode can reduce the robot's dwell time when overcoming obstacles, enabling it to complete cleaning tasks more quickly and improving overall work efficiency.

[0025] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0026] When the scenario requirement is determined to be an obstacle crossing scenario, and the height of the obstacle to be crossed is greater than the first threshold, the first drive component is controlled to provide a sixth torque for a preset duration to the drive wheel, and the second drive component is controlled to provide a seventh torque for a preset duration to the mop.

[0027] Among them, the preset duration is less than the second threshold, and the sixth and seventh torques are opposite in direction to the original torque corresponding to the cleaning robot when performing the cleaning task.

[0028] Therefore, this synchronous reverse braking drive mode allows the cleaning robot to quickly decelerate or stop when it detects a suddenly appearing obstacle, enhancing its braking capability. This rapid response capability improves the cleaning robot's positioning accuracy and response speed. Furthermore, through an effective braking mechanism, the cleaning robot can better protect itself and its surrounding environment in emergency situations, avoiding collisions and potential damage. By providing power in the opposite direction to the original torque to increase friction, the cleaning robot can brake more effectively. This flexible braking and deceleration capability enables the cleaning robot to better cope with complex and dynamic environmental changes, improving its obstacle avoidance ability and navigation accuracy.

[0029] In addition, the cleaning robot can reliably avoid obstacles in emergency situations, which increases users' trust and satisfaction with the cleaning robot. This intelligent response capability allows users to use the cleaning robot for daily cleaning with greater peace of mind.

[0030] Optionally, the cleaning robot turns inward to one side and outward to the opposite side, and the drive wheels include at least an inner drive wheel and an outer drive wheel; based on the scenario requirements, the drive mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the drive mode, including:

[0031] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the second drive component is controlled to provide a tenth torque to the mop, so as to drive the mop to rotate in the first direction.

[0032] The ninth torque is greater than the eighth torque.

[0033] Therefore, by rationally distributing the torque of the inner and outer drive wheels, the cleaning robot can more flexibly complete various turning maneuvers, improving its mobility in confined spaces. This torque difference design between the inner and outer drive wheels helps maintain the robot's balance and stability during turns, reducing the risk of tipping over and slipping. During turns, by adjusting the output torque of the mop, the cleaning robot can gain additional control force. This method compensates for the lack of wheel yaw angle adjustment capability, allowing it to adapt more flexibly to different turning radii and improving maneuverability.

[0034] Optionally, the method also includes:

[0035] After determining that the scenario requires turning, the turning requirements of the cleaning robot are then determined.

[0036] The turning radius of the cleaning robot is determined based on the steering requirements, and the tenth torque provided by the second drive component to the mop is determined based on the turning radius.

[0037] The tenth torque varies depending on the turning radius.

[0038] Therefore, by adjusting the torque output of the mop according to the turning radius, the cleaning robot can achieve more precise steering control. Since different turning radii correspond to different torque settings, the cleaning robot can flexibly adapt to various turning requirements. By dynamically adjusting the torque of the mop, the cleaning robot can optimize its turning performance and ensure smooth and efficient movement in turns of different radii, especially in narrow spaces or environments that require frequent turns.

[0039] Optionally, the cleaning robot turns inward to one side and outward to the opposite side; the drive wheels include at least an inner drive wheel and an outer drive wheel; the mop has a first position and a second position, in which the mop contacts the cleaning surface, and in the second position, the mop is spaced a first distance from the cleaning surface; according to the scenario requirements, the drive mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the drive mode, including:

[0040] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the mop is controlled to be in the second position.

[0041] The ninth torque is greater than the eighth torque.

[0042] Therefore, by rationally distributing the torque of the inner and outer drive wheels, the cleaning robot can more flexibly complete various turning maneuvers, improving its mobility in confined spaces. It can also control the mop to a secondary position, lifting it away from the cleaning surface, reducing friction during turns, lowering energy consumption, and preventing unnecessary wear on the cleaning surface. Furthermore, lifting the mop during turns prevents dirt from spreading due to mop friction, maintaining cleaning effectiveness.

[0043] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0044] When the scenario requirement is determined to be a backward escape scenario, the first drive component is controlled to provide an eleventh torque to the drive wheel to drive the drive wheel to rotate in the second direction, and the second drive component is controlled to provide a twelfth torque to the mop to drive the mop to rotate in the second direction.

[0045] This synchronized backward movement of the drive wheels and mop allows the cleaning robot to quickly retreat, escaping predicaments and preventing it from getting stuck in obstacles or confined spaces for extended periods. This timely backward movement also prevents potential damage caused by jamming, protecting the integrity of the equipment. Furthermore, intelligent control of the backward movement allows the cleaning robot to extricate itself from difficult situations quickly, reducing unnecessary energy consumption, improving overall energy efficiency, and minimizing time spent in predicaments. This reduces wear and tear on the drive and cleaning components, thus extending the equipment's lifespan.

[0046] Optionally, the mop has a first position and a second position, where the mop is in contact with the cleaning surface at the first position and at the second position, the mop is spaced a first distance from the cleaning surface; the driving mode of the drive component and the cleaning component is determined according to the type of cleaning task and / or scenario requirements, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0047] When the cleaning task is determined to be cleaning a dirty area or the scenario requires obstacle crossing, the first drive component is controlled to provide a thirteenth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the mop is controlled to be in the second position.

[0048] Therefore, by adjusting the drive mode and mop position as described above, real-time control of the cleaning robot's operating status can ensure appropriate power and stability in different scenarios, making it easier for the cleaning robot to overcome obstacles. This adjustment helps improve the cleaning robot's maneuverability and obstacle-crossing ability. By adjusting the torque of the drive wheels and the mop position, the cleaning robot can more effectively meet the cleaning needs of dirty areas and the movement needs of obstacle-crossing scenarios. By reducing the contact between the mop and the cleaning surface, energy consumption can also be reduced, as no additional power is needed to overcome the friction of the mop, thus making it easier for the cleaning robot to overcome obstacles and reducing energy consumption. In addition, reducing mop wear and unnecessary friction also helps to extend the service life of the mop and other mechanical components.

[0049] Understandably, this drive mode and mop position adjustment enable the cleaning robot to flexibly cope with various complex environmental conditions, enhancing its adaptability and functionality.

[0050] Optionally, the drive wheel has a third position and a fourth position, in which the drive wheel contacts the cleaning surface, and in the fourth position, the drive wheel is spaced a second distance from the cleaning surface; the method further includes:

[0051] When the scenario requirement is determined to be an obstacle crossing scenario, the drive wheel is controlled to be in the fourth position to cross the obstacle.

[0052] Therefore, during obstacle crossing, raising the drive wheels increases ground clearance, allowing the cleaning robot to more easily traverse various obstacles and improving its ability to navigate complex terrain. Raising the drive wheels also helps maintain the robot's balance and stability, reducing the risk of tipping over and slipping. This drive mode and the adjustment of the drive wheel position enable the cleaning robot to flexibly cope with various complex environmental conditions, especially in scenarios requiring the crossing of tall obstacles, enhancing its adaptability and functionality. Optimizing the obstacle crossing process reduces stuttering or malfunctions caused by obstacles, thereby improving the user experience.

[0053] Optionally, the cleaning robot may also include a follower component; the follower component may include casters and / or propulsion wheels.

[0054] Therefore, the use of omnidirectional wheels enables the robot to easily turn and move in narrow and complex environments, improving its maneuverability and flexibility. The additional power provided by the propulsion wheels allows the cleaning robot to more easily overcome small obstacles or move on high-resistance cleaning surfaces, enhancing its adaptability. Optional configurations of the servo components, such as the configuration of omnidirectional wheels and / or propulsion wheels, allow for customization according to specific application needs, increasing the flexibility and applicability of the cleaning robot design. Furthermore, by optimizing the configuration and use of the wheels, the cleaning robot can move more efficiently, reducing unnecessary energy consumption. With the support of the servo components, the cleaning robot can more precisely control its movement path, avoiding collisions and jamming, thereby improving navigation accuracy.

[0055] Optionally, the cleaning components also include: a drive roller, a follower roller, and a reduction module; a second drive motor provides rotational speed to the drive roller through the reduction module to drive the mop movement.

[0056] In this way, by using a reduction gear module, the second drive motor can operate at a suitable efficiency while providing sufficient torque to drive the mop. This design improves the cleaning efficiency of the mop, and the combination of the reduction gear module and the drive roller ensures effective power transmission, allowing the mop to maintain stable movement on different cleaning surfaces. This control enhances the cleaning effect. In addition, the use of the follower roller provides support and guidance, ensuring the stability of the mop during movement and reducing uneven cleaning caused by mop deviation or slippage. Therefore, the design of the drive roller, follower roller, and reduction gear module not only optimizes the power transmission path of the second drive motor, providing the rotation required for cleaning and driving, but also reduces unnecessary energy loss and improves overall energy efficiency.

[0057] Secondly, this application provides a control device for a cleaning robot. The cleaning robot includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor, and the cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The device includes:

[0058] The determination module is used to determine the type of cleaning task and / or the scene requirements of the current area to be cleaned during the cleaning robot's performance of cleaning tasks.

[0059] The control module is used to determine the driving mode of the drive component and the cleaning component according to the type of cleaning task and / or scenario requirements, and control the operating status of the cleaning robot based on the driving mode.

[0060] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0061] The memory stores instructions that the computer executes;

[0062] The processor executes computer execution instructions stored in memory to implement the method as described in any one of the first aspects.

[0063] Fourthly, this application provides a cleaning robot, which includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor, and the cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move.

[0064] The cleaning robot is used to perform the method as described in any one of the first aspects.

[0065] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method as described in any one of the first aspects.

[0066] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any one of the first aspects.

[0067] It should be noted that the second to sixth aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0068] In summary, this application provides a control method, device, equipment, robot, and medium for a cleaning robot. By introducing independent drive and cleaning components, the cleaning robot can flexibly adjust its drive mode according to different scenario requirements and / or cleaning tasks. Specifically, a second drive motor is introduced into the cleaning robot to drive the mop, allowing the cleaning robot to flexibly adjust the movement of the mop according to different cleaning task types and / or scenario requirements. This means that the mop is no longer passively following but can actively respond to different cleaning needs, thereby improving cleaning effectiveness and preventing stain spread. The first drive motor is used to drive the movement of the drive wheels, giving the cleaning robot better adaptability and maneuverability on complex terrain. Since the mop no longer depends on the power transmission of the drive wheels, the cleaning robot can better maintain its speed and climbing ability on high-resistance cleaning surfaces, such as carpets and thresholds. Furthermore, by separating the drive and cleaning functions, the energy transmission path becomes more direct, reducing energy loss caused by sliding friction. That is, the first and second drive motors each focus on their specific tasks, avoiding power waste, improving overall efficiency, and thus reducing unnecessary power consumption. Therefore, during the cleaning robot's cleaning task, by determining the type of cleaning task and / or the scene requirements of the current area to be cleaned, the driving mode of the drive component and the cleaning component can be intelligently adjusted to ensure that the cleaning robot operates in an appropriate operating state under different cleaning scenarios, thereby further improving cleaning efficiency and energy saving effect. Attached Figure Description

[0069] 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.

[0070] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application;

[0071] Figure 2 This is a schematic diagram of the bottom structure of a cleaning robot provided in an embodiment of this application;

[0072] Figure 3 This is a cross-sectional schematic diagram of a cleaning robot provided in an embodiment of this application;

[0073] Figure 4 A cross-sectional schematic diagram of a tracked mop provided in an embodiment of this application;

[0074] Figure 5 A cross-sectional schematic diagram of a driving component provided in an embodiment of this application;

[0075] Figure 6 A state change diagram of a driving component provided in an embodiment of this application;

[0076] Figure 7 A schematic diagram of the bottom mechanism of another cleaning robot provided in an embodiment of this application;

[0077] Figure 8 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0078] Figure 9 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0079] Figure 10 This is a schematic diagram illustrating the state of a cleaning robot in differential steering mode, provided in an embodiment of this application.

[0080] Figure 11 This application provides a schematic diagram of the structure of a control device for a cleaning robot.

[0081] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0082] 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

[0083] 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.

[0084] 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.

[0085] 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.

[0086] To enhance the obstacle-crossing ability and adaptability to complex cleaning environments, some cleaning robots have adopted a tracked mop structure. Compared to traditional cleaning robots that use a single drive wheel, the tracked mop structure has better traction and stability on complex cleaning surfaces, such as carpets and door thresholds.

[0087] In existing technologies, tracked sweeping robots generally use drive wheels as the main power source, while the tracked mop serves as a passive transmission structure. The tracked mop moves by means of the rotation of the drive wheels. Although this structure improves obstacle-crossing ability to a certain extent, it also has certain limitations.

[0088] For example, because tracked mops are typically passively moved along, they cannot be flexibly adjusted according to different cleaning needs, which may lead to poor cleaning results and even cause stains to spread in some scenarios.

[0089] It should be noted that since the tracked mop itself does not provide active torque, the cleaning robot's travel speed and climbing ability are limited on cleaning surfaces with high resistance, such as carpets and thresholds.

[0090] It should also be noted that when the drive wheels power the tracked mop, the long energy transmission path and sliding friction can lead to some wasted drive torque, resulting in low overall efficiency and unnecessary power consumption. Therefore, there is an urgent need for a tracked cleaning robot structure that can simultaneously achieve efficient drive, flexible control, and energy-saving characteristics.

[0091] To address the aforementioned issues, this application provides a control method for a cleaning robot. By introducing independent drive and cleaning components, the cleaning robot can flexibly adjust its drive mode according to different scenario requirements and / or cleaning tasks. Specifically, a second drive motor is introduced to drive the mop, allowing the cleaning robot to flexibly adjust the mop's movement based on different cleaning task types and / or scenario requirements. This means the mop is no longer passively following but actively responding to different cleaning needs, thereby improving cleaning effectiveness and preventing stain spread. The first drive motor drives the drive wheels, giving the cleaning robot better adaptability and maneuverability on complex terrain. Since the mop no longer relies on the drive wheels for power transmission, the cleaning robot can better maintain its speed and climbing ability on high-resistance cleaning surfaces such as carpets and thresholds. Furthermore, by separating the drive and cleaning functions, the energy transmission path becomes more direct, reducing energy loss due to sliding friction. In other words, the first and second drive motors each focus on their specific tasks, avoiding power waste, improving overall efficiency, and thus reducing unnecessary power consumption. Therefore, during the cleaning robot's cleaning task, by determining the type of cleaning task and / or the scene requirements of the current area to be cleaned, the driving mode of the drive component and the cleaning component can be intelligently adjusted to ensure that the cleaning robot operates in an appropriate operating state under different cleaning scenarios, thereby further improving cleaning efficiency and energy saving effect.

[0092] It should be noted that the control method for the cleaning robot provided in this application can be applied to cleaning robots. 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 drive assembly 110 and a cleaning assembly 120. The drive assembly 110 includes at least a drive wheel 111 and a first drive motor 112. The cleaning assembly 120 includes at least a mop 121 and a second drive motor 121. The first drive motor 112 drives the drive wheel 111 to move, and the second drive motor 121 drives the mop 121 to move.

[0093] The first drive motor 112 is mainly used to drive the movement of the drive wheel 111 to provide sufficient power so that the cleaning robot 100 can move smoothly on various types of cleaning surfaces, including flat cleaning surfaces, carpets, thresholds, etc.

[0094] The second drive motor 121 is mainly used to drive the movement of the mop 121. Driven by the independent second drive motor 121, the mop 121 can perform different movement modes as needed, such as forward rotation, reverse rotation, and up and down lifting, to adapt to different cleaning needs.

[0095] Because the mop 121 is independently driven by the second drive motor 121, the cleaning component 120 can flexibly adjust its movement mode according to different cleaning surface types and cleaning needs. This flexibility ensures a more efficient cleaning effect. The first drive motor 112 drives the movement of the wheels 111, ensuring the cleaning robot 100 can smoothly overcome obstacles and move on high-resistance surfaces. By separating the driving and cleaning functions, the energy transfer path is shorter, reducing unnecessary sliding friction and energy loss. Furthermore, each drive motor focuses on its specific task, improving overall efficiency and reducing power consumption. This design allows the cleaning robot 100 to intelligently adjust its driving and cleaning modes according to the type of cleaning task and the current environmental requirements, improving the operating efficiency of the cleaning robot 100 and thus enhancing the user experience.

[0096] Optional, Figure 2 This is a schematic diagram of the bottom structure of a cleaning robot provided in an embodiment of this application, as shown below. Figure 2 As shown, the drive wheels 111 can be set on both sides of the cleaning robot 100 as the main power source for walking, and can be driven to rotate independently by the first drive motor 112.

[0097] Optionally, the mop 121 can be a tracked mop or a roller mop.

[0098] For example, Figure 3 This is a cross-sectional schematic diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 3 As shown, mop 121 is a tracked mop, similar in design to tank tracks, allowing it to move continuously across the cleaning surface. Through continuous contact with the cleaning surface, the tracked mop provides a stable cleaning effect and also assists the cleaning robot 100 in its movement.

[0099] Optionally, the tracked mop can be arranged around the bottom area of ​​the cleaning robot 100 and driven by a set of drive mechanisms 123 and a second drive motor 122. Its driving mode can be synchronous or asynchronous with the rotation of the drive wheel 111.

[0100] Optionally, the tracked mop is equipped with a counterweight to provide downforce.

[0101] Optionally, the cleaning robot 100 has a control module that can control the running state of the drive wheel 111 and the tracked mop according to different drive modes, such as forward rotation, reverse rotation, and stop. Optionally, the drive mode of the drive component 110 and the cleaning component 120 can be determined based on the control torque output.

[0102] Roller mops typically consist of one or more rotating rollers covered with cleaning material. Through the rotation of the rollers, they can effectively wipe and remove dirt from the cleaning surface.

[0103] Optionally, the roller mop is a dual-roller mop.

[0104] It should be noted that tracked mops provide stable coverage and cleaning, while roller mops can deeply clean stubborn stains. Therefore, you can choose the appropriate type of mop according to your specific cleaning needs to significantly improve cleaning efficiency.

[0105] Different mop types offer varying cleaning effects for different types of dirt and surface materials. For example, tracked mops are suitable for scenarios requiring large-area coverage and even cleaning, such as hard floors or tile surfaces, while roller mops are suitable for handling stubborn stains and deep cleaning, such as carpets or areas with noticeable dirt. Therefore, by providing both tracked and roller mops, the cleaning robot 100 can adapt to different cleaning tasks and surface types. This versatility ensures that the cleaning robot 100 achieves ideal cleaning results in various environments. Furthermore, since the mop 121 is driven by a separate second drive motor 122, either the tracked or roller mop can provide additional assistance during the cleaning robot 100's movement.

[0106] Optional, Figure 4 This is a cross-sectional schematic diagram of a tracked mop provided in an embodiment of this application, as shown below. Figure 4 As shown, in addition to the tracked mop 121 and the second drive motor 122, the cleaning assembly 120 also includes a drive roller 124, a follower roller 126 and a reduction module 125; the second drive motor 122 provides a rotational speed to the drive roller 124 through the reduction module 125 to drive the mop 121 to move.

[0107] The reduction module 125 can be a planetary gear. The reduction module 125 is used to reduce the output speed of the second drive motor 122 while increasing the output torque. This reduction mechanism can ensure that the drive roller 124 can drive the mop 121 at the appropriate speed and force.

[0108] By reducing speed, the second drive motor 122 can operate within a more efficient working range while providing sufficient torque to overcome the resistance of the mop 121 as it moves across the cleaning surface.

[0109] As a key component for power transmission, the drive roller 124 can contact the tracked mop 121 and is responsible for transmitting the decelerated power to the mop 121 to make it move, ensuring that the mop 121 moves smoothly and effectively on the cleaning surface.

[0110] The follower roller 126 can provide support and guidance for the mop 121. The follower roller 126 does not actively provide power, but it can ensure that the mop 121 maintains the correct trajectory and tension during movement. By providing stable support, the follower roller 126 can help maintain the flatness of the mop 121 and effective contact with the cleaning surface.

[0111] Thus, by using the reduction module 125, the second drive motor 122 can operate at a suitable efficiency while providing sufficient torque to drive the mop 121. This design improves the cleaning efficiency of the mop 121. Furthermore, the combination of the reduction module 125 and the drive roller 124 ensures effective power transmission, allowing the mop 121 to maintain stable movement on different cleaning surfaces. This control enhances the cleaning effect. In addition, the use of the follower roller 126 provides support and guidance, ensuring the stability of the mop 121 during movement and reducing uneven cleaning caused by the mop 121's deviation or slippage. Therefore, through the design of the drive roller 124, follower roller 126, and reduction module 125, not only is the power transmission path of the second drive motor 122 optimized, providing the rotation required for cleaning and driving, but unnecessary energy loss is also reduced, improving overall energy efficiency.

[0112] Optional, such as Figure 2 As shown, the cleaning robot 100 also includes a follower component 130; the follower component 130 includes casters 131 and / or propulsion wheels 132.

[0113] Among them, the follow-up component 130, such as the universal wheel 131, can be set at the front or rear of the cleaning robot 100 body to assist in support and improve steering flexibility, with the direction of travel of the cleaning robot 100 as the front.

[0114] The omnidirectional wheel 131 is a wheel that can rotate freely in multiple directions, allowing the cleaning robot 100 to move omnidirectionally on a plane without changing the direction of the drive wheel 111. Because the omnidirectional wheel 131 can provide multi-directional movement capabilities, it enables the cleaning robot 100 to turn and adjust its position more flexibly, especially in confined spaces or complex environments.

[0115] Optionally, the cleaning robot 100 can be based on the design of drive wheels 111, first drive motor 112, mop 121, second drive motor 122 and omnidirectional wheels 131 to achieve more efficient steering.

[0116] Optional, Figure 5 This is a cross-sectional schematic diagram of a driving component provided in an embodiment of this application, such as... Figure 5As shown, the drive wheel 111 and the omnidirectional wheel 131 have a linkage spring structure 113 of the first drive motor 112. When the linkage spring structure 113 is tightened, the angle between the drive wheel 111 and the body increases, thereby realizing the lifting of the chassis of the cleaning robot 100, that is, the chassis is in a lifting mode. This lifting mode enhances the efficiency of the cleaning robot in overcoming obstacles when encountering some low obstacles.

[0117] For example, the drive wheel 111 has a third position and a fourth position. In the third position, the drive wheel 111 is in contact with the cleaning surface, and in the fourth position, the drive wheel 111 is spaced a second distance from the cleaning surface. Figure 6 A state change diagram of a driving component provided in an embodiment of this application, such as Figure 6 As shown in Figure A, the drive wheel 111 is in the fourth position. Optionally, the caster wheel 131 also has a raised position, in which the caster wheel 131 is spaced a third distance from the cleaning surface.

[0118] When the drive wheel 111 is in the fourth position, the drive wheel 111 is lifted away from the cleaning surface. At this time, the drive wheel 111 does not participate in the friction and movement of the cleaning surface. When the caster wheel 131 is in the raised position, the caster wheel 131 is lifted away from the cleaning surface. At this time, the caster wheel 131 also does not participate in the friction and movement of the cleaning surface. The above is used to reduce unnecessary friction or during the process of crossing obstacles.

[0119] It should be noted that the specific size of the second and third distances is not limited in the embodiments of this application. These distances define the interval between the wheels and the cleaning surface in different operating states, which can control the lifting of the chassis.

[0120] The drive wheel 111 and the omnidirectional wheel 131 can be implemented using a lifting structure or a variable wheel track chassis, and this application embodiment does not specifically limit this.

[0121] like Figure 6 As shown in Figure B, the drive wheel 111 is in the third position. Optionally, the caster wheel 131 also has a lowered position in which the caster wheel 131 contacts the cleaning surface.

[0122] In this way, by adjusting the positions of the drive wheels 111 and the casters 131, the cleaning robot 100 can adapt to different terrains and task requirements. For example, when higher mobility is required or movement is needed in complex terrain, the casters 131 can be adjusted to a lowered position, and the drive wheels 111 can be in a third position. When it is necessary to cross obstacles or climb slopes, the positions of the drive wheels 111 and the casters 131 can be adjusted to raise them, so that the drive assembly 110 can use the above-mentioned retractable chassis structure, thereby improving the obstacle-crossing performance of the cleaning robot 100. In addition, in some cases, by raising the drive wheels 111 or the casters 131, direct friction with the cleaning surface can be avoided, reducing wear on the cleaning surface and protecting the wheels of the cleaning robot 100.

[0123] Optionally, the propulsion wheel 132 can be located outside the drive wheel 111, that is, at any position inside the drive wheel 111, especially close to the drive wheel 111, to assist the drive wheel 111 in providing motion power.

[0124] In this way, the propulsion wheel 132 can provide additional power support when needed, enhancing the obstacle-crossing ability of the cleaning robot 100 and its performance on high-resistance cleaning surfaces.

[0125] Optionally, the propulsion wheel 132 can also be a roller, similar to the design of a foot wheel. This application embodiment does not specifically limit the form of the propulsion wheel 132.

[0126] Optionally, this application can also use omnidirectional wheels or Mecanum wheels to achieve flexible movement of the cleaning robot 100, that is, omnidirectional wheels can be used instead of the combination of drive wheels and casters to achieve highly flexible movement.

[0127] Therefore, the use of omnidirectional wheels 131 enables the robot to easily turn and move in narrow and complex environments, improving its maneuverability and flexibility. The additional power support provided by propulsion wheels 132 allows the cleaning robot 100 to more easily overcome small obstacles or move on high-resistance cleaning surfaces, improving its adaptability. Optional configurations of the follower components, such as the configuration of omnidirectional wheels and / or propulsion wheels, allow for customization according to specific application needs, increasing the flexibility and applicability of the cleaning robot 100 design. Furthermore, by optimizing the configuration and use of the wheels, the cleaning robot 100 can move more efficiently, reducing unnecessary energy consumption. Consequently, with the support of the follower components 130, the cleaning robot 100 can more precisely control its movement path, avoiding collisions and jamming, thereby improving navigation accuracy.

[0128] Optionally, the mop 121 has a first position and a second position, in which the mop 121 is in contact with the cleaning surface, and in which the mop 121 is spaced a first distance from the cleaning surface.

[0129] In the first position, the mop 121 is in direct contact with the cleaning surface for normal cleaning operations. Through direct contact with the cleaning surface, the mop 121 wipes and removes dirt and dust. It is suitable for cleaning surfaces that require regular cleaning, such as hard floors, tiles, or other flat surfaces.

[0130] At the second position, the mop 121 is spaced a first distance from the cleaning surface, which is used when the mop 121 does not need to directly contact the cleaning surface, such as when the cleaning robot 100 moves to the next cleaning area or when it is necessary to avoid contact between the mop and the cleaning surface. This is applicable to situations where the cleaning robot 100 needs to move quickly, avoid mop wear, or need to pause cleaning in certain situations to avoid the spread of stains.

[0131] It should be noted that the embodiments of this application do not specifically limit the size of the first distance, which can be set based on the application scenario requirements.

[0132] Therefore, by adjusting the position of the mop 121, the cleaning robot 100 can flexibly adapt to different cleaning tasks and surface conditions. This flexibility ensures ideal cleaning results in various environments. For example, raising the mop 121 when cleaning is not required reduces mop wear, thereby improving the robot's energy efficiency and overall performance. This design allows the cleaning robot 100 to quickly switch between different drive modes, improving operational flexibility and efficiency while reducing cleaning time.

[0133] For example, Figure 7 A schematic diagram of the bottom mechanism of another cleaning robot provided in this application embodiment is shown below. Figure 7 As shown, the cleaning robot 100 can also adopt a structure design with dual drive wheels 111 and independent universal wheels 131, without a mop 121. In this way, it can move and turn by only two independent drive wheels 111 and one universal wheel 131. For example, it can turn based on differential control.

[0134] Optional, such as Figure 7 As shown, a set of actively rotating mops is installed on the bottom of the cleaning robot 100, which is driven by an independent motor to perform cleaning.

[0135] For example, Figure 8 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 8As shown, the control method for the cleaning robot provided in this application can be applied to home application scenarios. Taking the cleaning robot 100 as a sweeping robot and the sweeping robot's mop as a tracked mop as an example, the sweeping robot includes a drive component and a cleaning component. The drive component includes at least a drive wheel and a first drive motor, and the cleaning component includes at least a tracked mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the tracked mop to move.

[0136] During the cleaning process of the robot vacuum cleaner in the living room, if stubborn stains are detected on the cleaning surface, the first drive component can be controlled to provide positive torque to the drive wheel, driving the drive wheel to rotate in the forward direction, while the second drive component provides reverse torque to the tracked mop, driving the tracked mop to rotate in the reverse direction. This results in stronger friction between the tracked mop and the cleaning surface, enhancing the wiping effect on stubborn stains and improving cleaning efficiency and effectiveness.

[0137] Therefore, by controlling the forward and reverse rotation, the contact cleaning intensity between the tracked mop and the cleaning surface can be increased, enhancing the cleaning ability and thus significantly improving the overall performance and user experience of the tracked robot vacuum cleaner.

[0138] It should be noted that forward rotation refers to the rotation direction that is the same as the forward direction of the robot vacuum cleaner. Forward rotation and reverse rotation are opposite directions. This application embodiment does not specifically limit the magnitude of the torque required for forward rotation and reverse rotation, but can be based on the actual application scenario requirements or the type of cleaning task without specific limitation.

[0139] It should also be noted that the application scenarios of the control method for cleaning robots in this application are not specifically limited. This application can also be applied to shopping mall scenarios, school scenarios, and office scenarios. The specific application scenarios in this application are not limited. The above are just examples.

[0140] It should also be noted that the type of cleaning robot 100 is not specifically limited in the embodiments of this application. Optionally, the cleaning robot 100 can be any automatic cleaning device with cleaning function, such as a sweeping robot, a mopping robot, a floor washing robot, or a sweeping and mopping robot.

[0141] 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.

[0142] For example, Figure 9This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. The control method for the cleaning robot is applied to... Figure 1 The cleaning robot shown is, for example Figure 9 As shown, the control method for this cleaning robot includes the following steps:

[0143] S901. During the cleaning robot's cleaning task, determine the type of cleaning task and / or determine the scene requirements of the current area to be cleaned.

[0144] In this embodiment of the application, the type of cleaning task can refer to the type of cleaning operation required by the cleaning robot for a specific area. The type of cleaning task can be set according to the type of cleaning surface and the type of dirt. The type of cleaning task can include cleaning of heavily soiled areas, cleaning of wet stain areas, cleaning of ordinary areas, etc. Optionally, different types of cleaning tasks require different cleaning strengths or cleaning functions.

[0145] Optionally, the types of surfaces to be cleaned can include carpets, tiles, wood floors, etc., and the types of dirt can include light, heavy, moderate, and other levels of dirt.

[0146] Determining the scenario requirements of the current area to be cleaned refers to the environmental characteristics and application scenario requirements that the cleaning robot needs to deal with when performing cleaning tasks. Scenario requirements may affect the cleaning robot's travel path and operation strategy. Scenario requirements may include: obstacle crossing scenarios, obstacle avoidance scenarios, dirty area cleaning scenarios, turning scenarios, and backward escape scenarios. Optionally, different scenario requirements correspond to different cleaning strategies and path planning.

[0147] Optionally, the cleaning robot can collect environmental data of the area to be cleaned through sensors such as cameras, lidar, and infrared sensors, and then determine the type of cleaning task and / or the scene requirements of the current area to be cleaned based on the collected environmental data.

[0148] Alternatively, the cleaning robot can determine the type of cleaning task and / or the scene requirements of the current area to be cleaned based on the terminal device's application (APP), voice control commands, etc., and the terminal device establishes a communication connection with the cleaning robot.

[0149] It should be noted that the embodiments of this application do not specifically limit the method of determining the type of cleaning task and the scenario requirements of the current area to be cleaned, which can be set based on the actual application scenario requirements.

[0150] S902. Determine the driving mode of the drive component and the cleaning component according to the type of cleaning task and / or scenario requirements, and control the operating status of the cleaning robot based on the driving mode.

[0151] In this embodiment of the application, the driving mode may include adjusting the speed, rotation direction and power distribution of the drive wheel and the mop. The adjustment of power distribution may be achieved by adjusting the output torque, power, voltage or current, etc., and this embodiment of the application does not specifically limit this.

[0152] Optionally, the operating status of the cleaning robot can include forward rotation, reverse rotation, stop, up and down movement, forward and backward movement, left and right movement, etc.

[0153] For example, in obstacle-crossing scenarios, the first drive component can be controlled to provide positive torque to the drive wheel, and the second drive component can be controlled to provide positive torque to the track, so that the drive wheel and the mop rotate synchronously in the positive direction, and the output torque of the drive wheel and / or the mop can be adjusted to enhance its obstacle-crossing ability; for cleaning wet stain areas, the first drive component can be controlled to provide positive torque to the drive wheel, and the second drive component can not provide torque to the mop, so that the drive wheel operates normally and the mop remains stationary, avoiding the stains from spreading outward due to the rotation of the mop.

[0154] It should be noted that the embodiments of this application do not specifically limit the driving mode corresponding to different cleaning task types and / or scenario requirements. For example, when cleaning on a carpet, stronger driving force is required, but the mop may soil the carpet. In this case, the second drive motor can be controlled to provide greater output torque to the drive wheel, and the first drive motor can be controlled not to provide output torque to the mop, so that the mop remains stationary, or the mop can be controlled to be in a second position.

[0155] Compared to the passive rotation of traditional tracked mop structures, which lack the ability to flexibly adjust according to different cleaning needs, this application designs independent drive and cleaning components, enabling the cleaning robot to flexibly adjust its drive mode in different scenario requirements and cleaning tasks. This flexibility not only improves the cleaning effect of the cleaning robot but also significantly enhances its adaptability and efficiency. Furthermore, this application identifies the type of cleaning task and / or scenario requirements, and then intelligently selects and adjusts the drive mode, enabling the cleaning robot to automatically optimize its operating state in different cleaning scenarios. For example, it can achieve ideal cleaning results under different cleaning surfaces and dirt conditions, move on different terrains, and improve its travel speed and climbing ability.

[0156] Therefore, this application can not only realize power distribution and steering control under different working conditions, but also dynamically switch multiple drive modes according to the type of cleaning task and / or scenario requirements, providing a more efficient cleaning process and overall energy efficiency, thereby improving the intelligence level of the cleaning robot and user experience. It can also adjust the power output according to specific cleaning needs or the type of cleaning task, avoid unnecessary energy waste, and improve the robot's energy efficiency and endurance.

[0157] Optionally, the drive mode is used to adjust the output torque of the first drive motor and the second drive motor, and / or to adjust the power of the first drive motor and the second drive motor to be different.

[0158] In this application, the output torque of the drive motor can be adjusted according to the type of cleaning task and the requirements of the scenario. For example, when climbing slopes or crossing obstacles, the torque of the drive motor can be increased to provide greater power; on flat cleaning surfaces, the torque can be reduced to decrease energy consumption.

[0159] Optionally, the power output of the drive motor can be adjusted according to the type of cleaning task and the requirements of the scenario. For example, when deep cleaning is required, the power of the second drive motor can be increased to enhance the cleaning effect; when light cleaning or rapid movement is required, the power of the second drive motor can be reduced to save energy. Different types of cleaning tasks and scenario requirements necessitate different adjustments to the output torque and / or power of the drive motor.

[0160] Optionally, the speed and torque of the drive motor can be adjusted by changing the input voltage of the drive motor. Torque output can also be controlled by adjusting the input current of the drive motor; or by controlling the direction and magnitude of the motor's magnetic field.

[0161] It should be noted that the embodiments of this application do not specifically limit the method of controlling torque output and the method of adjusting drive mode. The above are just examples. For example, the drive mode of the drive motor can also be controlled by adjusting the phase difference of the drive motor windings.

[0162] In this application, by adjusting the power of the mop motor, the cleaning robot can provide stronger cleaning power when needed, ensuring ideal cleaning results under various soiling conditions. By dynamically adjusting the torque of the drive motor, the cleaning robot can more effectively cope with different terrains and obstacles, improving its maneuverability and obstacle-crossing ability. Therefore, through reasonable torque and power adjustment, the energy consumption of the drive motor and other mechanical components can be reduced. When needed, by adjusting the output torque or power of the first and second drive motors, the burden on the drive wheels can be reduced, and ineffective power consumption can be reduced, effectively extending the battery life of the cleaning robot and improving energy utilization efficiency.

[0163] Optionally, based on the type of cleaning task, the driving mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0164] When the cleaning task is determined to be cleaning a heavily soiled area, the first drive assembly is controlled to provide a first torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive assembly is controlled to provide a second torque to the mop to drive the mop to rotate in a second direction.

[0165] The first direction and the second direction are opposite.

[0166] In this embodiment, a heavily soiled area can refer to a soiled area where the degree of soiling is greater than the third threshold, the soiled area is greater than the fourth threshold, or the required cleaning effort is greater than the fifth threshold. This embodiment does not specifically limit the definition of a heavily soiled area. For cleaning heavily soiled areas, the required cleaning effort or cleaning time is relatively large.

[0167] The specific values ​​corresponding to the third, fourth, and fifth thresholds are not limited in this application embodiment, and can be set based on the actual application scenario.

[0168] Optionally, heavily soiled areas can be areas with stubborn stains, areas with grease buildup, or areas where pets play.

[0169] For example, when the cleaning robot identifies the current cleaning task as cleaning a heavily soiled area, the movement of the drive wheels and the mop can be controlled. Specifically, to enhance the friction and cleaning effect on the heavily soiled area, the first drive component provides a first torque to the drive wheels, causing them to rotate in a first direction. To increase the cleaning force, the second drive component provides a second torque to the mop, causing it to rotate in a second direction opposite to the drive wheels. By controlling the drive wheels and the mop to rotate in opposite directions, the friction and cleaning force of the mop on the cleaning surface are increased. This relative motion further enhances the wiping effect on stubborn stains, improves cleaning efficiency, and effectively removes stubborn dirt.

[0170] It should be noted that the first direction usually refers to forward rotation, that is, the same direction of rotation as the forward direction of the cleaning robot, and the second direction is the reverse rotation. However, for cleaning robots that move backward, the first direction is the backward direction of the cleaning robot, and the second direction is the opposite direction of the backward direction. Therefore, for different cleaning scenarios, the first direction or the second direction may correspond to different rotation directions. The embodiments of this application do not limit the specific rotation directions corresponding to the first direction and the second direction, which can be set based on the actual application scenario.

[0171] It should also be noted that the directions of the first torque and the second torque correspond to the first direction and the second direction. For example, if the first direction is forward rotation, then the first torque is forward torque; if the second direction is reverse rotation, then the second torque is reverse torque. Furthermore, the magnitudes of the first torque and the second torque can be adapted and adjusted based on the type of cleaning task and / or scenario requirements. This application embodiment does not specifically limit the magnitudes of the first torque and the second torque.

[0172] Therefore, this reverse-cooperative driving mode allows the mop to make deeper contact with and wipe the cleaning surface, significantly improving its ability to remove stubborn dirt. This driving mode reduces cleaning time because the cleaning robot can handle difficult-to-remove stains more quickly. This efficient cleaning method reduces the time spent in heavily soiled areas, allowing the cleaning robot to complete cleaning tasks more quickly in heavily soiled areas, thereby improving overall cleaning efficiency, reducing the need for repetitive cleaning, and increasing overall efficiency. Furthermore, by precisely controlling the torque of the drive components, the cleaning robot can apply greater force when needed and conserve energy when not needed. This energy optimization helps extend the working time and battery life of the cleaning robot.

[0173] Optionally, based on the type of cleaning task, the driving mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0174] When the cleaning task is determined to be cleaning a wet stained area, the first drive assembly is controlled to provide a third torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive assembly is controlled not to provide torque to the mop so that the mop is in a stopped state.

[0175] In this embodiment, a wet stain area can refer to a visible wet or discolored area on a clean surface caused by liquid substances such as water, oil, or beverages, such as soy sauce stains, coffee stains, pigment or dye stains, syrup, or honey. This embodiment does not specifically limit the type of stain corresponding to the wet stain area.

[0176] For example, when the cleaning robot identifies the current task as cleaning a wet, stained area, the movement of the drive wheels and the mop can be controlled. In order to provide stable movement and appropriate cleaning force in the wet, stained area, the first drive component is controlled to provide a third torque to the drive wheels, causing them to rotate in the first direction. To avoid spreading the stains, the mop does not need additional movement. Therefore, the second drive component is controlled not to provide torque to the mop, keeping the mop in a stationary state. By keeping the mop stationary and using it only as a cleaning mop, the mop can more effectively absorb and wipe the wet stains without spreading the stains due to movement. This stationary state helps to concentrate the cleaning force on a specific area, which is especially suitable for fine cleaning scenarios.

[0177] It should be noted that the definition of the third torque is similar to that of the first torque, that is, the direction of the third torque corresponds to the first direction. For example, if the first direction is forward rotation, then the third torque is forward torque; if the first direction is reverse rotation, then the third torque is reverse torque. Furthermore, the magnitude of the third torque can be adapted and adjusted based on the type of cleaning task and / or scenario requirements. This application embodiment does not specifically limit the magnitude of the third torque.

[0178] Optionally, to prevent stains from spreading, the mop can also be controlled to be in a second position.

[0179] Therefore, this drive mode, where the drive wheels move independently, allows the mop to be used as a static mop by turning off the mop drive in appropriate scenarios and relying solely on the drive wheels for movement. This avoids the spread of stains that might occur due to mop movement, ensuring that the cleaning effect is concentrated on the stained area, improving cleaning quality and optimizing cleaning results. Furthermore, a stationary mop can better absorb wet stains, enhancing its ability to remove wet stains and ensuring a clean surface. In addition, stopping the mop's movement reduces energy consumption, as no additional power is needed for the mop's rotation. This helps extend the cleaning robot's battery life, allowing it to perform cleaning tasks for longer periods.

[0180] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0181] When the scenario requirement is determined to be an obstacle crossing scenario, the first drive component is controlled to provide a fourth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive component is controlled to provide a fifth torque to the mop to drive the mop to rotate in the first direction.

[0182] In this embodiment of the application, the obstacle crossing scenario can be a threshold, the edge of a carpet, or other scenarios that require additional power to cross obstacles. This embodiment of the application does not specifically limit the type of obstacle to be crossed corresponding to the obstacle crossing scenario. The obstacle crossing scenario is used for high-resistance terrain.

[0183] For example, when the cleaning robot identifies the current scene as an obstacle-crossing scenario, the movement of the drive wheels and the mop can be controlled. Specifically, to enhance obstacle-crossing capability, the first drive component provides a fourth torque to the drive wheels, causing them to rotate in a first direction, enabling the cleaning robot to overcome the obstacle. To further assist obstacle crossing, the second drive component provides a fifth torque to the mop, causing the mop to also rotate in the first direction. This synchronized movement helps to assist the cleaning robot. In this way, by making the drive wheels and the mop move synchronously in the same direction, the cleaning robot can more effectively distribute power, thereby increasing its travel speed and obstacle-crossing capability, and reducing resistance and the risk of slippage during obstacle crossing.

[0184] It should be noted that the fourth torque and the fifth torque are similar in definition to the first torque, that is, the directions of the fourth torque and the fifth torque correspond to the first direction. For example, if the first direction is forward rotation, then the fourth torque and the fifth torque are forward torques; if the first direction is reverse rotation, then the fourth torque and the fifth torque are reverse torques. Furthermore, the magnitudes of the fourth torque and the fifth torque can be adapted and adjusted based on the type of cleaning task and / or scenario requirements. This application embodiment does not specifically limit the magnitudes of the fourth torque and the fifth torque.

[0185] Therefore, this dual-power collaborative drive mode allows the cleaning robot to utilize its power more effectively, providing sufficient power support when overcoming obstacles. This significantly enhances the robot's ability to traverse complex terrains such as carpets and thresholds, improving overall maneuverability. By rationally allocating power, the cleaning robot can also maintain efficient energy use during obstacle crossing, avoiding unnecessary energy consumption. Furthermore, by synchronously driving the wheels and mop, the cleaning robot can obtain better traction and stability, helping it maintain balance during obstacle crossing and reducing the risk of tipping over or slipping. In addition, this drive mode can reduce the robot's dwell time when overcoming obstacles, enabling it to complete cleaning tasks more quickly and improving overall work efficiency.

[0186] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0187] When the scenario requirement is determined to be an obstacle crossing scenario, and the height of the obstacle to be crossed is greater than the first threshold, the first drive component is controlled to provide a sixth torque for a preset duration to the drive wheel, and the second drive component is controlled to provide a seventh torque for a preset duration to the mop.

[0188] Among them, the preset duration is less than the second threshold, and the sixth and seventh torques are opposite in direction to the original torque corresponding to the cleaning robot when performing the cleaning task.

[0189] In this embodiment, the obstacle-crossing scenario, where the height of the obstacle to be crossed is greater than the first threshold, can be understood as an emergency obstacle avoidance scenario or a scenario requiring braking. When the height of the obstacle that the cleaning robot needs to cross is greater than the first threshold, it means that the cleaning robot cannot cross the obstacle. In this embodiment, the size of the first threshold is not specifically limited, and it can be set based on the actual application scenario requirements.

[0190] For example, when a sensor such as Laser Direct Structuring (LDS) detects an insurmountable obstacle suddenly appearing in the path of the cleaning robot, an emergency obstacle avoidance behavior is triggered. This involves controlling the first drive component to provide a sixth torque for a preset duration to the drive wheels. The direction of the sixth torque is opposite to the original torque direction during the cleaning task. It is used to adjust the robot's posture or provide reverse force to increase friction, enabling it to stop quickly and effectively, decelerate, and achieve flexible braking for better emergency obstacle avoidance. Correspondingly, the second drive component is controlled to provide a seventh torque for a preset duration to the mop, also in the opposite direction to the original torque, to assist the cleaning robot in decelerating and braking, bringing the robot to a stop more quickly.

[0191] It should be noted that the preset duration is not specifically limited in this application embodiment. The preset duration is less than the second threshold. Its purpose is to provide a short-term reverse torque, but does not control the drive wheel and mop to rotate in the opposite direction. The size of the second threshold is not specifically limited in this application embodiment. It can be set based on the performance parameters of the cleaning robot or the type of cleaning surface.

[0192] It should also be noted that the directions of the sixth and seventh torques correspond to the directions of the original torques. For example, if the original torque direction is forward rotation, then the sixth and seventh torques are forward torques; if the original torque direction is reverse rotation, then the sixth and seventh torques are reverse torques. Furthermore, the magnitudes of the sixth and seventh torques can be adjusted based on the performance parameters of the cleaning robot or the type of cleaning surface. This application does not specifically limit the magnitudes of the sixth and seventh torques.

[0193] Therefore, this synchronous reverse braking drive mode allows the cleaning robot to quickly decelerate or stop when it detects a suddenly appearing obstacle, enhancing its braking capability. This rapid response capability improves the cleaning robot's positioning accuracy and response speed. Furthermore, through an effective braking mechanism, the cleaning robot can better protect itself and its surrounding environment in emergency situations, avoiding collisions and potential damage. By providing power in the opposite direction to the original torque to increase friction, the cleaning robot can brake more effectively. This flexible braking and deceleration capability enables the cleaning robot to better cope with complex and dynamic environmental changes, improving its obstacle avoidance ability and navigation accuracy.

[0194] In addition, the cleaning robot can reliably avoid obstacles in emergency situations, which increases users' trust and satisfaction with the cleaning robot. This intelligent response capability allows users to use the cleaning robot for daily cleaning with greater peace of mind.

[0195] Existing tracked tow structures typically rely solely on the interaction between the drive wheels and casters during braking and steering, making differential control via the tracked tow impossible. This results in a large turning radius and poor maneuverability.

[0196] Therefore, in this application, the drive wheels, tracked mop and omnidirectional wheels can be controlled to work together, and differential torque can be applied according to the steering requirements, so that the cleaning robot can achieve small radius or stationary turning, improving the mobility in narrow spaces, especially for right-angle and acute-angle turning scenarios.

[0197] In this way, the coordinated operation of the drive wheels, tracked tow line, and swivel wheels enables more efficient steering control, thereby improving steering flexibility.

[0198] Optionally, the cleaning robot turns inward to one side and outward to the opposite side, and the drive wheels include at least an inner drive wheel and an outer drive wheel; based on the scenario requirements, the drive mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the drive mode, including:

[0199] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the second drive component is controlled to provide a tenth torque to the mop, so as to drive the mop to rotate in the first direction.

[0200] The ninth torque is greater than the eighth torque.

[0201] For example, when the cleaning robot identifies the current scene as a turning scenario, it controls the movement of the drive wheels and the mop. Since the inner drive wheel needs to rotate a shorter distance, a smaller torque is sufficient to meet the turning requirements, while the outer drive wheel needs to cover a larger turning radius, requiring a larger torque to ensure it can turn quickly and complete the turn. Therefore, an eighth torque can be provided to the inner drive wheel, and a ninth torque to the outer drive wheel. However, since the cleaning robot does not have the ability to flexibly adjust the turning radius by wheel deflection angle like a vehicle, a similar effect can be achieved by adjusting the output torque of the mop. That is, when turning, the second drive component is controlled to provide a tenth torque to the mop to drive the mop to rotate in the first direction.

[0202] It should be noted that the eighth torque is usually 0. In this application embodiment, the magnitude of the ninth torque and the eighth torque are not specifically limited. In this application, the eighth torque is provided to the inner drive wheel and the ninth torque is provided to the outer drive wheel by controlling the first drive assembly. Only the magnitude of the ninth torque and the eighth torque are adjusted, and the drive wheel is not controlled to rotate in the opposite direction.

[0203] It should also be noted that the definition of the tenth torque is similar to that of the first torque, that is, the direction of the tenth torque corresponds to the first direction. For example, if the first direction is forward rotation, then the tenth torque is forward torque; if the first direction is reverse rotation, then the tenth torque is reverse torque. Furthermore, the magnitude of the tenth torque can be adapted and adjusted based on the type of cleaning task and / or scenario requirements. This application embodiment does not specifically limit the magnitude of the tenth torque.

[0204] Therefore, by rationally distributing the torque of the inner and outer drive wheels, the cleaning robot can more flexibly complete various turning maneuvers, improving its mobility in confined spaces. This torque difference design between the inner and outer drive wheels helps maintain the robot's balance and stability during turns, reducing the risk of tipping over and slipping. During turns, by adjusting the output torque of the mop, the cleaning robot can gain additional control force. This method compensates for the lack of wheel yaw angle adjustment capability, allowing it to adapt more flexibly to different turning radii and improving maneuverability.

[0205] Optionally, the method also includes:

[0206] After determining that the scenario requires turning, the turning requirements of the cleaning robot are then determined.

[0207] The turning radius of the cleaning robot is determined based on the steering requirements, and the tenth torque provided by the second drive component to the mop is determined based on the turning radius.

[0208] The tenth torque varies depending on the turning radius.

[0209] For example, cleaning robots typically turn by adjusting the rotational speed difference between their inner and outer drive wheels, i.e., by adjusting the turning radius to achieve differential steering. Figure 10 This is a schematic diagram illustrating the state of a cleaning robot in differential steering mode, as provided in an embodiment of this application. Figure 10 As shown in Figure B, the tracked mop can assist in increasing the turning radius when turning. Accelerating the rotation of the tracked mop during a turn, i.e., providing a larger torque to the mop, can increase the turning radius. Figure 10 As shown in Figure A, the deceleration tracked mop rotates, that is, it provides a smaller torque to the mop, which can reduce the turning radius.

[0210] Optionally, the tenth torque supplied by the second drive component to the mop can be controlled. This tenth torque is a reverse torque. In this case, the turning radius can be reduced even without controlling the mop to reverse.

[0211] In this step, after determining that the scenario requirement is a turning scenario, the specific turning requirements of the cleaning robot can be further determined, such as the turning direction and the required turning angle. Then, based on the turning requirements, the turning radius required by the cleaning robot is calculated. Based on the calculated turning radius, the tenth torque provided by the second drive component to the mop is determined.

[0212] The turning radius refers to the curvature of the path of the cleaning robot during turning, which can affect the compactness and speed of the cleaning robot's turning.

[0213] Optionally, in this application, the steering of the cleaning robot can also be adjusted in other ways, such as by changing the speed of the mop, or by using Mecanum wheels or omnidirectional wheels, so that the cleaning robot can move in any direction without changing its orientation, including lateral movement and rotation.

[0214] Therefore, by adjusting the torque output of the mop according to the turning radius, the cleaning robot can achieve more precise steering control. Since different turning radii correspond to different torque settings, the cleaning robot can flexibly adapt to various turning requirements. By dynamically adjusting the torque of the mop, the cleaning robot can optimize its turning performance and ensure smooth and efficient movement in turns of different radii, especially in narrow spaces or environments that require frequent turns.

[0215] Optionally, the cleaning robot turns inward to one side and outward to the opposite side; the drive wheels include at least an inner drive wheel and an outer drive wheel; the mop has a first position and a second position, in which the mop contacts the cleaning surface, and in the second position, the mop is spaced a first distance from the cleaning surface; according to the scenario requirements, the drive mode of the drive component and the cleaning component is determined, and the operating state of the cleaning robot is controlled based on the drive mode, including:

[0216] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the mop is controlled to be in the second position.

[0217] The ninth torque is greater than the eighth torque.

[0218] In some embodiments, during the turning process of the cleaning robot, the mop is adjusted to a second position by control, so that it is spaced a first distance from the cleaning surface. This can reduce friction and resistance during turning and prevent unnecessary friction and dirt spread of the mop on the cleaning surface during turning.

[0219] In other embodiments, during the turning process of the cleaning robot, the mop is adjusted to a first position by control so that it contacts the cleaning surface. Furthermore, the magnitude and direction of the tenth torque provided to the mop by the second drive component are adjusted to drive the mop to rotate in the first direction, thereby achieving flexible adjustment of the turning radius.

[0220] Therefore, by rationally distributing the torque of the inner and outer drive wheels, the cleaning robot can more flexibly complete various turning maneuvers, improving its mobility in confined spaces. It can also control the mop to a secondary position, lifting it away from the cleaning surface, reducing friction during turns, lowering energy consumption, and preventing unnecessary wear on the cleaning surface. Furthermore, lifting the mop during turns prevents dirt from spreading due to mop friction, maintaining cleaning effectiveness.

[0221] Optionally, based on scenario requirements, the driving modes of the driving and cleaning components are determined, and the operating status of the cleaning robot is controlled based on the driving modes, including:

[0222] When the scenario requirement is determined to be a backward escape scenario, the first drive component is controlled to provide an eleventh torque to the drive wheel to drive the drive wheel to rotate in the second direction, and the second drive component is controlled to provide a twelfth torque to the mop to drive the mop to rotate in the second direction.

[0223] For example, when the cleaning robot recognizes the current scene as a backward escape scenario, by controlling the drive wheel and the mop to move backward synchronously, the cleaning robot can more effectively get out of the predicament while maintaining stability. Specifically, the first drive component is controlled to provide an eleventh torque to the drive wheel to drive the drive wheel to rotate in the second direction, i.e., the backward direction, and the second drive component is controlled to provide a twelfth torque to the mop to drive the mop to rotate in the backward direction. This synchronous backward movement of the mop helps to reduce friction and resistance and prevents unnecessary friction of the mop on the cleaning surface during the backward movement.

[0224] Among them, the eleventh and twelfth torques are in the opposite direction to the normal forward movement, which can help the cleaning robot retreat from a predicament.

[0225] It should be noted that the definitions of the eleventh torque, twelfth torque, and second torque are similar, that is, the directions of the eleventh torque and twelfth torque correspond to the second direction. For example, if the second direction is forward rotation, then the eleventh torque and twelfth torque are forward torques; if the second direction is reverse rotation, then the eleventh torque and twelfth torque are reverse torques. Furthermore, the magnitudes of the eleventh torque and twelfth torque can be adapted and adjusted based on the needs of the scenario. This application embodiment does not specifically limit the magnitudes of the eleventh torque and twelfth torque.

[0226] Understandably, taking a cleaning robot as an example, and a tracked mop as an example, if the robot gets stuck at the edge of an obstacle such as a carpet or threshold, it will trigger a reversing maneuver to get out of trouble. That is, the drive wheels reverse and drive the robot backward to move it from the obstacle to a clean, flat surface. If the drive wheels cannot complete the reversing maneuver, the tracked mop can intervene by reversing. That is, the second drive component is controlled to provide reverse torque to the tracked mop to provide additional backward propulsion until it successfully reverses.

[0227] This synchronized backward movement of the drive wheels and mop allows the cleaning robot to quickly retreat, escaping predicaments and preventing it from getting stuck in obstacles or confined spaces for extended periods. This timely backward movement also prevents potential damage caused by jamming, protecting the integrity of the equipment. Furthermore, intelligent control of the backward movement allows the cleaning robot to extricate itself from difficult situations quickly, reducing unnecessary energy consumption, improving overall energy efficiency, and minimizing time spent in predicaments. This reduces wear and tear on the drive and cleaning components, thus extending the equipment's lifespan.

[0228] Optionally, based on the type of cleaning task and / or scenario requirements, the driving mode of the drive component and cleaning component is determined, and the operating state of the cleaning robot is controlled based on the driving mode, including:

[0229] When the cleaning task is determined to be cleaning a dirty area or the scenario requires obstacle crossing, the first drive component is controlled to provide a thirteenth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the mop is controlled to be in the second position.

[0230] For example, when the cleaning robot identifies the current task as cleaning a dirty area or overcoming an obstacle, it can control the movement of the drive wheels and the mop. Specifically, to ensure the cleaning robot can provide sufficient power for cleaning in dirty areas or for overcoming obstacles, the first drive assembly can be controlled to provide a thirteenth torque to the drive wheels, causing them to rotate in a first direction, and the mop can be adjusted to a second position, placing it a first distance away from the cleaning surface. In this way, raising the mop reduces wear on the mop during cleaning and prevents unnecessary wear on the cleaning surface under high friction. In obstacle-crossing scenarios, raising the mop reduces friction and resistance, helping the cleaning robot to overcome obstacles more easily, especially when traversing low obstacles and climbing slopes.

[0231] It should be noted that the definition of the thirteenth torque is similar to that of the first torque, that is, the direction of the thirteenth torque corresponds to the first direction. For example, if the first direction is forward rotation, then the thirteenth torque is forward torque; if the first direction is reverse rotation, then the thirteenth torque is reverse torque. Furthermore, the magnitude of the thirteenth torque can be adapted and adjusted based on the needs of the scenario. This application does not specifically limit the magnitude of the thirteenth torque in its embodiments.

[0232] Therefore, by adjusting the drive mode and mop position as described above, real-time control of the cleaning robot's operating status can ensure appropriate power and stability in different scenarios, making it easier for the cleaning robot to overcome obstacles. This adjustment helps improve the cleaning robot's maneuverability and obstacle-crossing ability. By adjusting the torque of the drive wheels and the mop position, the cleaning robot can more effectively meet the cleaning needs of dirty areas and the movement needs of obstacle-crossing scenarios. By reducing the contact between the mop and the cleaning surface, energy consumption can also be reduced, as no additional power is needed to overcome the friction of the mop, thus making it easier for the cleaning robot to overcome obstacles and reducing energy consumption. In addition, reducing mop wear and unnecessary friction also helps to extend the service life of the mop and other mechanical components.

[0233] Understandably, this drive mode and mop position adjustment enable the cleaning robot to flexibly cope with various complex environmental conditions, enhancing its adaptability and functionality.

[0234] Optionally, the method also includes:

[0235] When the scenario requirement is determined to be an obstacle crossing scenario, the drive wheel is controlled to be in the fourth position to cross the obstacle.

[0236] For example, when the cleaning robot recognizes the current scene as an obstacle crossing scenario, it can control the drive wheels to be adjusted to the fourth position, so that they are separated from the cleaning surface by a second distance, thereby raising the drive wheels, increasing the ground clearance of the cleaning robot, reducing the direct contact between the drive wheels and obstacles, and making it easier to cross obstacles.

[0237] Therefore, during obstacle crossing, raising the drive wheels increases ground clearance, allowing the cleaning robot to more easily traverse various obstacles and improving its ability to navigate complex terrain. Raising the drive wheels also helps maintain the robot's balance and stability, reducing the risk of tipping over and slipping. This drive mode and the adjustment of the drive wheel position enable the cleaning robot to flexibly cope with various complex environmental conditions, especially in scenarios requiring the crossing of tall obstacles, enhancing its adaptability and functionality. Optimizing the obstacle crossing process reduces stuttering or malfunctions caused by obstacles, thereby improving the user experience.

[0238] As can be seen from the above embodiments, this application also provides a tracked sweeping robot that is superior to the prior art in terms of structural design and control logic. It can take into account the comprehensive performance of high performance, low energy consumption and strong cleaning power, and thus has broad application prospects and industrial value.

[0239] In the foregoing embodiments, the control method for 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 aforementioned 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.

[0240] For example, Figure 11 This application provides a schematic diagram of the structure of a control device for a cleaning robot, as shown in the embodiment. Figure 11 As shown, the cleaning robot includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor, and the cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The control device 1100 of the cleaning robot includes:

[0241] The determination module 1101 is used to determine the type of cleaning task and / or the scene requirements of the current area to be cleaned during the cleaning robot's performance of the cleaning task.

[0242] The control module 1102 is used to determine the driving mode of the drive component and the cleaning component according to the type of cleaning task and / or scenario requirements, and control the operating status of the cleaning robot based on the driving mode.

[0243] Optionally, the mop can be a tracked mop or a roller mop.

[0244] Optionally, the drive mode is used to adjust the output torque of the first drive motor and the second drive motor, and / or to adjust the power of the first drive motor and the second drive motor to be different.

[0245] Optional, control module 1102, specifically used for:

[0246] When the cleaning task is determined to be cleaning a heavily soiled area, the first drive assembly is controlled to provide a first torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive assembly is controlled to provide a second torque to the mop to drive the mop to rotate in a second direction.

[0247] The first direction and the second direction are opposite.

[0248] Optional, control module 1102, specifically used for:

[0249] When the cleaning task is determined to be cleaning a wet stained area, the first drive assembly is controlled to provide a third torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive assembly is controlled not to provide torque to the mop so that the mop is in a stopped state.

[0250] Optional, control module 1102, specifically used for:

[0251] When the scenario requirement is determined to be an obstacle crossing scenario, the first drive component is controlled to provide a fourth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the second drive component is controlled to provide a fifth torque to the mop to drive the mop to rotate in the first direction.

[0252] Optional, control module 1102, specifically used for:

[0253] When the scenario requirement is determined to be an obstacle crossing scenario, and the height of the obstacle to be crossed is greater than the first threshold, the first drive component is controlled to provide a sixth torque for a preset duration to the drive wheel, and the second drive component is controlled to provide a seventh torque for a preset duration to the mop.

[0254] Among them, the preset duration is less than the second threshold, and the sixth and seventh torques are opposite in direction to the original torque corresponding to the cleaning robot when performing the cleaning task.

[0255] Optionally, the cleaning robot turns inward to one side and outward to the opposite side; the drive wheels include at least an inner drive wheel and an outer drive wheel; the control module 1102 is specifically used for:

[0256] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the second drive component is controlled to provide a tenth torque to the mop, so as to drive the mop to rotate in the first direction.

[0257] The ninth torque is greater than the eighth torque.

[0258] Optionally, the control device 1100 of the cleaning robot further includes a determining unit, which is used for:

[0259] After determining that the scenario requires turning, the turning requirements of the cleaning robot are then determined.

[0260] The turning radius of the cleaning robot is determined based on the steering requirements, and the tenth torque provided by the second drive component to the mop is determined based on the turning radius.

[0261] The tenth torque varies depending on the turning radius.

[0262] Optionally, the cleaning robot turns inward to one side and outward to the opposite side; the drive wheels include at least an inner drive wheel and an outer drive wheel; the mop has a first position and a second position, in the first position the mop is in contact with the cleaning surface, and in the second position the mop is spaced a first distance from the cleaning surface; the control module 1102 is specifically used for:

[0263] When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the mop is controlled to be in the second position.

[0264] The ninth torque is greater than the eighth torque.

[0265] Optional, control module 1102, specifically used for:

[0266] When the scenario requirement is determined to be a backward escape scenario, the first drive component is controlled to provide an eleventh torque to the drive wheel to drive the drive wheel to rotate in the second direction, and the second drive component is controlled to provide a twelfth torque to the mop to drive the mop to rotate in the second direction.

[0267] Optionally, the mop has a first position and a second position, in which the mop is in contact with the cleaning surface, and in the second position, the mop is spaced a first distance from the cleaning surface; the control module 1102 is specifically used for:

[0268] When the cleaning task is determined to be cleaning a dirty area or the scenario requires obstacle crossing, the first drive component is controlled to provide a thirteenth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the mop is controlled to be in the second position.

[0269] Optionally, the drive wheel has a third position and a fourth position, in which the drive wheel contacts the cleaning surface, and in the fourth position, the drive wheel is spaced a second distance from the cleaning surface; the control device 1100 of the cleaning robot also includes a control unit, which is used for:

[0270] When the scenario requirement is determined to be an obstacle crossing scenario, the drive wheel is controlled to be in the fourth position to cross the obstacle.

[0271] Optionally, the cleaning robot may also include a follower component; the follower component may include casters and / or propulsion wheels.

[0272] Optionally, the cleaning components also include: a drive roller, a follower roller, and a reduction module; a second drive motor provides rotational speed to the drive roller through the reduction module to drive the mop movement.

[0273] It should be noted that the specific implementation principle and effect of the control device 1100 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0274] This application also provides a schematic diagram of the structure of an electronic device. Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 12 As shown, the electronic device may include: a processor 1201 and a memory 1202 communicatively connected to the processor 1201; the memory 1202 stores a computer program; the processor 1201 executes the computer program stored in the memory 1202, causing the processor 1201 to perform the method described in any of the above embodiments.

[0275] The memory 1202 and the processor 1201 can be connected via bus 1203.

[0276] 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.

[0277] 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.

[0278] 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.

[0279] 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.

[0280] 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.

[0281] 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.

[0282] 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.

[0283] 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.

[0284] The memory may include high-speed random access memory (RAM) or 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.

[0285] 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.

[0286] 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.

[0287] 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 an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0288] 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.

[0289] 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.

[0290] 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.

[0291] 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.

[0292] 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 control method for a cleaning robot, characterized in that, The cleaning robot includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor. The cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The method includes: During the cleaning robot's execution of a cleaning task, the type of the cleaning task and / or the scene requirements of the current area to be cleaned are determined. Based on the type of cleaning task and / or the requirements of the scenario, determine the driving mode of the driving component and the cleaning component, and control the operating state of the cleaning robot based on the driving mode.

2. The method according to claim 1, characterized in that, The mop is either a tracked mop or a roller mop.

3. The method according to claim 1, characterized in that, The driving mode is used to adjust the output torque of the first drive motor and the second drive motor, and / or to adjust the power of the first drive motor and the second drive motor to be different.

4. The method according to claim 3, characterized in that, The step of determining the drive component and the drive mode of the cleaning component according to the type of the cleaning task, and controlling the operating state of the cleaning robot based on the drive mode, includes: When it is determined that the cleaning task is a heavily soiled area cleaning, the first drive assembly is controlled to provide a first torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive assembly is controlled to provide a second torque to the mop to drive the mop to rotate in a second direction. The first direction and the second direction are opposite.

5. The method according to claim 3, characterized in that, The step of determining the drive component and the drive mode of the cleaning component according to the type of the cleaning task, and controlling the operating state of the cleaning robot based on the drive mode, includes: When the cleaning task is determined to be cleaning a wet stain area, the first drive assembly is controlled to provide a third torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive assembly is controlled not to provide torque to the mop so that the mop is in a stopped state.

6. The method according to claim 3, characterized in that, The step of determining the driving mode of the driving component and the cleaning component according to the scenario requirements, and controlling the operating state of the cleaning robot based on the driving mode, includes: When the scenario requirement is determined to be an obstacle crossing scenario, the first drive component is controlled to provide a fourth torque to the drive wheel to drive the drive wheel to rotate in a first direction, and the second drive component is controlled to provide a fifth torque to the mop to drive the mop to rotate in the first direction.

7. The method according to claim 3, characterized in that, The step of determining the driving mode of the driving component and the cleaning component according to the scenario requirements, and controlling the operating state of the cleaning robot based on the driving mode, includes: When it is determined that the scenario requirement is an obstacle crossing scenario, and the height of the obstacle to be crossed is greater than the first threshold, the first drive component is controlled to provide a sixth torque for a preset duration to the drive wheel, and the second drive component is controlled to provide a seventh torque for a preset duration to the mop. Wherein, the preset duration is less than the second threshold, and the sixth torque and the seventh torque are opposite in direction to the original torque corresponding to the cleaning robot when performing the cleaning task.

8. The method according to claim 3, characterized in that, The cleaning robot turns inwards to one side and outwards to the opposite side. The drive wheels include at least an inner drive wheel and an outer drive wheel. The process of determining the drive mode of the drive assembly and the cleaning assembly based on the scenario requirements, and controlling the operating state of the cleaning robot based on the drive mode, includes: When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the second drive component is controlled to provide a tenth torque to the mop, so as to drive the mop to rotate in the first direction; The ninth torque is greater than the eighth torque.

9. The method according to claim 8, characterized in that, The method further includes: After determining that the scenario requirement is a turning scenario, the turning requirement of the cleaning robot is determined; The turning radius of the cleaning robot is determined based on the steering requirements, and the tenth torque provided by the second drive component to the mop is determined based on the turning radius. The tenth torque varies depending on the turning radius.

10. The method according to claim 3, characterized in that, The cleaning robot turns inward to one side and outward to the opposite side. The drive wheels include at least an inner drive wheel and an outer drive wheel. The mop has a first position and a second position. In the first position, the mop is in contact with the cleaning surface. In the second position, the mop is spaced a first distance from the cleaning surface. The step of determining the driving mode of the driving component and the cleaning component according to the scenario requirements, and controlling the operating state of the cleaning robot based on the driving mode, includes: When the scenario requirement is determined to be a turning scenario, the first drive component is controlled to provide an eighth torque to the inner drive wheel and a ninth torque to the outer drive wheel, and the mop is controlled to be in the second position. The ninth torque is greater than the eighth torque.

11. The method according to claim 3, characterized in that, The step of determining the driving mode of the driving component and the cleaning component according to the scenario requirements, and controlling the operating state of the cleaning robot based on the driving mode, includes: When the scenario requirement is determined to be a backward escape scenario, the first drive component is controlled to provide an eleventh torque to the drive wheel to drive the drive wheel to rotate in the second direction, and the second drive component is controlled to provide a twelfth torque to the mop to drive the mop to rotate in the second direction.

12. The method according to claim 1, characterized in that, The mop has a first position and a second position. At the first position, the mop is in contact with the cleaning surface, and at the second position, the mop is spaced a first distance from the cleaning surface. The step of determining the driving mode of the drive component and the cleaning component according to the type of the cleaning task and / or the scenario requirements, and controlling the operating state of the cleaning robot based on the driving mode, includes: If the cleaning task is determined to be cleaning a dirty area or the scenario requires obstacle crossing, the first drive component is controlled to provide a thirteenth torque to the drive wheel to drive the drive wheel to rotate in the first direction, and the mop is controlled to be in the second position.

13. The method according to claim 1, characterized in that, The drive wheel has a third position and a fourth position. In the third position, the drive wheel is in contact with the cleaning surface, and in the fourth position, the drive wheel is spaced a second distance from the cleaning surface. The method further includes: If the scenario requirement is determined to be an obstacle crossing scenario, the drive wheel is controlled to be in the fourth position to cross the obstacle.

14. The method according to any one of claims 1-13, characterized in that, The cleaning robot also includes a follower component; the follower component includes casters and / or propulsion wheels.

15. The method according to any one of claims 1-13, characterized in that, The cleaning assembly further includes: a drive roller, a follower roller, and a reduction module; the second drive motor provides a rotational speed to the drive roller through the reduction module to drive the mop movement.

16. A control device for a cleaning robot, characterized in that, The cleaning robot includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor. The cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The device includes: The determination module is used to determine the type of the cleaning task and / or the scene requirements of the current area to be cleaned during the process of the cleaning robot performing the cleaning task; The control module is used to determine the driving mode of the drive component and the cleaning component according to the type of the cleaning task and / or the requirements of the scenario, and control the operating state of the cleaning robot based on the driving mode.

17. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-15.

18. A cleaning robot, characterized in that, The cleaning robot includes a drive assembly and a cleaning assembly. The drive assembly includes at least a drive wheel and a first drive motor. The cleaning assembly includes at least a mop and a second drive motor. The first drive motor drives the drive wheel to move, and the second drive motor drives the mop to move. The cleaning robot is used to perform the method as described in any one of claims 1-15.

19. 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 1-15.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-15.

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