Cleaning robot and water supplementing method and control method thereof

Abstract

The invention relates to the technical field of cleaning equipment, and provides a cleaning robot and a water replenishing method and control method thereof, the cleaning robot comprises a mopping unit, a water tank, a solution tank, a liquid injection port and a first valve, the water tank is used for storing clean water and replenishing water to the mopping unit, and the solution tank is used for storing cleaning liquid. The first valve can independently control circulation of the water tank and the solution tank, and accurate supply of clear water and cleaning liquid is achieved. According to the control method, the position of a polluted area on a working path is recognized through the sensor assembly, and the cleaning robot is intelligently judged and controlled to execute the most suitable cleaning strategy in combination with different working modes (such as daily cleaning and deep cleaning). The use of the cleaning liquid can be intelligently adjusted according to requirements, the manual intervention requirement is greatly reduced, and the automation level and use convenience of the cleaning robot are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning robot and a water replenishing method and control method thereof. BACKGROUND

[0002] With the continuous progress of science and technology, self-cleaning equipment represented by a sweeping robot is increasingly popular and deeply involved in family life because of its significant advantages over traditional manual cleaning in terms of convenience and efficiency, and has become an important tool for liberating users' hands.

[0003] The existing mainstream sweeping robot products have relatively single cleaning mode design. Such robots are usually equipped with limited preset cleaning strategies, and cannot effectively identify or actively adapt to differentiated cleaning solutions when encountering different types of ground stains, especially stubborn stains that require special treatment such as dried liquid residues, sticky dirt, or deeply embedded dust. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a cleaning robot and a water replenishing method and control method thereof to improve the cleaning effect.

[0005] To achieve the above-mentioned purposes and other related purposes, the present application provides a cleaning robot, which comprises:

[0006] a mopping unit;

[0007] a water tank for containing clean water and replenishing water to the mopping unit;

[0008] a solution tank for containing cleaning liquid;

[0009] a liquid injection port for connecting a liquid replenishing unit of a cleaning base station, the liquid injection port being in communication with the water tank and the solution tank through a liquid injection waterway;

[0010] a first valve provided in the liquid injection waterway, the first valve being configured to enable the liquid injection port to be switched to individually communicate with the water tank or the solution tank.

[0011] In an optional embodiment of the present application, an overflow port is further included, which is in communication with the water tank and / or the solution tank.

[0012] In an optional embodiment of the present application, the overflow port is arranged above a wiping member of the mopping unit, and / or one overflow port is respectively arranged corresponding to the water tank and the solution tank.

[0013] In an optional embodiment of the present application, a second valve, a liquid spraying port and a water supplement port are further included, the liquid spraying port is configured to spray liquid to the contaminated area, the water supplement port is configured to supplement liquid to the mop of the mopping unit, and the second valve is configured to connect the water supplement port with the water tank and the liquid spraying port with the solution tank.

[0014] In an optional embodiment of the present application, the second valve is configured to connect the liquid spraying port with the water tank.

[0015] The present application further provides a cleaning robot water supplement method, which is applied to the cleaning base station and the cleaning robot, and comprises the following steps:

[0016] obtaining the water level of the water tank and the solution tank;

[0017] confirming the first liquid supplement amount of the water tank and the second liquid supplement amount of the solution tank according to the water level;

[0018] controlling the first valve to connect the liquid injection port with the water tank or the solution tank;

[0019] controlling the base station to supplement liquid to the water tank and the solution tank according to the first liquid supplement amount and the second liquid supplement amount.

[0020] In an optional embodiment of the present application, the step of controlling the base station to supplement liquid to the water tank and the solution tank according to the first liquid supplement amount and the second liquid supplement amount comprises:

[0021] confirming the first liquid supplement time and the second liquid supplement time according to the first liquid supplement amount and the second liquid supplement amount;

[0022] controlling the base station to supplement liquid to the water tank and the solution tank according to the first liquid supplement time and the second liquid supplement time.

[0023] The present application further provides a cleaning robot control method, which is applied to the cleaning robot, and comprises the following steps:

[0024] obtaining the working time of the mop;

[0025] supplementing liquid to the mop when the working time reaches a preset threshold.

[0026] In an optional embodiment of the present application, the step of supplementing liquid to the mop comprises:

[0027] controlling the second valve to connect the water tank with the water supplement port and starting the water pump to supplement liquid to the mop.

[0028] The application further provides a cleaning robot control method applied to the cleaning robot, and the cleaning robot control method comprises the following steps:

[0029] acquiring a working path of the cleaning robot;

[0030] controlling the cleaning robot to walk along the working path;

[0031] acquiring a pollution area position and a current pollution state of a pollution area through the sensor assembly;

[0032] spraying cleaning liquid or clean water to the pollution area through the spray solution port according to the pollution area position and the current pollution state.

[0033] In an optional embodiment of the application, the step of spraying cleaning liquid or clean water to the pollution area through the spray solution port according to the pollution area position and the current pollution state comprises the following steps:

[0034] controlling the second valve to be in communication with the solution tank and the spray solution port according to the current pollution state to spray cleaning liquid or clean water to the pollution area.

[0035] The application further provides a cleaning robot control method applied to the cleaning robot, and the cleaning robot control method comprises the following steps:

[0036] acquiring a working path of the cleaning robot;

[0037] controlling the cleaning robot to walk along the working path;

[0038] acquiring a pollution area position and a current pollution state of a pollution area through the sensor assembly;

[0039] spraying cleaning liquid or clean water to the pollution area through the spray solution port according to the pollution area position and the current pollution state.

[0040] In an optional embodiment of the application, the step of spraying cleaning liquid or clean water to the pollution area through the spray solution port according to the pollution area position and the current pollution state comprises the following steps:

[0041] controlling the second valve to be in communication with the solution tank and the spray solution port according to the pollution area position and the current pollution state to spray cleaning liquid or clean water to the pollution area.

[0042] The application further provides a cleaning robot control method applied to the cleaning robot, and the cleaning robot control method comprises the following steps:

[0043] acquiring a working mode and a working path of the cleaning robot;

[0044] controlling the cleaning robot to walk along the working path;

[0045] acquiring a pollution area position and a cleaning state of the pollution area on the working path through the sensor assembly;

[0046] controlling the cleaning assembly to mop clean the ground and the cleaning liquid assembly to spray cleaning liquid or water according to the working mode, the working path, and the pollution area position and the cleaning state of the pollution area.

[0047] In an optional embodiment of the present application, the working mode comprises a first mode and a second mode, and the step of controlling the cleaning robot to work according to the working path and the pollution area position in the first mode and the second mode comprises:

[0048] controlling the cleaning robot to work according to whether the remaining working path passes through the pollution area when the cleaning robot passes through the pollution area.

[0049] In an optional embodiment of the present application, the step of controlling the cleaning robot to work according to whether the remaining working path passes through the pollution area in the first mode comprises:

[0050] controlling the cleaning robot to work along the working path;

[0051] controlling the cleaning assembly to mop the pollution area for primary cleaning when the cleaning robot passes through the pollution area position;

[0052] judging whether the remaining working path passes through the pollution area after the primary cleaning is completed;

[0053] if yes, controlling the cleaning robot to continue working along the remaining working path and returning to the step of judging whether the remaining working path passes through the pollution area when the pollution area is passed through again;

[0054] if no, acquiring a current cleaning state of the pollution area through the sensor assembly, judging whether the pollution area is clean according to the current cleaning state, if no, controlling the cleaning liquid assembly to spray cleaning liquid or water to the pollution area for cleaning, returning to the step of acquiring the current cleaning state of the pollution area through the sensor assembly, and if yes, controlling the cleaning robot to continue working along the remaining working path.

[0055] In an optional embodiment of the present application, the step of controlling the cleaning robot to work according to whether the remaining working path passes through the pollution area in the second mode comprises:

[0056] controlling the cleaning robot to work along the working path;

[0057] controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for preliminary cleaning when the cleaning robot passes through the contaminated area;

[0058] judging whether the remaining working path passes through the contaminated area after the preliminary cleaning is completed;

[0059] if yes, controlling the cleaning robot to continue working along the remaining working path and returning to the step of judging whether the remaining working path passes through the contaminated area when the contaminated area is passed through again;

[0060] if no, acquiring the current cleaning state of the contaminated area through the sensor assembly, judging whether the contaminated area is clean according to the current cleaning state, if no, controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area and returning to the step of acquiring the current cleaning state of the contaminated area through the sensor assembly, and if yes, controlling the cleaning robot to continue working along the remaining working path.

[0061] In an optional embodiment of the present application, the working mode includes a third mode, and the step of controlling the cleaning robot to work according to the working path and the position of the contaminated area in the third mode includes:

[0062] controlling the cleaning robot to work along the working path;

[0063] controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning when the cleaning robot passes through the position of the contaminated area;

[0064] controlling the cleaning robot to a cleaning base station to clean the cleaning assembly after the cleaning is completed;

[0065] controlling the cleaning robot to return to the position of the contaminated area and acquire the current cleaning state of the contaminated area through the sensor assembly after the cleaning is completed;

[0066] judging whether the contaminated area is clean according to the current cleaning state;

[0067] if no, controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning, returning to the step of acquiring the current cleaning state of the contaminated area through the sensor assembly, and controlling the cleaning robot to continue working along the remaining working path;

[0068] if yes, controlling the cleaning robot to work along the remaining working path.

[0069] In an optional embodiment of the present application, the working mode comprises a fourth mode, and in the fourth mode, the working steps of the cleaning robot are controlled according to the working path and the position of the contaminated area, comprising:

[0070] controlling the cleaning robot to work along the working path;

[0071] when the cleaning robot is about to pass through the contaminated area, controlling the cleaning robot to bypass the contaminated area and work along the remaining working path;

[0072] after the working along the remaining working path is completed, controlling the cleaning robot to the cleaning base station to clean the cleaning assembly;

[0073] after the cleaning is completed, controlling the cleaning robot to return to the position of the contaminated area to control the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning and acquire the current cleaning state of the contaminated area through the sensor assembly;

[0074] controlling the cleaning robot to the cleaning base station to clean the cleaning assembly;

[0075] judging whether it is clean according to the current cleaning state:

[0076] if not, returning to the step of controlling the cleaning robot to return to the position of the contaminated area to control the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning and acquire the current cleaning state of the contaminated area through the sensor assembly;

[0077] if yes, completing the task.

[0078] In an optional embodiment of the present application, in the direction of travel of the cleaning robot, the sensor assembly is arranged at one end of the cleaning robot, and the spray opening in the cleaning liquid assembly and the cleaning assembly are arranged at the other end of the cleaning robot.

[0079] In an optional embodiment of the present application, the step of controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning and acquire the current cleaning state of the contaminated area through the sensor assembly comprises:

[0080] controlling the cleaning robot to turn around to make the sensor assembly face the contaminated area to acquire the current cleaning state of the contaminated area;

[0081] judging whether it is clean according to the current cleaning state:

[0082] If not, the cleaning robot is controlled to turn around and move to the position of the contaminated area, the cleaning liquid component is controlled to spray cleaning liquid or water to clean the contaminated area, and the step of controlling the cleaning robot to turn around so that the sensor component faces the contaminated area to obtain the current cleaning state of the contaminated area is returned.

[0083] If yes, the cleaning robot is controlled to continue moving.

[0084] The current cleaning state of the contaminated area The technical effect of the present application is that by providing a separate solution tank dedicated to storing cleaning liquid and cooperating with the liquid injection waterway design controlled by the first valve, clean water and cleaning liquid can be independently, on-demand, and accurately supplemented. Based on different working modes (such as daily cleaning, light wet mopping, deep cleaning / disinfection, and only stubborn stain points) and intelligent judgment of the position of the contaminated area, the control system can flexibly call water tank (clean water) and solution tank (cleaning liquid) resources to execute the most suitable cleaning strategy. By automatically identifying the contaminated area and applying cleaning liquid accordingly, the need for manual intervention (such as manual point cleaning and frequent replacement of water tank mixed liquid) is greatly reduced, truly liberating the user's hands and improving the overall convenience and automation level of use. BRIEF DESCRIPTION OF DRAWINGS

[0085] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0086] Figure 1 The internal structure diagram of the cleaning robot in an embodiment of the present application;

[0087] Figure 2 The interface diagram of the cleaning robot in an embodiment of the present application;

[0088] Figure 3 The working path diagram of the cleaning robot in a second mode in an embodiment of the present application;

[0089] Figure 4 The working path diagram of the cleaning robot in a fourth mode in an embodiment of the present application.

[0090] Explanation of reference numerals: 1, contaminated area; 10, mopping unit; 20, water tank; 30, solution tank; 40, liquid injection port; 50, first valve; 60, overflow port; 70, solution injection port; 80, second valve. DETAILED DESCRIPTION

[0091] Following make the embodiments of the present application by specific, the person skilled in the art can easily understand the other advantages and efficacy of the present application from the disclosure of the specification.The present application can also be implemented or applied by another different embodiment, and the details in the specification can be variously modified or changed based on different views and applications without departing from the spirit of the present application.It should be noted that the following examples and features in the examples can be combined with each other without conflict.

[0092] It should be noted that the diagrams provided in the following examples only illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the diagrams, not drawn according to the number, shape and size of the components when actually implemented, the type, number and ratio of each component can be arbitrarily changed when actually implemented, and the component layout type can also be more complex.

[0093] With the rapid development of science and technology, the household appliance industry plays an increasingly important role in improving the quality of life. In particular, as an intelligent household appliance product, the sweeping robot gradually replaces the traditional manual cleaning method and becomes an indispensable cleaning tool in modern families, with its efficient and convenient characteristics. The sweeping robot greatly reduces the cleaning workload of people and improves the cleanliness of the living environment through automatic navigation, accurate positioning and autonomous cleaning functions, and has been widely applied.

[0094] However, although the existing sweeping robot performs well in daily cleaning tasks, most robots still use a single mode for cleaning operation. This mode is usually based on the standard requirements of floor cleaning and uses the conventional sweeping and suction method, which is suitable for general cleaning. However, when facing stubborn stains or deep dust, this single cleaning mode often cannot provide ideal cleaning effect. For stubborn stains, the traditional cleaning mode is obviously insufficient in removal effect, which makes the robot unable to achieve the user's expected efficient cleaning standard.

[0095] Therefore, how to improve the ability of the sweeping robot in dealing with stubborn stains has become an important direction of current technical research and development. By continuously optimizing intelligent algorithms, increasing various cleaning modes, improving cleaning intensity and introducing more flexible cleaning methods, the sweeping robot is expected to achieve more comprehensive and efficient cleaning effect to meet the diversified needs in different family environments.

[0096] To achieve the above object and other related objects, as shown in Figure 1 , 2 A cleaning robot is provided, which includes a mopping unit 10, a water tank 20, a solution tank 30, a liquid injection port 40 and a first valve 50.

[0097] The mopping unit 10 is the robot's execution component responsible for directly contacting the floor for scrubbing or wetting. Its role is to apply clean water or cleaning solution to the floor and perform cleaning through wiping action. The water tank 20 is a water storage container. Its role is to specifically store clean water. It is responsible for providing moisture to the mopping unit 10 for regular wet mopping or wetting.

[0098] The solution tank 30 is another separate storage container. Its role is to specifically store cleaning solution or concentrated detergent (separate from the clean water in the water tank 20).

[0099] As shown in Figure 2 The solution inlet 40 and solution waterway are an access point (solution inlet 40) on the cleaning robot and a piping system (solution waterway) connecting this point to the internal water tank 20 and solution tank 30.

[0100] The solution inlet 40's role is to allow clean water or cleaning solution from outside (usually the replenishment unit of the companion cleaning base station) to enter the robot's interior.

[0101] The solution waterway's role is to be responsible for transporting the liquid coming from the solution inlet 40 to the specific container.

[0102] The first valve 50 is a switching device installed on the solution waterway (piping). Its role is to precisely control the flow direction. It determines whether the liquid coming from the solution inlet 40 flows solely to the water tank 20 (only replenishing water) or solely to the solution tank 30 (only replenishing cleaning solution). The first valve 50 ensures that water can only enter the water tank 20 and cleaning solution can only enter the solution tank 30, completely separated during the replenishment process, without mixing into the wrong container.

[0103] The above solution physically separates the liquids required for cleaning - ordinary clean water (for wetting, regular scrubbing, rinsing) and cleaning solution / concentrated detergent (for enhanced stain removal, handling stubborn stains). This avoids potential problems caused by mixed storage (such as diluting the concentration of cleaning solution with clean water, the risk of residue or corrosion caused by cleaning solution to some scenes that only require clean water, stability problems during long-term storage). This separation is the premise for supporting the coexistence of the two basic function modes of "pure water wet mopping" and "add cleaning solution scrubbing".

[0104] Ensuring that the water tank 20 always contains clean water and the solution tank 30 contains pure cleaning solution is fundamental to achieving two independent cleaning modes. Users or base stations can easily replenish the required liquids (simply by connecting to the inlet 40) without manually opening the internal container lids for separate filling, significantly improving the user experience. Precise flow control is key to the system's expected operation. The first valve 50 ensures that cleaning solution is not mistakenly added when clean water is needed (leading to waste or even equipment damage), or that clean water is not mistakenly added when cleaning solution is needed (resulting in insufficient concentration and affecting cleaning effectiveness). This independently and precisely replenishable structure allows for subsequent integration with the base station, enabling the base station to intelligently determine whether to add clean water or cleaning solution based on task requirements (such as routine cleaning or deep cleaning).

[0105] like Figure 1 As shown, in an optional embodiment of the present invention, an overflow port 60 is also included, which is connected to the water tank 20 and / or the solution tank 30. This means that the overflow port 60 can be connected to only the water tank 20, only the solution tank 30, or both (with corresponding piping and control). Its function is to allow excess liquid to be discharged through this overflow port 60 when the liquid (clean water or cleaning fluid) inside the connected water tank 20 or solution tank 30 exceeds a preset maximum safe liquid level, preventing it from continuing to accumulate inside the tank. Whether it is the water tank 20 or the solution tank 30, if the liquid level rises abnormally during the filling process (e.g., through the automatic water and liquid replenishment function of the base station) or for other reasons, the overflow port 60 provides a safe release channel, avoiding the risk of excessive internal pressure or even rupture. More importantly, it prevents excessive water or cleaning fluid from leaking, spraying, or flowing back uncontrollably inside the robot, thereby protecting the robot's circuit boards, sensors, motors, and other critical internal electronic components from liquid immersion damage.

[0106] Specifically, each of the water tank 20 and solution tank 30 is equipped with an overflow port 60. Each overflow port 60 is only responsible for connecting to its paired storage tank (one overflow port 60 for water tank 20 and another overflow port 60 for solution tank 30). This means that each storage container has its own dedicated safety discharge channel. The independent overflow port 60 design completely eliminates the possibility of clean water and cleaning solution mixing in the overflow channel. Clean water overflowing from water tank 20 is discharged through its own overflow port 60, and cleaning solution overflowing from solution tank 30 is discharged through its independent overflow port 60.

[0107] like Figure 1As shown, in an optional embodiment of the present application, the overflow port 60 is arranged above the mopping unit 10. The entire robot design needs to ensure that when the robot is parked on the base station, the mopping unit is above the base station cleaning unit (usually referring to the cleaning tank or collection tray). In this way, once the overflow occurs, the liquid flowing out of the overflow port 60 will not flow inside the robot body, but will be directly discharged downward into the cleaning unit (cleaning tank / collection tray) of the base station. This prevents the overflow of water or cleaning liquid from dirtying the base station platform or the ground. In addition, the overflow liquid flowing into the cleaning unit can be treated as "waste water" and can be uniformly discharged or recycled if the base station is designed with this function.

[0108] In an optional embodiment of the present application, a second valve 80, a spray solution port 70 and a water replenishing port are also included.

[0109] As shown, the spray solution port 70 is a special nozzle structure, whose core function is to spray cleaning liquid or water to the specific contaminated area 1 (single cleaning cannot remove stubborn stains) on the ground according to the demand (such as detecting stubborn stains or user instructions). The cleaning liquid here comes from the independently stored solution tank 30, and the water comes from the water tank 20. This function enables the robot to "precisely attack" local strong stains, using the chemical decomposition ability of the cleaning liquid to soften and dissolve ordinary stains that are difficult to remove by wiping, greatly enhancing the deep stain removal effect. Figure 1 The water replenishing port is designed to replenish water to the mopping unit 10 (such as a mop or cleaning pad), and the water source comes from the water tank 20. This function effectively solves the problem of the mopping unit drying out (dry mopping) due to continuous evaporation of water during mopping of a large area. By continuously or timely replenishing water to the mopping unit, the water replenishing port ensures that the mopping unit 10 can always provide effective wet wiping effect, avoiding the low cleaning efficiency and possible ground wear caused by dry mopping, while significantly reducing the number of times the robot has to return to the base station for the sole purpose of replenishing water to the mop.

[0110] The second valve 80 plays a key control hub role in this embodiment, which ensures that the cleaning liquid of the solution tank 30 can only flow to the spray solution port 70 for pinpoint spraying by precisely regulating the flow direction of the liquid. At the same time, it ensures that the water of the water tank 20 can flow to the water replenishing port to continuously moisten the mopping unit. This control mechanism strictly isolates the output channels of the cleaning liquid and water, effectively preventing the two liquids from flowing together in scenarios where they should not mix (for example, to avoid the accidental mixing of cleaning liquid into the water for the mop, causing residue or dilution of the concentration of the spray cleaning liquid), ensuring that each liquid function can be independently, accurately and efficiently executed.

[0111]

[0112] ​The spray solution port 70 is used to spray liquid to the contaminated area 1. The solution tank 30 can store cleaning liquid. The spray solution port 70 can spray cleaning liquid to the position where the single cleaning of the machine does not completely clean the stubborn stains. The strong dissolving power of the cleaning liquid can clean the stubborn stains and improve the overall cleaning ability of the sweeper.

[0113] The second valve 80 is configured to communicate the water supplement port with the water tank 20 and to communicate the spray solution port 70 with the solution tank 30. The core function of the second valve 80 is to control the opening and closing and the flow rate. When water is needed for the mop, the second valve 80 can only open the channel from the water tank 20 to the water supplement port to allow clean water to flow to the water supplement port to wet the mop. When cleaning liquid is needed to spray and treat stubborn stains, the second valve 80 can only open the channel from the solution tank 30 to the spray solution port 70 to allow the cleaning liquid to be accurately sprayed to the contaminated area 1. This one-to-one communication mode (water supplement port-water tank 20 / spray solution port 70-solution tank 30) ensures that the two liquids are completely independent.

[0114] In an optional embodiment of the present application, the second valve 80 is configured to communicate the spray solution port 70 with the water tank 20. The second valve 80 can selectively open the channel from the water tank 20 to the spray solution port 70. This means that the spray solution port 70 can not only spray cleaning liquid, but also spray clean water when needed. Pre-spraying clean water to soften and wet the stubborn stains before deep cleaning can improve the effect of the cleaning liquid (especially for dried dirt). Or after spraying cleaning liquid to remove stains, spraying water to the same area to help remove residual cleaning liquid (reduce stickiness or prevent residue), or in the case of light dirt areas that only need a small amount of moisture to wet but do not need strong cleaning agents, a mild wetting / washing solution is provided. This meets the diversified cleaning needs.

[0115] The present application also provides a cleaning robot water supplement method applied to a cleaning base station and a cleaning robot. When the liquid injection port 40 of the cleaning robot is connected to the cleaning base station, the following steps are performed:

[0116] S11, obtain the water level of the water tank 20 and the solution tank 30. This step is the starting point and basis of the entire water supplement process. It detects and obtains the current liquid level or remaining capacity information of the water tank 20 (water storage) and the solution tank 30 (cleaning liquid storage) of the robot in real time or on demand through the liquid level sensor (such as float type, capacitive type, optical type, etc.) integrated on the robot or the base station.

[0117] S12, according to the water level confirmation water tank 20 first to be replenished liquid quantity and solution tank 30 second to be replenished liquid quantity. This step is data processing and demand calculation link. Based on the specific water level information obtained in S11, using the preset algorithm (such as calculating the volume according to the shape of the container, or according to the calibrated liquid level-capacity relationship) or predetermined threshold (such as target liquid level), the capacity of pure water needed to be replenished by water tank 20 (first to be replenished liquid quantity) and the capacity of cleaning liquid needed to be replenished by solution tank 30 (second to be replenished liquid quantity) are calculated and determined.

[0118] S13, control the first valve 50 to act to make the liquid injection port 40 communicate with the water tank 20 or the solution tank 30. This step is the key operation of isolation control. According to the type of liquid to be replenished (water or liquid), the system (robot control system or base station) sends a control signal to drive the first valve 50 actuator to work (such as rotation, translation). The purpose of this action is very clear: dynamically change the communication target of the liquid injection waterway - either make the liquid injection port 40 only connected to the water tank 20 (prepare to replenish water), or make the liquid injection port 40 only connected to the solution tank 30 (prepare to replenish liquid), to ensure that at any time, the input liquid can only flow to one specific container.

[0119] S14, according to the first to be replenished liquid quantity and the second to be replenished liquid quantity, the base station is controlled to replenish the water tank 20 and the solution tank 30 in turn. This step is the execution and cooperation of the supply task. The cleaning base station is activated and executed according to the predetermined order of "first water, then liquid" (in other embodiments, it can also be first liquid and then water). The base station first injects clean water into the water tank 20 (set by S13) according to the calculated first to be replenished liquid quantity. After the water tank 20 is replenished, the robot controls the first valve 50 to act again to switch to the solution tank 30 path. Then, the base station injects cleaning liquid into the solution tank 30 according to the calculated second to be replenished liquid quantity. In other embodiments, the first and second replenishment quantities can be calculated first, and then the water tank and solution tank can be replenished in turn.

[0120] In an optional embodiment of the present application, S4 includes:

[0121] S141, according to the first to be replenished liquid quantity and the second to be replenished liquid quantity, the first replenishment time and the second replenishment time are confirmed. This step is the key conversion of quantitative supply to time control. It calculates and determines the duration required by the base station to complete the quantitative water replenishment for the water tank 20 (first replenishment time) and the duration required by the base station to complete the quantitative liquid replenishment for the solution tank 30 (second replenishment time) according to the specific first to be replenished liquid quantity (water tank 20 needs to be replenished) and the second to be replenished liquid quantity (solution tank 30 needs to be replenished) calculated in S12, combined with the liquid delivery capacity of the cleaning base station (for example, the flow rate of the liquid injection pump is fixed or can be accurately controlled).

[0122] S142, controlling the base station to sequentially replenish the water tank 20 and the solution tank 30 according to the first replenishment time and the second replenishment time. This step is the final execution and duration control of the replenishment command. After the accurate time parameters required for replenishment have been calculated through S141 and it has been ensured that the current liquid injection path is connected to the water tank 20 through S13 (or its equivalent operation, although the switching time point is not explicitly mentioned in this step, it is implied in the "sequentially" operation), the system controls the base station to start the liquid pumping operation and strictly operates according to the first replenishment time to quantitatively add clean water to the water tank 20 through the connected path. After the water tank 20 is replenished, the system controls the first valve 50 to switch the path to the solution tank 30 (this action is implied in the "sequentially" operation), and then controls the base station to start the pumping operation again and strictly operates according to the second replenishment time to quantitatively add clean liquid to the solution tank 30.

[0123] The application further provides a cleaning robot control method applied to a cleaning robot, and the cleaning robot control method comprises the following steps:

[0124] S21, obtaining the working time of the wiping member. This step is to obtain the trigger basis for the wiping member replenishment control. The system continuously monitors and records the cumulative duration of the wiping member (such as a mop) in the mopping unit 10 since the last full wetting (for example, when the base station departs or after the last replenishment) to perform the mopping task through the built-in timer or related sensors. This "working time" reflects the duration of the wiping member's continuous work in the cleaning process.

[0125] S22, replenishing the wiping member when the working time reaches a preset threshold. This step is the decision and execution of the replenishment action. The system compares the actual working time obtained in S21 with a pre-set time threshold. When the actual working time reaches or exceeds this threshold, the system determines that the wiping member is significantly short of water and there is a risk of "dry mopping", and then triggers the replenishment operation.

[0126] Specifically, the specific execution in the S22 step includes: the system issues an instruction to drive the second valve 80 to change its internal path state, opening the clean water flow channel from the water tank 20 to the replenishment port. This ensures that only clean water can flow to the wiping member. After the path is established, the system starts the water pump (or controls the corresponding liquid delivery device) to pump the clean water in the water tank 20 to the replenishment port. Through the replenishment port, the clean water is applied to the wiping member (such as dripping, soaking), so that it regains sufficient moisture and restores effective wet cleaning ability.

[0127] The application further provides a cleaning robot control method applied to a cleaning robot, and the cleaning robot control method comprises the following steps:

[0128] S31, obtain the working path of the cleaning robot. This step is the basis for global planning of the cleaning task. The system obtains the complete movement route (working path) of the robot for this cleaning task through the built-in navigation module (such as SLAM map, preset path, or user-specified area). The path clearly defines all target areas that the robot needs to cover and the sequence of its movement trajectory.

[0129] S32, control the cleaning robot to walk along the working path. This step is the execution layer of the path. The system drives the movement mechanism (such as wheel set, motor, and navigation sensor) of the robot to autonomously walk and position control strictly according to the working path planned in S31, ensuring that the actual movement trajectory of the robot highly matches the predetermined path.

[0130] S33, obtain the pollution area 1 position and current pollution state of the pollution area 1 through the sensor assembly. This step is the core of the perception system. The robot scans the ground in real time through multi-modal sensors (such as visual camera, infrared stain sensor, ultrasonic sensor, etc.), combines the real-time position of the current robot, identifies and locates the visible or hidden dirty area (pollution area 1 position), and analyzes the real-time pollution characteristics (current pollution state) such as stain type (such as oil stain, pigment) and adhesion degree.

[0131] S34, spray cleaning solution to the pollution area 1 through the solution spraying port 70 according to the pollution area 1 position and the current pollution state. This step is the execution terminal of intelligent stain removal. The system makes decisions based on the detection results of S33.

[0132] In an optional embodiment of the present application, the specific execution in S34 step includes:

[0133] According to the current pollution state, control the second valve 80 to act to connect the solution tank 30 and the solution spraying port 70 to spray cleaning solution to the pollution area 1. Only when the detected "current pollution state" (such as oil stain viscosity, stain area, dryness degree, etc.) reaches the preset stubborn stain threshold, the system determines that cleaning solution needs to be used, otherwise it may only use water to mop or regular cleaning. After confirming that cleaning solution needs to be sprayed, immediately control the second valve 80 to act to accurately switch its internal passage to the state of connecting "solution tank 30 solution spraying port 70", strictly shielding other liquid paths such as water.

[0134] The present application also proposes a cleaning robot control method applied to a cleaning robot, the cleaning robot control method comprising:

[0135] S41, obtain the working path of the cleaning robot. This step lays the planning foundation for the global cleaning task. The system obtains the complete movement route (working path) of the robot to be covered through the navigation module (such as SLAM mapping or user setting), clearly defining the cleaning area boundary and the sequence of the movement trajectory.

[0136] S42, control the cleaning robot to walk along the working path. This step is to strictly perform the walking task according to the predetermined path by the system driving the robot moving mechanism (motor, wheel set, navigation sensor), and to correct the position deviation in real time.

[0137] S43, obtain the pollution area 1 position and current pollution state of the pollution area 1 through the sensor assembly. The robot scans the ground through the multi-modal sensor (vision / infrared / ultrasonic) and analyzes in real time, locks the pollution area 1 domain coordinate (pollution area 1 position) in combination with the current position, and judges the stain type, adhesion degree and other real-time pollution characteristics (current pollution state) at the same time.

[0138] S44, spray cleaning liquid or water to the pollution area 1 through the solution spraying port 70 according to the pollution area 1 position and the current pollution state. This step is the core execution logic of intelligent spraying

[0139] In an optional embodiment of the present application, the specific execution in the S44 step includes: controlling the second valve 80 to act to connect the solution tank 30 and the solution spraying port 70 to spray cleaning liquid to the pollution area 1 or to connect the water tank 20 and the solution spraying port 70 to spray water to the pollution area 1 according to the pollution area 1 position and the current pollution state. If the current pollution state is stubborn stain (such as oil stain, dry dirt), the second valve 80 is controlled to connect the solution tank 30 to the solution spraying port 70 to spray cleaning liquid for chemical decomposition. If the pollution state is water-soluble stain or light dust, the second valve 80 is controlled to connect the water tank 20 to the solution spraying port 70 to spray water for physical flushing or pre-wetting.

[0140] The present application also proposes a cleaning robot control method, the cleaning robot comprising a cleaning assembly, a sensor assembly and a cleaning liquid assembly, the cleaning robot control method comprising the following steps:

[0141] S51, obtain the working mode and working path of the cleaning robot. This step is the basis for dynamic decision of the cleaning strategy. The system actively determines the working mode (such as daily cleaning / deep stain removal / energy saving mode) through user setting or intelligent algorithm, and simultaneously calls the working path (cleaning area and moving track) planned by the navigation module. Different modes match different cleaning intensities (for example, deep mode enables cleaning liquid to effectively remove stains), which breaks through the limitation of single cleaning capacity. The "mode-path" relationship is bound in advance, which provides decision basis for starting and stopping of subsequent hardware components (such as cleaning liquid pump, water tank 20), and avoids energy waste. The path planning is linked with the mode demand (such as heavy pollution area 1 is preferentially deep cleaned), which reduces invalid round trips.

[0142] S52, control the cleaning robot to walk along the working path. Based on the path instruction of S51, the system drives the robot moving chassis, sensor and power module to realize path tracking through real-time positioning correction.

[0143] S53, obtain the position of the pollution area 1 on the working path and the cleaning state of the pollution area 1 through the sensor assembly. The robot scans the ground through a multi-modal sensor (vision / infrared / ultrasonic) and analyzes in real time, determines the pollution area 1 domain coordinates (the position of the pollution area 1) in combination with the current position, and judges the real-time pollution characteristics (the current pollution state) such as the type and degree of adhesion of the stain.

[0144] S54, control the cleaning assembly to wipe clean the ground and control the cleaning liquid assembly to spray cleaning liquid or water according to the working mode, according to the working mode, the working path, the position of the pollution area 1 and the cleaning state of the pollution area 1. For example, the deep mode calls the cleaning liquid assembly to attack the stain. The energy-saving mode only performs basic cleaning. The pollution point processing instructions can also be inserted on the path trajectory, and the spray head / roller brush is controlled to start corresponding operations at the pollution coordinate point. The cleaning can also be adapted according to the scene: the kitchen oil stain area (deep mode + pollution coordinates) starts high-pressure spraying of cleaning liquid + repeated scraping. The living room dust area (daily mode + path coordinates) only enables dust collection + water wet wiping.

[0145] The working mode includes a first mode, a second mode, a third mode and a fourth mode.

[0146] In an optional embodiment of the present application, in the first mode and the second mode, when the cleaning robot passes through the pollution area 1, the working of the cleaning robot is controlled according to whether the remaining working path passes through the pollution area 1. In the first mode (such as daily cleaning) and the second mode (such as deep wet wiping), when the robot detects that there is a pollution area 1 in the path, the system analyzes in real time whether the remaining unfinished working path will pass through the position of the pollution area 1, and makes a dynamic decision accordingly.

[0147] In an optional embodiment of the present application, in the first mode, the following steps are performed:

[0148] S5411, control the cleaning robot to work along the working path. The system drives the robot to travel according to the preset path, and synchronously activates the basic cleaning assembly (such as a dust collection motor, a roller brush and a conventional wet wiping module). It is ensured that the cleaning action is completely synchronized with the path trajectory, so that no omission is achieved. Only the basic cleaning function (cleaning, wet wiping, etc.) is enabled, and the cleaning liquid assembly is not sprayed, so as to avoid invalid power consumption of the cleaning liquid assembly.

[0149] S5412, when the cleaning robot passes through the position of the pollution area 1, the cleaning assembly is controlled to wipe the pollution area 1 to perform initial cleaning.

[0150] S5413, after the initial cleaning is completed, the system makes a dynamic decision according to the path planning and real-time detection, and judges whether the remaining working path passes through the pollution area 1:

[0151] If yes, the cleaning robot is controlled to continue working along the remaining working path, the robot continues to move forward, and the deep cleaning resource is reserved for use at the last visit. When the contaminated area 1 is visited again, the step S5413 is returned.

[0152] If no, the current cleaning state of the contaminated area 1 is acquired by the sensor assembly (step S54131), and it is judged whether the contaminated area 1 is clean according to the current cleaning state. If no, the cleaning liquid assembly is controlled to spray cleaning liquid or water to clean the contaminated area 1, and the step S54131 is returned. If yes, the cleaning robot is controlled to continue working along the remaining working path.

[0153] In the current cleaning state, the residual stains are light, and the cleaning liquid is sprayed to assist wiping. The residual stains are heavy, and the cleaning liquid is sprayed to chemically decompose. The above scheme matches the cleaning intensity according to the residual stain degree, and the water / cleaning liquid is accurately called. The working is continued until the sensor feedback is “clean state”. The deep cleaning is delayed to “the last visit opportunity”, the repeated action is avoided, and the cleaning efficiency of the robot can be improved. After the deep cleaning of the cleaning robot, the base station can be returned to clean the cloth and supplement the cleaning liquid and water, so that the excessive consumption of the cleaning liquid and water in the middle is avoided.

[0154] In an optional embodiment of the present application, as shown in Figure 3 the second mode, the following steps are performed:

[0155] S5421, the cleaning robot is controlled to work along the working path. The system drives the robot to travel along the preset path, and synchronously activates the basic cleaning assembly (such as a dust collection motor, a roller brush, and a conventional wet mop module). It is ensured that the cleaning action is completely synchronized with the path trajectory, so that no omission is achieved. Only the basic cleaning function (sweeping, wet mopping, etc.) is enabled, and the cleaning liquid assembly is avoided from being invalid.

[0156] S5422, when the cleaning robot passes through the contaminated area 1, the cleaning liquid assembly is controlled to spray cleaning liquid or water to the contaminated area 1 to perform preliminary cleaning. The robot starts the spraying action (selects the cleaning liquid or water according to the stain degree) when it first arrives at the contaminated area 1, and synchronously performs wiping. The liquid chemical decomposition / physical softening of dirt is used to improve the first-round cleaning efficiency. The solidified stains are timely moistened, and the stains are avoided from being expanded due to wet mopping. In the preliminary cleaning step, the contaminated area 1 does not need to be repeatedly cleaned until it is clean, but only needs to be deeply cleaned for the first time.

[0157] S5423, after the preliminary cleaning is completed, it is judged whether the remaining working path passes through the contaminated area 1:

[0158] If yes, the cleaning robot is controlled to continue working along the remaining working path, the robot continues to move forward, and the deep cleaning resource is reserved for use at the last visit. When the contaminated area 1 is visited again, the step S5423 is returned.

[0159] If not, the current cleaning state of the contaminated area 1 is acquired through the sensor assembly (step S54231), and it is determined whether it is clean according to the current cleaning state. If not, the cleaning liquid assembly is controlled to spray cleaning liquid or water to the contaminated area 1 for cleaning, and the step S54231 is returned. If yes, the cleaning robot is controlled to continue working along the remaining working path. Light residual stains → spray clean water for auxiliary wiping. Heavy residual stains → spray cleaning liquid for chemical decomposition. Continue working until the sensor feedbacks “clean state”. Delay deep cleaning to “last access opportunity” to avoid repeated actions. Match the cleaning intensity according to the residual stain degree, and accurately call clean water / cleaning liquid.

[0160] In an optional embodiment of the present application, in the third mode state, the following steps are performed:

[0161] S5431, control the cleaning robot to work along the working path. The system drives the robot to travel along the preset path, and synchronously activates the basic cleaning assembly (such as a dust suction motor, a roller brush, and a conventional wet mop module). Ensure that the cleaning action is completely synchronized with the path trajectory to achieve complete coverage without omission. Only the basic cleaning function is enabled to avoid invalid power consumption of the deep cleaning module.

[0162] S5432, when the cleaning robot passes through the position of the contaminated area 1, the cleaning liquid assembly is controlled to spray cleaning liquid or water to the contaminated area 1 for cleaning. The robot starts the spraying action (selects cleaning liquid or clean water according to the stain degree) as soon as it arrives at the contaminated area 1 for the first time, and synchronously wipes. Utilize liquid chemical decomposition / physical softening of dirt to improve the efficiency of the first round of cleaning. Timely moisten the solidified stains to avoid the expansion of stains caused by wet mopping.

[0163] S5433, after cleaning is completed, the cleaning robot is controlled to the cleaning base station to clean the cleaning assembly. After the first round of cleaning is completed, the robot returns to the base station autonomously, and starts the cleaning assembly self-cleaning program (such as cleaning the mop and sewage recovery). Avoid the pollution of other areas by dirty components. Restore the original cleanliness of the mop / roller brush to improve the subsequent cleaning efficiency.

[0164] S5434, after cleaning is completed, the cleaning robot is controlled to return to the position of the contaminated area 1, and the current cleaning state of the contaminated area 1 is acquired through the sensor assembly (step S54341). After cleaning is completed, the robot returns to the contaminated point along the SLAM map, and calls the sensor to direct scanning of residual stains.

[0165] S5435, it is determined whether it is clean according to the current cleaning state. No residual → continue the task, light residual → spray clean water for fine finishing, heavy residual → spray cleaning liquid for cleaning.

[0166] If not, the cleaning liquid assembly is controlled to spray cleaning liquid or water to the contaminated area 1 for cleaning, and the step S54341 is returned.

[0167] If yes, control the cleaning robot to work along the remaining working path.

[0168] In an optional embodiment of the present application, as shown in Figure 4 In the fourth mode state, the following steps are performed:

[0169] S5441, control the cleaning robot to work along the working path. The system drives the robot to travel along the preset path, and synchronously activates the basic cleaning components (such as a dust collection motor, a roller brush, and a conventional wet mopping module). Ensure that the cleaning action is completely synchronized with the path trajectory to achieve complete coverage without omission. Only the basic cleaning function is enabled to avoid the invalid power consumption of the deep cleaning module.

[0170] S5442, when the cleaning robot is about to pass through the contaminated area 1, control the cleaning robot to bypass the contaminated area 1 and work along the remaining working path. The contaminated coordinates are predicted by the sensor, and the robot is controlled to dynamically correct the path to bypass the contaminated area 1, seamlessly connecting the subsequent cleaning task. From the source, prevent the roller brush / mop from being contaminated by stubborn stains and contaminating the entire house.

[0171] S5443, after working along the remaining working path is completed, control the cleaning robot to the cleaning base station to clean the cleaning components. After completing the bypass path, return to the base station immediately, and start the deep self-cleaning program (such as high-pressure washing cloth, steam disinfection mop, and sewage strong discharge). Prepare clean cleaning components for subsequent cleaning of the contaminated area 1 to prevent residual stains from affecting other areas.

[0172] S5444, after cleaning is completed, control the cleaning robot to return to the contaminated area 1 position to control the cleaning liquid component to spray cleaning liquid or water for cleaning and obtain the current cleaning state of the contaminated area 1 through the sensor component.

[0173] S5445, control the cleaning robot to the cleaning base station to clean the cleaning components.

[0174] S5446, determine whether it is clean according to the current cleaning state:

[0175] If no, return to step S5444. This step ensures that stubborn dirt will not be attached to the cleaning components (such as the roller brush or the mop) again, maintaining the cleaning power of the robot each time it cleans.

[0176] If yes, the task is completed. If the sensor confirms that the contaminated area 1 has reached a clean state, the cleaning task is considered complete, and the robot turns to handle other tasks (for example, cleaning of other areas).

[0177] When the sensor detects that the pollution area 1 does not meet the clean standard, the system immediately triggers the secondary cleaning process, controls the robot to return to the pollution point for deep decontamination (automatically selects water flushing or cleaning liquid decomposition according to the residual degree), and after each cleaning, obtains the current cleaning state through the sensor and forces the robot to return to the station to perform the component cleaning program (including high-pressure stripping of the roller brush, steam sterilization of the mop, and sewage sealed recovery), to completely remove the pollutants attached to the tool. The cycle continues until the sensor returns to the "clean state" signal.

[0178] In an optional embodiment of the present application, the sensor assembly is arranged at one end of the cleaning robot, and the spray port in the cleaning liquid assembly and the cleaning assembly are arranged at the other end of the cleaning robot in the direction of travel of the cleaning robot. The sensor assembly is arranged at one end (for example, the front end), and the cleaning liquid spray port and the cleaning assembly (for example, the mop) are arranged at the other end (for example, the rear end). This layout ensures that the sensor is not disturbed by the cleaning assembly when evaluating the cleanliness.

[0179] In an optional embodiment of the present application, the step of controlling the cleaning liquid assembly to spray cleaning liquid or water to the pollution area 1 for cleaning and obtaining the current cleaning state of the pollution area 1 through the sensor assembly includes:

[0180] S551, controlling the cleaning robot to turn around to make the sensor assembly face the pollution area 1 to obtain the current cleaning state of the pollution area 1. The cleaning robot adjusts its direction to ensure that the sensor assembly (located at one end of the robot, for example, the front end) faces the pollution area 1 to accurately detect the cleaning state of the area. Since the spray port (cleaning liquid assembly) and the cleaning assembly (for example, the roller brush or the mop) are located at the other end of the robot (for example, the rear end), the robot needs to turn around.

[0181] S552, determining whether it is clean according to the current cleaning state.

[0182] If not, control the cleaning robot to turn around and move to the position of the pollution area 1, control the cleaning liquid assembly to spray cleaning liquid or water to the pollution area 1 for cleaning, and return to step S551. Through the sensor feedback, it is dynamically determined whether further cleaning is needed to ensure that the pollution area 1 is completely clean while avoiding unnecessary cleaning actions.

[0183] If yes, control the cleaning robot to continue traveling.

[0184] In summary, the present application sets water tank 20 and solution tank 30 to store clean water and cleaning solution respectively, and precisely controls the flow direction through the first valve 50 during the liquid injection process to avoid mixing of clean water and cleaning solution, ensuring the independence of the two liquids in the cleaning mode, and optimizing the cleaning effect. Each liquid storage tank (such as water tank 20 and solution tank 30) is equipped with an independent overflow port 60 to ensure that when the liquid is replenished, the overflow port 60 can prevent liquid leakage and overflow. The overflow port 60 is also connected to the cleaning unit of the cleaning base station to avoid liquid leakage into the internal components of the robot, protecting important components such as circuit boards and sensors. Through the design of the second valve 80 and the spray solution port 70, the robot can accurately spray cleaning solution or clean water when needed according to the cleaning task requirements. For example, spray cleaning solution to remove stubborn stains during deep cleaning, and use clean water to moisten the floor during light cleaning to avoid wasting cleaning solution. The robot is equipped with a water replenishment port to provide moisture to the mop (such as a mop) of the mopping unit 10, avoiding the mop from drying out due to water evaporation during long cleaning process. In this way, the robot can work continuously, avoiding the trouble of frequent return to the base station for water replenishment, and improving the cleaning efficiency. By obtaining the liquid level height of the water tank 20 and the solution tank 30 in the robot, the base station can automatically calculate the amount of liquid to be replenished, ensuring that the water tank 20 and the solution tank 30 are replenished in time, and avoiding the influence on the cleaning effect due to the low liquid level. This intelligent water replenishment mechanism can also accurately perform the water replenishment task in different cleaning modes (such as daily cleaning or deep stain removal). The robot can automatically obtain the position of the pollution area 1 on the working path through the sensor, and decide whether to spray cleaning solution or clean water according to the pollution state. For example, for stubborn stains, the robot will preferentially spray cleaning solution, while for light pollution, it may only need to spray clean water or wet mop. This path planning and task adjustment enables the robot to efficiently perform the cleaning task. After the completion of the cleaning task, the robot will return to the base station to automatically clean the components (such as the roller brush and the mop) to avoid dirt remaining on the cleaning tools, ensuring the effectiveness of subsequent cleaning. The robot can also adjust the cleaning logic according to the state of the pollution area and its relationship with the working path, thereby achieving better cleaning effect and effectively improving the cleaning efficiency.

[0185] The above embodiments only illustrate the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

[0186] In the description, numerous specific details are provided, such as examples of components and / or methods, to provide a thorough understanding of embodiments of the present application. Applicants have provided this description along with the example to illustrate embodiments of the present application and to enable others skilled in the art to make and use the application. Persons skilled in the art will understand, however, that the application can be practiced without many of the specific details described herein, that work or elements can take different forms, dimensions, or positions, and that individual features can be absent from the example. In some instances, well-known structures have not been described in detail in order to avoid obscuring the concepts of the present application.

[0187] References in the specification to "one embodiment", "an embodiment", or "the

[0188] It is also to be understood that one or more of the elements or components of the figures shown can also be implemented in a more separated or more integrated manner, or even removed in certain cases, as is useful in accordance with a particular application.

[0189] In addition, unless explicitly stated otherwise, any arrows shown in the drawings are merely to indicate exemplary flow of information, and are not intended to limit the scope of the application to such exemplary information flow. Additionally, unless otherwise indicated, the use of the term "or" in the description above is intended to represent an "and / or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted, where two or more components are presented by the "or" unless expressly omitted.

[0190] As used in the description and throughout the claims, the articles "a", "an" and "the" include plural references unless otherwise indicated. Also, as used in the description and throughout the claims, the phrase "in an" means "in and / or on" unless otherwise indicated.

[0191] The above description of the illustrated embodiments of the application (including what is described in the abstract) is not intended to be exhaustive or to limit the application to the precise forms disclosed. While specific embodiments of, and examples for, the application are described herein for illustrative purposes, various equivalent modifications are possible within the spirit and scope of the application, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications can be made to the above-described embodiments and yet the application will remain within the scope of the application. Accordingly, while the application is susceptible to various modifications and alternative forms, specific embodiments and examples thereof have been shown and described in detail herein. It should be understood, however, that the application is not to be limited to the particular embodiments or examples disclosed, but to include all possible embodiments which would be within the scope of the above description.

[0192] The systems and methods have been described generally herein as facilitating an understanding of the details of the application. Moreover, various specific details have been given in order to provide a thorough understanding. It will be appreciated, however, that one of ordinary skill in the relevant art will recognize and appreciate that embodiments of the application can be practiced without one or more of the specific details, or with other devices, systems, assemblies, methods, components, materials, parts, and the like. In other instances, well-known structures, materials, and / or operations have not been shown or described in detail in order to avoid obscuring aspects of embodiments of the application.

[0193] Accordingly, although the application has been described in reference to the therefore, many modifications can be made to adapt a particular situation or material to the essential scope and spirit of the present application. The application is not intended to be limited to the particular forms shown, but this application is to cover all modifications, equivalents, and alternatives falling within the scope of the application as defined by the following claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a mopping unit; a water tank for containing clean water and supplying water to the mopping unit; a solution tank for containing cleaning solution; a solution injection port for connecting a solution supply unit of a cleaning base station, the solution injection port being in communication with the water tank and the solution tank through a solution injection water path; a first valve provided in the solution injection water path, the first valve being configured to enable the solution injection port to be switched to communicate with the water tank alone or the solution tank alone.

2. The cleaning robot according to claim 1, wherein, Further comprising an overflow port in communication with the water tank and / or the solution tank.

3. The cleaning robot according to claim 2, wherein, The overflow port is provided above a wiping member of the mopping unit, and / or one overflow port is provided corresponding to each of the water tank and the solution tank.

4. The cleaning robot according to claim 1, wherein, Further comprising a second valve, a solution spraying port for spraying liquid to a contaminated area, and a water supply port for supplying liquid to the wiping member of the mopping unit, the second valve being configured to enable the water supply port to communicate with the water tank and the solution spraying port to communicate with the solution tank.

5. The cleaning robot according to claim 4, wherein, The second valve is configured to enable the solution spraying port to communicate with the water tank. 6.A method for replenishing water of a cleaning robot, characterized by, Applied to a cleaning base station and a cleaning robot as claimed in any one of claims 1-5, when the solution injection port of the cleaning robot is in communication with the cleaning base station, the following steps are performed: obtaining water level heights of the water tank and the solution tank; confirming a first amount of solution to be supplied to the water tank and a second amount of solution to be supplied to the solution tank according to the water level heights; controlling the first valve to act so that the solution injection port is in communication with the water tank or the solution tank; controlling the base station to supply solution to the water tank and the solution tank in sequence according to the first amount of solution to be supplied and the second amount of solution to be supplied. 7.The method of claim 6, wherein, The step of controlling the base station to supply solution to the water tank and the solution tank in sequence according to the first amount of solution to be supplied and the second amount of solution to be supplied comprises: confirming a first solution supply time and a second solution supply time according to the first amount of solution to be supplied and the second amount of solution to be supplied; controlling the base station to supply solution to the water tank and the solution tank in sequence according to the first solution supply time and the second solution supply time.

8. A cleaning robot control method characterized by, Applied to the cleaning robot as claimed in claim 4, the cleaning robot control method comprises: obtaining a working time of the wiping member; supplying solution to the wiping member when the working time reaches a preset threshold. 9.The cleaning robot control method of claim 8, wherein, The step of supplying solution to the wiping member comprises: controlling the second valve to act so that the water tank and the water supply port are in communication and a water pump is turned on to supply solution to the wiping member.

10. A cleaning robot control method, characterized by, Applied to the cleaning robot as claimed in claim 4, the cleaning robot control method comprises: obtaining a working path of the cleaning robot; controlling the cleaning robot to walk along the working path; obtaining a contaminated area position and a current contamination state of a contaminated area through a sensor assembly; spraying cleaning solution to the contaminated area through the solution spraying port according to the contaminated area position and the current contamination state. 11.The cleaning robot control method of claim 10, wherein, The step of spraying cleaning solution to the contaminated area through the solution spraying port according to the contaminated area position and the current contamination state comprises: According to the current pollution state, the second valve is controlled to connect the solution tank and the solution spraying port to spray cleaning solution to the pollution area.

12. A cleaning robot control method characterized by, The cleaning robot control method is applied to the cleaning robot of claim 5, and comprises: acquiring a working path of the cleaning robot; controlling the cleaning robot to walk along the working path; acquiring a pollution area position and a current pollution state of a pollution area through a sensor assembly; spraying cleaning solution or water to the pollution area through the solution spraying port according to the pollution area position and the current pollution state. 13.The cleaning robot control method of claim 12, wherein, In the step of spraying cleaning solution or water to the pollution area through the solution spraying port according to the pollution area position and the current pollution state, the following steps are included: According to the pollution area position and the current pollution state, the second valve is controlled to connect the solution tank and the solution spraying port to spray cleaning solution to the pollution area or to connect the water tank and the solution spraying port to spray water to the pollution area.

14. A cleaning robot control method characterized by, The cleaning robot comprises a cleaning assembly, a sensor assembly and a cleaning solution assembly, and the cleaning robot control method comprises the following steps: acquiring a working mode and a working path of the cleaning robot; controlling the cleaning robot to walk along the working path; acquiring a pollution area position and a cleaning state of a pollution area on the working path through the sensor assembly; controlling the cleaning assembly to mop the ground and controlling the cleaning solution assembly to spray cleaning solution or water according to the working mode, the working path, the pollution area position and the cleaning state of the pollution area. 15.The cleaning robot control method of claim 14, wherein, The working mode comprises a first mode and a second mode, and in the step of controlling the cleaning robot to work according to the working path and the pollution area position in the first mode and the second mode, the following steps are included: When the cleaning robot passes through the pollution area position, the cleaning assembly is controlled to mop the pollution area for primary cleaning; 16.The cleaning robot control method of claim 15, wherein, after the primary cleaning is completed, it is judged whether the remaining working path passes through the pollution area: if yes, the cleaning robot is controlled to continue working along the remaining working path, and the step of judging whether the remaining working path passes through the pollution area is returned when the pollution area is passed again; if no, the current cleaning state of the pollution area is acquired through the sensor assembly, it is judged whether the pollution area is clean according to the current cleaning state, if no, the cleaning solution assembly is controlled to spray cleaning solution or water to the pollution area for cleaning, the step of acquiring the current cleaning state of the pollution area through the sensor assembly is returned, and if yes, the cleaning robot is controlled to continue working along the remaining working path. In the step of controlling the cleaning robot to work according to the working path and the pollution area position in the second mode, the following steps are included: When the cleaning robot passes through the pollution area position, the cleaning assembly is controlled to mop the pollution area for primary cleaning; after the primary cleaning is completed, it is judged whether the remaining working path passes through the pollution area: 17.The cleaning robot control method of claim 15, wherein, if yes, the cleaning robot is controlled to continue working along the remaining working path, and the step of judging whether the remaining working path passes through the pollution area is returned when the pollution area is passed again; if no, the current cleaning state of the pollution area is acquired through the sensor assembly, it is judged whether the pollution area is clean according to the current cleaning state, if no, the cleaning solution assembly is controlled to spray cleaning solution or water to the pollution area for cleaning, the step of acquiring the current cleaning state of the pollution area through the sensor assembly is returned, and if yes, the cleaning robot is controlled to continue working along the remaining working path. controlling the cleaning robot to work along the working path; controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for preliminary cleaning when the cleaning robot passes through the contaminated area; judging whether the remaining working path passes through the contaminated area after the preliminary cleaning is completed: if yes, controlling the cleaning robot to continue working along the remaining working path and returning to the step of judging whether the remaining working path passes through the contaminated area when the contaminated area is passed through again; if no, acquiring the current cleaning state of the contaminated area through the sensor component, judging whether it is clean according to the current cleaning state, if no, controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for cleaning, returning to the step of acquiring the current cleaning state of the contaminated area through the sensor component, if yes, controlling the cleaning robot to continue working along the remaining working path. 18.The cleaning robot control method of claim 14, wherein, the working mode includes a third mode, and the step of controlling the cleaning robot to work according to the working path and the contaminated area position in the third mode includes: controlling the cleaning robot to work along the working path; controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for cleaning when the cleaning robot passes through the contaminated area position; controlling the cleaning robot to the cleaning base station to clean the cleaning component after the cleaning is completed; controlling the cleaning robot to return to the contaminated area position and acquiring the current cleaning state of the contaminated area through the sensor component after the cleaning is completed; judging whether it is clean according to the current cleaning state: if no, controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for cleaning, and returning to the step of acquiring the current cleaning state of the contaminated area through the sensor component; if yes, controlling the cleaning robot to work along the remaining working path. 19.The cleaning robot control method of claim 14, wherein, the working mode includes a fourth mode, and the step of controlling the cleaning robot to work according to the working path and the contaminated area position in the fourth mode includes: controlling the cleaning robot to work along the working path; controlling the cleaning robot to bypass the contaminated area and work along the remaining working path when the cleaning robot is about to pass through the contaminated area; controlling the cleaning robot to the cleaning base station to clean the cleaning component after the working along the remaining working path is completed; controlling the cleaning robot to return to the contaminated area position, controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for cleaning, and acquiring the current cleaning state of the contaminated area through the sensor component after the cleaning is completed; controlling the cleaning robot to the cleaning base station to clean the cleaning component; judging whether it is clean according to the current cleaning state: if no, returning to the step of controlling the cleaning robot to return to the contaminated area position, controlling the cleaning liquid component to spray cleaning liquid or water to the contaminated area for cleaning, and acquiring the current cleaning state of the contaminated area through the sensor component; if yes, completing the task.

20. The cleaning robot control method according to any one of claims 16-19, wherein, The sensor assembly is arranged at one end of the cleaning robot in the direction of travel of the cleaning robot, and the spray opening and the cleaning assembly in the cleaning liquid assembly are arranged at the other end of the cleaning robot. 21.The cleaning robot control method of claim 20, wherein, In the step of controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning and obtaining the current cleaning state of the contaminated area by the sensor assembly, the step comprises: controlling the cleaning robot to turn around so that the sensor assembly faces the contaminated area to obtain the current cleaning state of the contaminated area; judging whether the contaminated area is clean according to the current cleaning state; if not, controlling the cleaning robot to turn around and move to the position of the contaminated area, controlling the cleaning liquid assembly to spray cleaning liquid or water to the contaminated area for cleaning, and returning to the step of controlling the cleaning robot to turn around so that the sensor assembly faces the contaminated area to obtain the current cleaning state of the contaminated area; if yes, controlling the cleaning robot to continue traveling.

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