Cleaning robot control method and device and cleaning robot

Abstract

The invention provides a control method and device of a cleaning robot and the cleaning robot, and relates to the technical field of cleaning equipment, mopping cloth of the cleaning robot is provided with a first position, a second position and a third position, and the first position and the second position are two end point positions where the mopping cloth conducts first reciprocating motion. The third position is the maximum limit position where the mop can radially extend out relative to the machine body during cleaning, and the spacing distance between the first position and the second position is smaller than the spacing distance between the first position and the third position; in the process that the cleaning robot cleans the to-be-cleaned area, it is detected that a heavily-polluted area exists, and the cleaning robot is controlled to conduct edge detection on the heavily-polluted area according to the edge cleaning path; and under the condition that the dirt in the heavily-polluted area is determined to be non-flowing-state dirt, the mop is controlled to perform first reciprocating motion between the first position and the second position so as to perform friction cleaning on the heavily-polluted area, so that the dirt diffusion is effectively prevented and the resource loss is reduced while the cleaning 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 and cleaning robot for a cleaning robot. Background Technology

[0002] With the increasing popularity of smart homes, robotic vacuum cleaners have become an important tool for household cleaning. However, when faced with heavily soiled areas commonly found in daily life, such as beverage stains and oil stains, the cleaning capabilities of existing robots are still insufficient.

[0003] In existing technologies, for heavily soiled areas, robotic vacuum cleaners typically clean by performing multiple, intensive back-and-forth cleaning operations or by increasing the pressure and water output of the mop.

[0004] However, the above methods are not only inefficient in cleaning, but also, when used for liquid stains, the dense back-and-forth motion or increased pressure and water flow can easily cause the stains to be pushed away and spread, thus expanding the contaminated area and causing unnecessary waste of water and mop. Summary of the Invention

[0005] This application provides a control method, device, and cleaning robot for a cleaning robot. After detecting heavily soiled areas, the cleaning robot is controlled to first detect along the edge to locate the type of dirt in the heavily soiled area. Then, reciprocating friction cleaning is used for non-flowing dynamic dirt, which improves cleaning efficiency while effectively preventing the spread of stains and reducing resource consumption.

[0006] In a first aspect, this application provides a control method for a cleaning robot. The cleaning robot includes a mop assembly, which includes a mop. The mop has a first position, a second position, and a third position. The first and second positions are two endpoint positions of the mop during a first reciprocating movement. The third position is the maximum radially extendable limit of the mop relative to the body of the cleaning robot during cleaning. The distance between the first and second positions is less than the distance between the first and third positions. The method includes:

[0007] If a heavily soiled area is detected during the cleaning process of the cleaning robot, the robot will be controlled to perform edge detection on the heavily soiled area according to the edge cleaning path.

[0008] If the dirt in the heavily soiled area is detected to be non-flowing, the mop is controlled to make a first reciprocating movement between a first position and a second position to perform friction cleaning on at least part of the heavily soiled area.

[0009] Compared to existing methods that directly control the cleaning robot to perform multiple back-and-forth cleanings after detecting heavily soiled areas, resulting in ineffective movement and repeated coverage, or methods that increase mop pressure and water output, this application first controls the cleaning robot to detect along the edge of the heavily soiled area, quickly defining the pollution range. Only when the dirt in the heavily soiled area is determined to be non-flowing dirt is the cleaning robot controlled to clean that area. Furthermore, the cleaning mode employs a high-frequency first reciprocating movement of the mop between a first and second position with a small lateral spacing. Therefore, this small-area, high-frequency localized friction method not only achieves targeted high-frequency friction cleaning of heavily soiled areas but also significantly reduces the movement and dwell time of the cleaning robot in ineffective areas, avoiding the ineffective movement and repeated coverage of traditional large-area back-and-forth cleaning, thus greatly improving the effective cleaning efficiency per unit time. Moreover, this small-amplitude, high-frequency friction method primarily uses small left-right vibrations for cleaning, greatly weakening the force of the mop pushing and wiping stains horizontally, effectively preventing the problem of stains being scattered and the pollution area expanding due to mop movement during the cleaning process. Furthermore, the small-scale reciprocating friction method usually requires little or no auxiliary water output, reducing unnecessary wear on the mop and the overall energy consumption of the cleaning robot, thereby significantly saving water resources, reducing mop wear and overall energy consumption.

[0010] Furthermore, this application employs control logic that first detects heavily soiled areas along the edge, determines the type of dirt in those areas, and then executes a targeted cleaning mode. This allows for the automatic selection of differentiated cleaning modes based on the type of dirt (dynamic or non-dynamic). In particular, for non-dynamic dirt, a targeted mechanical friction method is used, achieving adaptive cleaning based on the characteristics of the stain. This improves cleaning efficiency in heavily soiled areas while avoiding stain diffusion and resource waste, resulting in a more efficient, precise, and energy-saving cleaning effect.

[0011] Optionally, the method also includes:

[0012] If the dirt in the heavily soiled area is detected to be dynamic dirt, the cleaning robot is controlled to clean the other areas in the area to be cleaned, excluding the heavily soiled area.

[0013] After the first duration or the first distance, the cleaning robot is controlled to return to the heavily soiled area for friction cleaning, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0014] For fluid-like dirt, immediate reciprocating friction or pressurized water application can easily cause it to be dispersed and smeared, expanding the contaminated area. This application provides a time window for fluid-like dirt to naturally evaporate, locally dry, or increase in viscosity through delayed treatment, allowing it to potentially transform into a non-fluid state more suitable for friction cleaning, thus creating conditions for subsequent effective cleaning. During the waiting period for the fluid-like dirt to change state, the cleaning robot is not idle but continues cleaning other areas, making full use of the waiting time. This ensures the continuity of the overall cleaning task, avoids process stagnation, and prevents the cleaning robot from wasting time waiting or performing inefficient cleaning in front of fluid-like dirt, thereby improving overall cleaning efficiency.

[0015] Furthermore, this application also incorporates a strategy of re-detection upon returning to a heavily soiled area, enabling the cleaning robot to dynamically adjust its cleaning strategy based on actual changes in dirt levels. This enhances its adaptability to complex soiling scenarios and improves the reliability of its cleaning effectiveness.

[0016] Optionally, the method also includes:

[0017] If the dirt in a heavily soiled area is detected to be fluid and dynamic, the cleaning robot will be kept in a stopped state.

[0018] After the second duration, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path, in order to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0019] Therefore, when the cleaning robot is detected as having fluid, dynamic dirt in a heavily soiled area, stopping its movement eliminates any disturbance to the fluid dirt caused by the robot's movement or the mop's motion, preventing the risk of the dirt being accidentally spread or smeared due to continued robot operation. Furthermore, stopping the robot provides the fluid dirt with undisturbed time and environment for natural evaporation, penetration, or localized drying, allowing it to transition to a more manageable and less prone-to-spread state (such as semi-dry or adhesive), laying the foundation for subsequent friction cleaning. In addition, this method of immediately stopping upon detecting a heavily soiled area, compared to a method of leaving and then returning to the heavily soiled area, eliminates the need for planning departure and return paths, simplifying the control logic and ensuring the cleaning robot remains near the soiled area for a more direct and rapid response.

[0020] It should be noted that in this optional solution, the cleaning robot can also dynamically adjust its cleaning strategy according to the actual changes in dirt, enhancing its adaptability to complex stain scenarios and the reliability of its cleaning effect.

[0021] Optionally, the dirt detected in the heavily polluted area is non-flowing dirt, including:

[0022] By analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection, it was determined that non-flowing dynamic dirt exists in heavily polluted areas.

[0023] Therefore, this application overcomes the potential for misjudgment or limitations in judging dirt based on single sensor information by integrating information from multiple sensors. For example, a single optical image may not be able to distinguish between wet reflections and actual stains. This allows for a more comprehensive and accurate identification of the physical state of dirt (fluid or non-fluid), reducing the risk of accidental triggering of friction cleaning methods and improving the accuracy and reliability of judgment. Furthermore, the comprehensive analysis of information from multiple sensors enhances the cleaning robot's understanding and adaptability to complex and variable dirt scenarios.

[0024] Furthermore, since the above analysis process is carried out simultaneously with edge detection, the type of dirt can be determined at the same time as defining the scope of pollution in heavily polluted areas, without interrupting the cleaning process or performing special detection steps, thereby improving the overall cleaning efficiency.

[0025] Optionally, the mop further includes a fourth position, the distance between the first and fourth positions being less than the distance between the first and third positions; the method further includes:

[0026] If the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop is controlled to make a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

[0027] Thus, when the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop's lateral cleaning coverage width can be flexibly adjusted by switching the endpoint position of the second reciprocating movement, allowing it to move between the third and fourth positions. This adapts to heavily soiled areas of different sizes or locations. The larger lateral amplitude of the reciprocating movement also improves stain coverage and cleaning efficiency. Therefore, this application can match different cleaning modes according to the characteristics of the heavily soiled area, such as a cleaning mode with a first reciprocating movement between the first and second positions and a cleaning mode with a second reciprocating movement between the third and fourth positions, avoiding insufficient or excessive cleaning in a single cleaning mode.

[0028] Optionally, the mop assembly further includes a rotation drive for rotating the mop, controlling the mop to perform a first reciprocating movement between a first position and a second position, including:

[0029] During the process of controlling the mop to reciprocate between the first position and the second position, the control rotation drive drives the mop to rotate.

[0030] In this way, the combination of the mop's lateral reciprocating motion and its rotational motion generates more complex mechanical forces, which helps to more effectively break down and remove stubborn stains, improving cleaning performance and stain removal efficiency. Furthermore, the mop's rotational motion ensures that different parts of the mop surface continuously contact the stained area, increasing the diversity and coverage of friction and enhancing its ability to clean stubborn stains. In addition, the mop's rotational motion also ensures a more even distribution of force on the mop surface, preventing excessive localized wear and extending the mop's lifespan.

[0031] Optionally, the cleaning robot may also include a spraying device, and the method may also include:

[0032] If the dirt in the heavily polluted area is detected to be non-flowing, the spraying device is turned on before cleaning the heavily polluted area to spray the target fluid into the heavily polluted area.

[0033] In this way, the target fluid is pre-sprayed onto heavily soiled areas by a spraying device to moisten or soften non-flowing dirt in these areas, reducing the adhesion strength between the non-flowing dirt and the surface to be cleaned. This makes subsequent friction cleaning easier to remove stains, shortens cleaning time, and improves cleaning efficiency. Furthermore, because the target fluid can dissolve or disperse some of the stain components, pre-spraying the target fluid onto heavily soiled areas followed by friction cleaning can achieve more effective stain removal, especially suitable for dried or sticky stains. In addition, the pre-treatment of stains with the target fluid reduces the mop's frictional resistance, helping to reduce the load on the mop and drive components, and also helping to extend the service life of these components.

[0034] Optionally, the spraying device is used to spray hot fluid; controlling the spraying device to be in the on state to spray the target fluid onto the heavily polluted area includes:

[0035] After the spraying device is turned on, the cleaning robot is stopped.

[0036] After the third period, the spraying device was controlled to spray hot fluid onto the heavily polluted area.

[0037] In this way, after the spraying device is turned on, the cleaning robot is controlled to stop moving first. After a three-hour hot fluid preparation process, the hot fluid is sprayed onto the heavily soiled area. This can avoid the need to adjust the robot's position due to the movement of the cleaning robot, ensuring that the hot fluid accurately covers the heavily soiled area. It can also ensure that the hot fluid reaches the appropriate temperature or pressure, thereby enhancing the softening, dissolving or sterilizing effect on the stains.

[0038] Optionally, the method also includes:

[0039] After spraying the target fluid into the heavily polluted area, the cleaning robot is kept in a stopped state.

[0040] After the fourth hour, the cleaning robot returns to the heavily soiled area to perform friction cleaning.

[0041] In this way, after spraying the target fluid into the heavily soiled area, the robot remains stationary for four hours to ensure that the target fluid and the stains in the heavily soiled area are in full contact, achieving a softening, dissolving, or chemical reaction state, thereby improving the efficiency of subsequent friction cleaning. Furthermore, by controlling the cleaning robot to remain stationary, path redundancy and time waste caused by moving and returning can be prevented, achieving a synergy between cleaning efficiency and effectiveness.

[0042] Optionally, the method also includes:

[0043] After spraying the target fluid into the heavily polluted area, the cleaning robot is controlled again to perform edge detection of the heavily polluted area according to the edge cleaning path;

[0044] After conducting edge detection on the heavily contaminated area, the cleaning robot is controlled to travel to the target location, and then enters the heavily contaminated area to perform friction cleaning.

[0045] In this way, by clearly defining the outline of heavily contaminated areas through edge detection and combining it with the selection of target locations, an effective cleaning path can be planned to enter the heavily contaminated areas, avoiding ineffective movement. Furthermore, during edge detection, sufficient immersion time can be given to the target fluid simultaneously, preparing the cleaning robot for entry and improving process continuity. In addition, entering from the target location based on the determined boundary detection results ensures that friction cleaning effectively covers heavily contaminated areas, reducing cleaning omissions and improving cleaning efficiency.

[0046] Secondly, this application provides a control device for a cleaning robot. The cleaning robot includes a mop assembly, which includes a mop. The mop has a first position, a second position, and a third position. The first and second positions are two endpoint positions of the mop during a first reciprocating movement. The third position is the maximum radial extension limit of the mop relative to the body of the cleaning robot during cleaning. The distance between the first and second positions is smaller than the distance between the first and third positions. The device includes:

[0047] The first control module is used to control the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path when it detects a heavily soiled area during the cleaning process of the cleaning robot.

[0048] The second control module is used to control the mop to make a first reciprocating movement between a first position and a second position when it is detected that the dirt in the heavily soiled area is non-flowing dirt, so as to perform friction cleaning on at least part of the heavily soiled area.

[0049] Thirdly, this application provides a cleaning robot, which includes a mop assembly, the mop assembly including a mop, the mop having a first position, a second position and a third position, the first position and the second position being two end positions of the mop during a first reciprocating movement, the third position being the maximum limit position at which the mop can be radially extended relative to the body of the cleaning robot when performing cleaning, and the distance between the first position and the second position being less than the distance between the first position and the third position.

[0050] The cleaning robot is used to perform the methods described in any of the first aspects.

[0051] It should be noted that the second and third 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.

[0052] The cleaning robot control method, device, and cleaning robot provided in this application feature a mop with three lateral positions: a first position, a second position, and a third position. The first and second positions are the two endpoints of a first reciprocating movement, with a small distance between them, while the third position is the maximum lateral extension limit. The first and second positions are used for localized reciprocating cleaning, and their interval is smaller than the interval between the first and third positions, ensuring rapid friction within the reciprocating movement range. Specifically, after the cleaning robot detects a heavily soiled area, it first performs edge detection along the edge cleaning path to determine the type of dirt. If the dirt is non-fluid, such as adhesive dirt, a localized reciprocating movement mode of the mop is triggered, i.e., controlling the first lateral reciprocating movement of the mop between the two endpoints (the first and second positions) (similar to vibration cleaning). This approach is more efficient than existing methods that rely on traditional "multiple, intensive reciprocating cleaning or high-pressure water output." After detecting a heavily soiled area, this application controls a cleaning robot to first detect along its edge path. Only when it is determined that the dirt in the heavily soiled area is non-flowing and dynamic dirt, does it control the mop to make a first reciprocating movement between a first position and a second position. This allows the mop to repeatedly rub the heavily soiled area in a small area at a high frequency, using mechanical friction to accelerate the dissolution and removal of stains, reduce ineffective movement, and improve cleaning efficiency. It also avoids the problem of stains being pushed away and the pollution area expanding due to repeated back-and-forth movements or strong water pressure, while reducing unnecessary waste of water resources and mop. Attached Figure Description

[0053] 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.

[0054] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the bottom structure of a cleaning robot provided in an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of a mop performing a first reciprocating movement, provided in an embodiment of this application.

[0057] Figure 4 A schematic diagram of the bottom structure of another cleaning robot provided in this application embodiment;

[0058] Figure 5 This is a schematic diagram of a mop performing a second reciprocating movement, provided in an embodiment of this application.

[0059] Figure 6 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0060] Figure 7 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0061] Figure 8 This is a schematic diagram of the path travel of a cleaning robot performing cleaning, provided in an embodiment of this application.

[0062] Figure 9 A schematic diagram illustrating the path movement of another cleaning robot performing cleaning, provided in an embodiment of this application.

[0063] Figure 10 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application;

[0064] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0065] 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

[0066] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0067] 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 effect. For example, "first reciprocating movement" and "second reciprocating movement" are only used to distinguish different reciprocating movements and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0068] 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.

[0069] 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.

[0070] In existing technologies, for heavily soiled areas, robotic vacuum cleaners typically clean by performing multiple, intensive back-and-forth cleaning operations or by increasing the pressure and water output of the mop.

[0071] However, the above methods are not only inefficient in cleaning, but also, when used for liquid stains, the dense back-and-forth motion or increased pressure and water flow can easily cause the stains to be pushed away and spread, thus expanding the contaminated area and causing unnecessary waste of water and mop.

[0072] To address the aforementioned issues, this application provides a control method for a cleaning robot. The cleaning robot's mop has three lateral positions: a first position, a second position, and a third position. The first and second positions are the two endpoints of a first reciprocating movement, with a small distance between them, while the third position is the maximum lateral extension limit. The first and second positions are used for localized reciprocating cleaning, and their interval is smaller than the interval between the first and third positions, ensuring rapid friction within the reciprocating movement range. Specifically, after the cleaning robot detects a heavily soiled area, it first performs edge detection along the edge cleaning path to determine the type of dirt. If the dirt is non-fluid, such as adhesive dirt, then a localized reciprocating movement mode of the mop is triggered, i.e., controlling the mop's first lateral reciprocating movement (similar to vibration cleaning) between the two endpoints (the first and second positions). This method is more efficient than existing methods that use traditional "multiple, intensive reciprocating cleaning or high-pressure water output." After detecting a heavily soiled area, this application controls a cleaning robot to first detect along its edge path. Only when it is determined that the dirt in the heavily soiled area is non-flowing and dynamic dirt, does it control the mop to make a first reciprocating movement between a first position and a second position. This allows the mop to repeatedly rub the heavily soiled area in a small area at a high frequency, using mechanical friction to accelerate the dissolution and removal of stains, reduce ineffective movement, and improve cleaning efficiency. It also avoids the problem of stains being pushed away and the pollution area expanding due to repeated back-and-forth movements or strong water pressure, while reducing unnecessary waste of water resources and mop.

[0073] It should be noted that non-flowing dynamic dirt refers to adhering dirt that does not have independent flowability. Its physical state is relatively stable and it will not easily spread or flow due to external forces. This type of dirt is usually a solid or semi-solid stain that adheres to the surface to be cleaned and needs to be removed by mechanical friction during cleaning. Correspondingly, dirt in the opposite state to non-flowing dynamic dirt is flowing dynamic dirt. For example, non-flowing dynamic dirt can be dried coffee stains, adhering dirt or dust clumps, dried beverage stains or sauce residue, etc., while flowing dynamic dirt can be undried liquid beverages, spilled soup or oil stains, stagnant water or undried water stains, etc. The embodiments of this application do not limit the specific stain types corresponding to non-flowing dynamic dirt and flowing dynamic dirt.

[0074] Optionally, the control method for the cleaning robot provided in this application is applied to the cleaning robot, for example, Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 1As shown, the cleaning robot 100 includes a mop assembly 101, which includes a mop 11. The mop 11 has a first position, a second position, and a third position. The first position and the second position are the two endpoint positions of the mop 11 during a first reciprocating movement. With the direction of travel of the cleaning robot 100 as the longitudinal direction, the first position, the second position, and the third position are spaced laterally perpendicular to the longitudinal direction. The third position is the maximum limit position of the robot body 102 in the lateral direction. The distance between the first position and the second position is smaller than the distance between the first position and the third position.

[0075] The lateral spacing setting can refer to the fact that the first position, the second position and the third position are all distributed along the lateral axis perpendicular to the forward direction of the cleaning robot 100, and there is a horizontal distance between them.

[0076] Optionally, the mop 11 can be a tracked mop or a mop that rotates around an axis. This application embodiment does not specifically limit the type of mop 11.

[0077] 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, viewed from the bottom of the cleaning robot, the positions from left to right are the first position, the second position, and the third position. The first position can refer to one end point of the mop 11 during its first lateral reciprocating movement. Optionally, this first position can be the position of the cleaning robot 100 in normal cleaning mode. This first position can be understood as the default initial position of the cleaning robot 100 during cleaning. Figure 2 Position A in the middle.

[0078] The second position can refer to the other end position of the mop 11 during the first reciprocating movement in the lateral direction. It is opposite to the first position, and both positions together define the range of the reciprocating motion. For example, the second position is as follows: Figure 2 Position B in the middle.

[0079] The third position can refer to the furthest point that the mop 11 can extend horizontally relative to the body 102, that is, the physical limit of its range of motion. For example, the third position is as follows: Figure 2 Position C in the middle.

[0080] The interval between the first and second positions is smaller than the interval between the first and third positions, indicating that the amplitude of the reciprocating cleaning is less than the maximum lateral range of motion of the mop 11, and that the reciprocating cleaning is only carried out in a localized area, rather than utilizing all lateral movement capabilities. The interval between the first and second positions can refer to the lateral distance between the two endpoints of the mop 11 during reciprocating motion, determining the coverage width of the localized friction cleaning.

[0081] The distance between the first and third positions can refer to the lateral distance from one end of the reciprocating motion to the maximum extension position, reflecting the margin of the overall movement range of the mop 11.

[0082] For example, Figure 3 This is a schematic diagram of a mop performing a first reciprocating movement, as provided in an embodiment of this application. Figure 3 As shown in Figure A, the mop 11 is in the first position, as... Figure 3 As shown in Figure B, the mop 11 is in the second position, and the mop 11 can reciprocate between the first position and the second position to clean the surface to be cleaned.

[0083] It is understandable that the process of the mop 11 moving back and forth between the first position and the second position can be regarded as a left-right horizontal movement with a small range of motion, similar to vibration cleaning.

[0084] Optionally, the mop assembly 101 may also include a rotation drive (not shown) for driving the mop 11 to rotate.

[0085] The rotation drive is used to provide power for the mop 11 to rotate about its own axis or a designated axis. The drive can be an actuator such as a rotary motor or a servo motor, which drives the mop 11 to rotate through a transmission device (such as gears or couplings), enabling it to achieve self-rotation or directional rotation for cleaning.

[0086] Optionally, the mop assembly 101 may also include a motion drive (not shown) for driving the mop 11 to move.

[0087] The moving drive unit can provide power to the mop 11 to control its movement in the lateral direction (perpendicular to the direction of travel of the cleaning robot). Optionally, the moving drive unit can be an actuator such as a motor, cylinder, or linear module, which directly or indirectly drives the mop 11 through mechanical transmission (such as gears, belts, and linkages), enabling it to move as needed between the first position, the second position, and the third position to achieve reciprocating friction cleaning or position adjustment.

[0088] It should be noted that the rotation drive and the movement drive can be the same drive or different drive, and this application does not specifically limit this.

[0089] Optional, Figure 4 A schematic diagram of the bottom structure of another cleaning robot provided in this application embodiment is shown below. Figure 4 As shown, the mop 11, in addition to having Figure 2 In addition to the positions shown, the mop 11 also includes a fourth position in the horizontal direction, such as... Figure 4Position D in the middle, the distance between the first position and the fourth position is smaller than the distance between the first position and the third position; the third position and the fourth position are the two endpoint positions of the mop 11 during the second reciprocating movement.

[0090] The fourth position can refer to the other end position of the mop 11 in the horizontal direction, which is opposite to the third position and is located inside the third position in the horizontal direction.

[0091] It is understandable that the third and fourth positions together constitute another combination of endpoints for the mop 11 to perform a second reciprocating movement, and the distance between the first and fourth positions is less than the distance between the first and third positions. This indicates that the mop 11 can be reasonably adjusted in position according to cleaning needs, and the mop 11 can be controlled to perform a second reciprocating movement.

[0092] For example, Figure 5 This is a schematic diagram of a mop performing a second reciprocating movement, as provided in an embodiment of this application. Figure 5 As shown in C, mop 11 is in the third position, as... Figure 5 As shown in D, the mop 11 is in the fourth position. The mop 11 can move back and forth between the third and fourth positions to clean the surface to be cleaned, especially the edges of walls, the edges of obstacles, the bottom edges of sofas, and the surfaces of large, heavily soiled areas.

[0093] Optionally, the cleaning robot 100 may also include a spraying device (not shown in the figure).

[0094] The spraying device can consist of a liquid storage unit (such as a water tank), delivery pipelines, and control valves or pumps. It is used to spray a target fluid onto the surface to be cleaned during the cleaning process. The target fluid refers to the liquid sprayed onto heavily soiled areas through the spraying device, and its composition can be clean water, cleaning solution, or other fluid media with stain wetting, softening, or dissolving effects. For example, the target fluid can be water, cleaning solution, or steam.

[0095] Optionally, the spraying device is used to spray out a hot fluid; the hot fluid can be hot water, heated cleaning liquid or water vapor, etc., and the specific fluid corresponding to the hot fluid is not limited in the embodiments of this application.

[0096] Optionally, the spraying device includes a steam generation device that sprays steam through nozzles; this steam generation device is capable of converting liquid (usually water) into steam and spraying the steam through nozzles. The steam generation device typically consists of a heating module, a vaporization chamber, and a pressure control assembly.

[0097] Optionally, the spraying device includes a liquid spraying device that sprays the target liquid through a nozzle; the liquid spraying device is capable of directly spraying the stored target liquid (e.g., water, cleaning solution, disinfectant, or a mixture thereof) in liquid form through the nozzle. The liquid spraying device typically consists of a liquid storage container, a pumping unit, a flow control valve, and nozzles.

[0098] Optionally, the cleaning robot 100 also includes a first light emitting device (not shown in the figure), which is used to emit probe light to the target fluid; the probe light may refer to a beam emitted by the first light emitting device for optical interaction with the target fluid to obtain information or achieve control.

[0099] For example, the first light emitting device can emit detection light of a specific wavelength into the liquid or vapor sprayed by the spraying device. The first light emitting device typically consists of a light source (such as a laser diode or light-emitting diode) and an optical lens, and may be integrated near the spraying path or set up independently.

[0100] In this way, by detecting changes in the transmission, reflection, or scattering of light in the target fluid, it can determine whether the target fluid is being sprayed out normally or estimate the flow rate. Combined with optical sensing feedback, it can ensure that the target fluid is accurately sprayed onto the area to be cleaned, so that users can observe it in real time.

[0101] Optionally, the cleaning robot 100 also includes a second light emitting device (not shown) for emitting detection light toward heavily polluted areas.

[0102] For example, the second light emitting device can emit detection light of a specific wavelength toward heavily soiled areas (such as stubborn stains, oil stains, or highly contaminated areas on the ground). This second light emitting device may consist of a directional light source (such as a laser module or light-emitting diode) and control circuitry, and may be integrated into the bottom of the cleaning robot 100 or near the cleaning module for actively illuminating the area to be detected.

[0103] In this way, by detecting the differences in the reflection, scattering, or absorption characteristics of light on the stain surface, an optical comparison is formed with the area to be cleaned, improving the identification accuracy of heavily soiled areas by sensors (such as cameras and photoelectric sensors). Furthermore, by illuminating the same area to be cleaned during or after cleaning, the degree of stain residue can be assessed through changes in the light signal, thus verifying the cleaning effect. In addition, the response characteristics of different wavelengths of light (such as the absorption of specific infrared bands by oil stains) can be used to help determine the nature of the stain, providing a basis for cleaning strategies (such as spraying hot fluid or adjusting the position of the mop 11).

[0104] Optional, such as Figures 2-5As shown, the cleaning robot 100 also includes drive wheels 103, which are located in front of the mop 11. Drive wheels 103 are typically active wheels that provide power to the cleaning robot 100. They are usually driven by a motor and are responsible for the movement and steering of the cleaning robot 100.

[0105] Optional, such as Figures 2-5 As shown, the cleaning robot 100 also includes a roller brush assembly 104, which includes a suction chamber, and a ventilation channel is formed between the suction chamber and the surface to be cleaned.

[0106] The dust collection chamber forms a ventilation channel between itself and the surface to be cleaned, which is used to draw the dirt into the dust collection chamber by airflow when the roller brush agitates the dirt.

[0107] Based on the above structural design of the cleaning robot 100, the cleaning robot 100 can effectively clean dirt in heavily soiled areas. For example, Figure 6 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 6 As shown, taking the cleaning robot 100 as an example, the cleaning robot moves along the surface to be cleaned in the living room according to the preset bow-shaped path. At this time, the mop is in the normal cleaning mode.

[0108] Furthermore, during the movement of the robot vacuum cleaner, if a heavily soiled area 200 is detected on the surface to be cleaned by sensors (such as a vision camera, a dirt detection sensor, etc.), the robot vacuum cleaner will pause its current bow-shaped path and switch to an edge cleaning path that moves along the edge contour of the heavily soiled area 200 to perform edge detection.

[0109] During the edge detection process, the sweeping robot collects real-time dirt status information of heavily soiled areas through sensors and performs dirt status analysis to determine whether the dirt in the heavily soiled area 200 is dynamic or non-dynamic.

[0110] If the dirt in the heavily soiled area 200 is analyzed to be non-flowing, the mop is controlled to make a small reciprocating movement between the first and second positions to perform localized friction cleaning on the heavily soiled area 200. Furthermore, after completing the targeted cleaning of the heavily soiled area 200, the robot vacuum will return to its original zigzag path and resume the regular cleaning mode to continue the routine cleaning of the surface to be cleaned.

[0111] Optionally, if the dirt in the heavily soiled area 200 is analyzed to be flowing dirt, a cleaning mode can be selected according to a preset strategy. For example, other areas can be cleaned first, and the robot can return to the heavily soiled area 200 for cleaning or re-inspection after the flowing dirt dries. Alternatively, the robot can be controlled to remain stationary and wait for the flowing dirt to dry before returning to the heavily soiled area 200 for cleaning or re-inspection. This application embodiment does not limit the cleaning mode selected for flowing dirt; it can be set based on application scenario requirements or user needs.

[0112] It should be noted that the cleaning robot 100 can be a sweeping robot, a mopping robot, a floor washing robot, a pool robot, etc. The embodiments of this application do not specifically limit the type of the cleaning robot 100, which can be any smart mobile device with cleaning function.

[0113] It should also be noted that the embodiments of this application do not specifically limit the scenario of the cleaning robot 100 cleaning heavily soiled areas. It can be applied to any scenario with heavily soiled areas for cleaning, such as kitchen areas, bedroom areas, bathroom areas, etc.

[0114] 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.

[0115] For example, Figure 7 This 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... Figures 1-5 In the cleaning robot with the structure shown, such as Figure 7 As shown, the control method for this cleaning robot includes the following steps:

[0116] S701. During the cleaning process of the cleaning robot, if a heavily soiled area is detected, the cleaning robot is controlled to perform edge detection on the heavily soiled area according to the edge cleaning path.

[0117] In this embodiment, a heavily soiled area can refer to a local area on the surface to be cleaned where the degree of soiling, adhesion strength, and / or soiled area exceeds a preset standard value. For example, a heavily soiled area can be dried beverage stains, oil stains, glue stains, etc., or sauces, colored liquids, etc., which are in a flowing state. This embodiment does not specifically limit the type of soiling in the heavily soiled area.

[0118] Optionally, the heavily polluted area can be identified by sensors, such as visual sensors, infrared sensors or lidar. This application embodiment does not specifically limit the type of sensor for identifying heavily polluted areas.

[0119] An edge cleaning path refers to the trajectory of a cleaning robot as it moves along the edge contour of a heavily soiled area. This edge cleaning path allows the cleaning robot to detect the degree and extent of soiling along the outer edge of the heavily soiled area without directly penetrating it.

[0120] The edge cleaning path can completely surround the heavily contaminated area or partially surround it. In this embodiment, the specific path corresponding to the edge cleaning path is not limited, as long as it can realize the edge detection function.

[0121] Edge detection refers to the process of a cleaning robot moving along the edge of a heavily soiled area. Sensors can detect and record the contour and spatial distribution characteristics of the heavily soiled area, as well as the type of dirt in the area, in real time.

[0122] For example, the cleaning robot can detect the dirt status of the surface to be cleaned in real time during normal cleaning. When the sensor detects that the dirt level of a certain local area exceeds the preset standard value, the area is determined to be a heavily soiled area. Furthermore, when a heavily soiled area is detected, instead of cleaning the heavily soiled area immediately, the cleaning robot is controlled to move along the edge contour of the heavily soiled area according to the edge cleaning path to complete the boundary recognition and dirt detection of the heavily soiled area.

[0123] It should be noted that the embodiments of this application do not specifically limit the size of the preset standard value, which can be set based on application scenario requirements or user requirements.

[0124] S702. When it is detected that the dirt in the heavily soiled area is non-flowing dirt, the mop is controlled to move back and forth between the first position and the second position to perform friction cleaning on at least part of the heavily soiled area.

[0125] In this embodiment of the application, friction cleaning can refer to a cleaning mode in which a mop is moved rapidly back and forth on the surface of a heavily soiled area to peel off and remove stains by physical friction.

[0126] For example, if edge detection confirms that the dirt in a heavily soiled area is non-flowing, the cleaning robot initiates a targeted cleaning mode. This cleaning mode controls the mop to perform high-frequency, low-amplitude reciprocating motion between two preset endpoint positions in the lateral direction, such as... Figure 3 The position switching between the first and second positions shown in the diagram causes the mop to repeatedly rub at least a portion of the heavily soiled area of ​​the surface in a high-frequency vibration manner.

[0127] Optionally, if the heavily soiled area contains both non-flowing and flowing dirt, the non-flowing dirt area can be cleaned by reciprocating friction between the first and second positions only. The area containing flowing dirt can be cleaned by reciprocating friction between the first and second positions only after the flowing dirt has dried or become wet to a preset state. The preset state can refer to the state where the fluidity of the dirt is reduced to below a critical threshold, so that when it is cleaned by reciprocating friction, the dirt mainly peels off from the attachment surface, is captured or rolled up by the cleaning robot, and does not flow or spread over a large area.

[0128] It should be noted that the preset state is not a fixed physical point, but a predefined set of conditions that can be adapted to different cleaning scenarios and stain types. When the detected dirt characteristics meet these conditions, it is determined that the preset state has been reached, thus allowing subsequent friction cleaning to be triggered.

[0129] Optionally, if the degree of dirt distribution in heavily soiled areas is uneven, only the areas where the degree of dirt meets the dirt threshold can be cleaned by reciprocating friction between the first and second positions, while other areas can be cleaned using other cleaning modes. Alternatively, all heavily soiled areas can be cleaned; this embodiment of the application does not specifically limit this approach.

[0130] Compared to existing methods that directly control the cleaning robot to perform multiple back-and-forth cleanings after detecting heavily soiled areas, resulting in ineffective movement and repeated coverage, or methods that increase mop pressure and water output, this application first controls the cleaning robot to detect along the edge of the heavily soiled area, quickly defining the pollution range. Only when the dirt in the heavily soiled area is determined to be non-flowing dirt is the cleaning robot controlled to clean that area. Furthermore, the cleaning mode employs a high-frequency first reciprocating movement of the mop between a first and second position with a small lateral spacing. Therefore, this small-area, high-frequency localized friction method not only achieves targeted high-frequency friction cleaning of heavily soiled areas but also significantly reduces the movement and dwell time of the cleaning robot in ineffective areas, avoiding the ineffective movement and repeated coverage of traditional large-area back-and-forth cleaning, thus greatly improving the effective cleaning efficiency per unit time. Moreover, this small-amplitude, high-frequency friction method primarily uses small left-right vibrations for cleaning, greatly weakening the force of the mop pushing and wiping stains horizontally, effectively preventing the problem of stains being scattered and the pollution area expanding due to mop movement during the cleaning process. Furthermore, the small-scale reciprocating friction method usually requires little or no auxiliary water output, reducing unnecessary wear on the mop and the overall energy consumption of the cleaning robot, thereby significantly saving water resources, reducing mop wear and overall energy consumption.

[0131] Furthermore, this application employs control logic that first detects heavily soiled areas along the edge, determines the type of dirt in those areas, and then executes a targeted cleaning mode. This allows for the automatic selection of differentiated cleaning modes based on the type of dirt (dynamic or non-dynamic). In particular, for non-dynamic dirt, a targeted mechanical friction method is used, achieving adaptive cleaning based on the characteristics of the stain. This improves cleaning efficiency in heavily soiled areas while avoiding stain diffusion and resource waste, resulting in a more efficient, precise, and energy-saving cleaning effect.

[0132] Optionally, the method also includes:

[0133] If the dirt in the heavily soiled area is detected to be dynamic dirt, the cleaning robot is controlled to clean the other areas in the area to be cleaned, excluding the heavily soiled area.

[0134] After the first duration or the first distance, the cleaning robot is controlled to return to the heavily soiled area for friction cleaning, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0135] In this embodiment, fluid dynamic contamination refers to a state of contamination that has autonomous fluidity or is easily deformed, diffused, or moved under the influence of external forces (such as gravity or inertia). Its physical characteristics include low viscosity and weak cohesion, and it typically manifests as a liquid or a mixture containing a large amount of liquid.

[0136] The first duration can refer to the preset time interval from when the cleaning robot leaves the heavily soiled area in a dynamic state until it returns to the heavily soiled area. This first duration is a pre-set adjustable parameter to provide sufficient time for the dynamic soiling to change state (such as liquid evaporation or drying).

[0137] The first distance can refer to the cumulative path length traveled by the cleaning robot from the moment it leaves the heavily soiled area of ​​the flow dynamics until it returns to the heavily soiled area. This first distance is also a pre-set adjustable parameter used to ensure that the cleaning robot has completed a certain amount of cleaning work on other areas in the heavily soiled area before returning, and that the state of dirt in the flow dynamics has changed to meet preset conditions, such as being in a non-flow dynamic state.

[0138] For example, Figure 8 This is a schematic diagram illustrating the path a cleaning robot follows when performing cleaning, as provided in an embodiment of this application. Figure 8As shown, when the cleaning robot 100 detects a heavily soiled area 200 and identifies that there is flowing dirt in the heavily soiled area 200, it does not wait in place or immediately perform reciprocating friction cleaning. Instead, it first controls the cleaning robot 100 to avoid the heavily soiled area 200 and then performs routine cleaning on other areas in the cleaning area except for the heavily soiled area 200 according to the bow-shaped path.

[0139] After waiting for a preset first time period or after the cleaning robot has moved a preset first distance, the cleaning robot 100 is controlled to return to the heavily soiled area 200. At this time, two cleaning strategies can be adopted: The first cleaning strategy is to directly perform friction cleaning on the heavily soiled area 200. This cleaning strategy is more suitable when the dirt has become treatable due to time or environmental changes; The second cleaning strategy is to perform edge detection on the heavily soiled area 200 again according to the edge cleaning path to reassess the type of dirt, such as assessing whether it has changed to a non-flowing dynamic suitable for friction cleaning, and then decide on the cleaning strategy or cleaning mode to be adopted based on the assessment results.

[0140] For fluid-like dirt, immediate reciprocating friction or pressurized water application can easily cause it to be dispersed and smeared, expanding the contaminated area. This application provides a time window for fluid-like dirt to naturally evaporate, locally dry, or increase in viscosity through delayed treatment, allowing it to potentially transform into a non-fluid state more suitable for friction cleaning, thus creating conditions for subsequent effective cleaning. During the waiting period for the fluid-like dirt to change state, the cleaning robot is not idle but continues cleaning other areas, making full use of the waiting time. This ensures the continuity of the overall cleaning task, avoids process stagnation, and prevents the cleaning robot from wasting time waiting or performing inefficient cleaning in front of fluid-like dirt, thereby improving overall cleaning efficiency.

[0141] Furthermore, this application also incorporates a strategy of re-detection upon returning to a heavily soiled area, enabling the cleaning robot to dynamically adjust its cleaning strategy based on actual changes in dirt levels. This enhances its adaptability to complex soiling scenarios and improves the reliability of its cleaning effectiveness.

[0142] Optionally, the method also includes:

[0143] If the dirt in a heavily soiled area is detected to be fluid and dynamic, the cleaning robot will be kept in a stopped state.

[0144] After the second duration, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path, in order to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0145] In this embodiment of the application, the stopped motion state can refer to the state in which the cleaning robot suspends all walking and cleaning component movements and keeps the robot body stationary.

[0146] The second duration can refer to the preset time interval during which the cleaning robot maintains its stationary state after entering a stationary state. This second duration is a pre-set parameter used to provide a stable time window for fluid dynamic dirt to change its state without mechanical disturbance, allowing its physical properties (such as viscosity and volatility) to change until the preset state is met.

[0147] For example, Figure 9 This is a schematic diagram illustrating the path movement of another cleaning robot performing cleaning, as provided in an embodiment of this application. Figure 9 As shown, when the cleaning robot 100 performs cleaning according to the bow-shaped path, if it detects a heavily soiled area 200 and determines that the dirt in the heavily soiled area 200 is flowing dirt, the cleaning robot 100 enters a stop state, that is, it suspends all active translation or rotational movements, so that the mop is kept in the relative position when the flowing dirt was detected (or lifted away from the surface to be cleaned to prevent the flowing dirt from contaminating it).

[0148] After the cleaning robot 100 maintains the stopped state for a preset second duration, subsequent operations will be performed. There are two cleaning strategies to choose from for the subsequent operations: the first strategy is to directly perform friction cleaning on the heavily soiled area 200, and the second strategy is to perform edge detection on the heavily soiled area 200 again according to the edge cleaning path to reassess the type of dirt, and then decide on the cleaning strategy or cleaning mode to be adopted based on the assessment results.

[0149] Therefore, when the cleaning robot is detected as having fluid, dynamic dirt in a heavily soiled area, stopping its movement eliminates any disturbance to the fluid dirt caused by the robot's movement or the mop's motion, preventing the risk of the dirt being accidentally spread or smeared due to continued robot operation. Furthermore, stopping the robot provides the fluid dirt with undisturbed time and environment for natural evaporation, penetration, or localized drying, allowing it to transition to a more manageable and less prone-to-spread state (such as semi-dry or adhesive), laying the foundation for subsequent friction cleaning. In addition, this method of immediately stopping upon detecting a heavily soiled area, compared to a method of leaving and then returning to the heavily soiled area, eliminates the need for planning departure and return paths, simplifying the control logic and ensuring the cleaning robot remains near the soiled area for a more direct and rapid response.

[0150] It should be noted that in this optional solution, the cleaning robot can also dynamically adjust its cleaning strategy according to the actual changes in dirt, enhancing its adaptability to complex stain scenarios and the reliability of its cleaning effect.

[0151] Optionally, the dirt detected in the heavily polluted area is non-flowing dirt, including:

[0152] By analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection, it was determined that non-flowing dynamic dirt exists in heavily polluted areas.

[0153] In this embodiment of the application, sensor information may refer to the raw data or pre-processed signals collected and output by various sensors on the cleaning robot during the execution of its tasks, which can reflect the state of the cleaning environment or object.

[0154] Optionally, the sensor information can come from one or more of the following sensors: optical sensors (such as cameras and infrared sensors), physical sensors (such as pressure sensors, humidity sensors, and acoustic sensors), motion sensors, etc. These sensors can provide data on various physical properties of the stain, such as visual characteristics, humidity, viscosity, and adhesion strength.

[0155] For example, during the process of a cleaning robot performing edge detection on heavily soiled areas, one or more sensors on its equipment can continuously collect sensor information about the heavily soiled areas. This sensor information includes multi-dimensional data from multiple sensors or sensor data collected by one or more sensors at different time periods. Furthermore, the cleaning robot analyzes the soiling status of the sensor information. Through analysis, it identifies characteristics corresponding to non-flowing dynamic soiling, thereby confirming the presence of non-flowing dynamic soiling.

[0156] Here, dirt state analysis refers to the process by which a cleaning robot uses preset algorithms, models, or logical rules to integrate, process, extract features, and identify types of sensor information collected. Characteristics of non-fluid dynamic dirt include stable morphology, strong adhesion, low fluidity, and sensor signals indicating solid or semi-solid properties. This application does not specifically limit the characteristics of non-fluid dynamic dirt in its embodiments.

[0157] Therefore, this application overcomes the potential for misjudgment or limitations in judging dirt based on single sensor information by integrating information from multiple sensors. For example, a single optical image may not be able to distinguish between wet reflections and actual stains. This allows for a more comprehensive and accurate identification of the physical state of dirt (fluid or non-fluid), reducing the risk of accidental triggering of friction cleaning methods and improving the accuracy and reliability of judgment. Furthermore, the comprehensive analysis of information from multiple sensors enhances the cleaning robot's understanding and adaptability to complex and variable dirt scenarios.

[0158] Furthermore, since the above analysis process is carried out simultaneously with edge detection, the type of dirt can be determined at the same time as defining the scope of pollution in heavily polluted areas, without interrupting the cleaning process or performing special detection steps, thereby improving the overall cleaning efficiency.

[0159] Optionally, controlling the mop to perform a first reciprocating movement between the first position and the second position includes:

[0160] The control mechanism drives the mop to move between a first position and a second position based on a preset frequency.

[0161] In this embodiment, the preset frequency refers to the number of cycles in which the moving drive component drives the mop to complete the first reciprocating movement between the first and second positions per unit time. Its value can be preset or dynamically adjusted according to cleaning needs, and is used to control the intensity and speed of the mop's vibration cleaning. This embodiment does not specifically limit the magnitude of the preset frequency. For example, the preset frequency can be 2-5 times per second.

[0162] In this optional step, the mop can be driven to periodically reciprocate between the first and second positions at a preset frequency by moving the drive component, so that the mop forms regular vibrations in the lateral range, thereby achieving continuous friction cleaning of heavily soiled areas.

[0163] In this way, the rhythm and intensity of the mop's reciprocating motion can be precisely controlled by preset frequencies, ensuring that the appropriate friction frequency is applied to heavily soiled areas with varying degrees of dirt, thus improving the consistency of cleaning results. Furthermore, the movement drive operates based on a fixed preset frequency, keeping the mop's reciprocating motion stable and avoiding cleaning blind spots or efficiency fluctuations caused by irregular movement. In addition, the preset frequency can be set to a reasonable value according to cleaning needs, avoiding unnecessary high-frequency movement that wastes energy and achieving energy efficiency optimization.

[0164] Optionally, the method also includes:

[0165] If the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop is controlled to make a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

[0166] The target preset condition can refer to the horizontal distribution location of the heavily soiled area (such as near the outside of the cleaning robot) or the area size of the area reaching a preset threshold, triggering the mop to adopt a second reciprocating movement mode between the third and fourth positions. For example, the target preset condition could be that the heavily soiled area is located at the edge of an obstacle, or that the soiled area is greater than a preset threshold. This application embodiment does not limit the specific content of the target preset condition or the specific size of the preset threshold.

[0167] For example, if the dirt in the heavily soiled area is non-flowing and the heavily soiled area is located at the edge of a wall, the edge of a large obstacle, or the bottom of an obstacle into which the mop can reach, or if the soiled area of ​​the heavily soiled area is larger than a preset threshold, then the mop can be controlled to perform a second reciprocating movement between the third and fourth positions. Figure 5 Positions shown in C and D are used to expand the lateral cleaning range of the mop, allowing for friction cleaning of at least some heavily soiled areas.

[0168] Thus, when the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop's lateral cleaning coverage width can be flexibly adjusted by switching the endpoint position of the second reciprocating movement, allowing it to move between the third and fourth positions. This adapts to heavily soiled areas of different sizes or locations. The larger lateral amplitude of the reciprocating movement also improves stain coverage and cleaning efficiency. Therefore, this application can match different cleaning modes according to the characteristics of the heavily soiled area, such as a cleaning mode with a first reciprocating movement between the first and second positions and a cleaning mode with a second reciprocating movement between the third and fourth positions, avoiding insufficient or excessive cleaning in a single cleaning mode.

[0169] Optionally, before controlling the mop to make a second reciprocating movement between the third and fourth positions, the method further includes:

[0170] Control the mop to switch from the first position to the third position.

[0171] In this optional step, before the cleaning robot starts the second reciprocating cleaning mode between the third and fourth positions, the mop can be switched from the first position to the third position to complete the switching preparation of the mop's working range and ensure that the mop can start performing extended reciprocating cleaning from the maximum outer limit position.

[0172] In this way, by first controlling the mop to move to the third position, the mop can enter a new reciprocating motion trajectory from a defined starting point, avoiding mechanical shocks or discontinuous cleaning caused by sudden position changes. Furthermore, by ensuring the mop starts moving from its outermost position, the entire lateral range between the third and fourth positions can be fully utilized, achieving effective coverage of heavily soiled areas. In addition, pre-positioning the mop to the third position provides a stable spatial reference for the subsequent second reciprocating movement, improving the accuracy of motion control and the controllability of the cleaning process.

[0173] Optionally, the mop assembly further includes a rotation drive for rotating the mop, controlling the mop to perform a first reciprocating movement between a first position and a second position, including:

[0174] During the process of controlling the mop to reciprocate between the first position and the second position, the control rotation drive drives the mop to rotate.

[0175] In this optional step, while the mop makes its first reciprocating lateral movement, the mop can also be driven to rotate around its own axis by rotating the drive unit, so that the rotational motion of the mop is superimposed during the lateral vibration cleaning process, thereby enhancing the dynamic friction between the mop and the surface of the heavily soiled area.

[0176] In this way, the combination of the mop's lateral reciprocating motion and its rotational motion generates more complex mechanical forces, which helps to more effectively break down and remove stubborn stains, improving cleaning performance and stain removal efficiency. Furthermore, the mop's rotational motion ensures that different parts of the mop surface continuously contact the stained area, increasing the diversity and coverage of friction and enhancing its ability to clean stubborn stains. In addition, the mop's rotational motion also ensures a more even distribution of force on the mop surface, preventing excessive localized wear and extending the mop's lifespan.

[0177] Optionally, the method also includes:

[0178] If the dirt in the heavily polluted area is detected to be non-flowing, the spraying device is turned on before cleaning the heavily polluted area to spray the target fluid into the heavily polluted area.

[0179] In this optional step, before the cleaning robot detects that the dirt in the heavily soiled area is non-fluid dynamic dirt, it can first control the spraying device to be turned on and spray the target fluid into the heavily soiled area, so that the non-fluid dynamic dirt in the heavily soiled area is soaked or softened before being cleaned, creating favorable conditions for subsequent friction cleaning.

[0180] Optionally, the cleaning robot can be controlled to spray the target fluid onto the heavily soiled area along a predefined path. After the target fluid covers the heavily soiled area, the cleaning robot can be controlled to return to the heavily soiled area for friction cleaning.

[0181] The predefined path can be a bow-shaped path or a path that is adaptively adjusted according to the area of ​​the heavily polluted area. This application embodiment does not specifically limit this.

[0182] In this way, the target fluid is pre-sprayed onto heavily soiled areas by a spraying device to moisten or soften non-flowing dirt in these areas, reducing the adhesion strength between the non-flowing dirt and the surface to be cleaned. This makes subsequent friction cleaning easier to remove stains, shortens cleaning time, and improves cleaning efficiency. Furthermore, because the target fluid can dissolve or disperse some of the stain components, pre-spraying the target fluid onto heavily soiled areas followed by friction cleaning can achieve more effective stain removal, especially suitable for dried or sticky stains. In addition, the pre-treatment of stains with the target fluid reduces the mop's frictional resistance, helping to reduce the load on the mop and drive components, and also helping to extend the service life of these components.

[0183] Optionally, the method also includes:

[0184] After spraying the target fluid into the heavily contaminated area, control the cleaning robot to clean the other areas in the area to be cleaned, excluding the heavily contaminated area;

[0185] After the fifth hour or the second distance, the cleaning robot returns to the heavily soiled area to perform friction cleaning.

[0186] In this embodiment of the application, the fifth duration may refer to the time interval between spraying the target fluid and returning to the heavily contaminated area for friction cleaning. The fifth duration may be preset based on the time required for the target fluid to act. This embodiment of the application does not limit the specific value corresponding to the fifth duration.

[0187] The second distance can refer to the cumulative path length traveled by the cleaning robot when cleaning other areas before returning to the heavily contaminated area after spraying the target fluid. This second distance can be preset based on the cleaning task plan. The specific value corresponding to the second distance is not limited in the embodiments of this application.

[0188] In this optional step, after the cleaning robot sprays the target fluid onto the heavily soiled area, it may not immediately perform friction cleaning. Instead, the cleaning robot can be controlled to clean other areas first, and then return to the heavily soiled area to perform friction cleaning after a fifth time period or a second distance, allowing the sprayed target fluid sufficient time to wet or soften the stains.

[0189] Optionally, after the cleaning robot sprays the target fluid into the heavily soiled area, it can also return to the heavily soiled area for friction cleaning after cleaning other areas.

[0190] In this way, after spraying the target fluid into heavily soiled areas, delaying the cleaning of these areas allows sufficient time for the target fluid to soak, penetrate, or react, enhancing the softening effect on non-fluid dynamic dirt within the heavily soiled areas and thus improving the efficiency of subsequent friction cleaning. Correspondingly, during this delayed waiting period, other areas can be cleaned, preventing the cleaning robot from being idle while waiting for the fluid to act. Utilizing this time interval to clean other areas improves the overall time utilization and path continuity of the cleaning operation. Furthermore, combining fluid soaking of heavily soiled areas with delayed cleaning reduces the mechanical load and energy consumption of subsequent friction cleaning, achieving more efficient cleaning.

[0191] Optionally, the spraying device is controlled to be in the on state to spray the target fluid onto the heavily polluted area, including:

[0192] After the spraying device is turned on, the cleaning robot is stopped.

[0193] After the third period, the spraying device was controlled to spray hot fluid onto the heavily polluted area.

[0194] It should be noted that because the steam generation device or hot water module has a startup process of a few seconds—that is, the process of the thermal module starting to heat water to prepare the hot fluid—after controlling the spraying device to be in the on state, the cleaning robot can be controlled to be in a stopped state to allow the preparation of the hot fluid to take place. The hot fluid can refer to a liquid with a temperature higher than the ambient temperature, such as hot water, hot steam, or heated cleaning liquid, which enhances the cleaning effect on stains through heat energy.

[0195] In this embodiment of the application, the third duration may refer to the time interval between controlling the spraying device to start spraying the hot fluid, which can be used to complete preparation processes such as hot fluid preheating, system stabilization, or position calibration.

[0196] In this optional step, after the cleaning robot turns on the spraying device, the cleaning robot can be controlled to stop moving and remain stationary. After a third time period, hot fluid can be sprayed onto the heavily soiled area to ensure that the relative position of the spraying device and the heavily soiled area is stable, and to complete the preheating or pressurization preparation of the hot fluid.

[0197] The position at which the cleaning robot stops moving can be the edge of the heavily soiled area or the location where the heavily soiled area is detected. This application does not specifically limit the position at which the cleaning robot stops moving.

[0198] In this way, after the spraying device is turned on, the cleaning robot is controlled to stop moving first. After a three-hour hot fluid preparation process, the hot fluid is sprayed onto the heavily soiled area. This can avoid the need to adjust the robot's position due to the movement of the cleaning robot, ensuring that the hot fluid accurately covers the heavily soiled area. It can also ensure that the hot fluid reaches the appropriate temperature or pressure, thereby enhancing the softening, dissolving or sterilizing effect on the stains.

[0199] Optionally, the spraying device is controlled to be in the on state to spray the target fluid onto the heavily polluted area, including:

[0200] After the spraying device is turned on, the cleaning robot is controlled to perform edge detection on the heavily soiled area according to the edge cleaning path.

[0201] After a six-hour period, the spraying device was controlled to spray hot fluid onto the heavily polluted area.

[0202] In this embodiment of the application, the sixth duration may refer to the time interval between controlling the spraying device to start spraying the hot fluid. This sixth duration is used to complete edge detection and / or preheating preparation of the hot fluid.

[0203] In this optional step, after the cleaning robot turns on the spraying device, the cleaning robot can be controlled to perform an edge detection path along the edge of the heavily soiled area. After six hours, the hot fluid can be sprayed to accurately identify the outline and range of the heavily soiled area before spraying, and the preheating preparation of the hot fluid may be completed simultaneously.

[0204] By combining edge detection with spray preparation, and simultaneously identifying heavily soiled areas during the sixth time delay, the integrated efficiency of the cleaning process can be improved. This sixth time delay ensures that the hot fluid reaches the appropriate operating temperature or pressure, thereby enhancing its cleaning effect on stains in heavily soiled areas. Furthermore, edge detection clearly defines the boundaries of heavily soiled areas, allowing subsequent hot fluid spraying to more accurately cover these areas, avoiding hot fluid waste or missed areas.

[0205] Optionally, the method also includes:

[0206] After the spraying device is turned on, a first prompt message is generated to remind the user that the cleaning robot is preparing the target fluid.

[0207] In this embodiment of the application, the first prompt information may refer to the status prompt issued by the cleaning robot to the user through sound, light, display screen or terminal device notification, and its content is used to indicate that the cleaning robot is performing the preparation operation of the target fluid.

[0208] It should be noted that the present application does not specifically limit the display format and content of the first prompt information, which can be set based on the product performance of the cleaning robot or user needs.

[0209] In this optional step, after the cleaning robot turns on the spraying device, it actively notifies the user that the cleaning robot is currently in the preparation stage of the target fluid by generating a first prompt message, so that the user can understand the working status and progress of the cleaning robot.

[0210] In this way, by clearly generating an initial notification message to indicate the current operational stage of the cleaning robot, user doubts or misjudgments caused by a lack of understanding of the robot's working status are reduced, enhancing transparency and user experience. Furthermore, generating this initial notification message helps users anticipate subsequent cleaning processes (such as spraying about to begin), facilitating their observation and cooperation. In addition, if the preparation process of the target fluid is abnormally prolonged or interrupted, the initial notification message can help users promptly detect potential problems and take appropriate action.

[0211] Optionally, the method also includes:

[0212] After spraying the target fluid into the heavily polluted area, the cleaning robot is kept in a stopped state.

[0213] After the fourth hour, the cleaning robot returns to the heavily soiled area to perform friction cleaning.

[0214] In this embodiment, the fourth duration can refer to the static waiting time between the completion of the target fluid spraying and the start of returning to the heavily soiled area for friction cleaning. This fourth duration can be preset based on the time required for the target fluid to interact with non-fluid dynamic dirt. In this embodiment, the specific duration corresponding to the fourth duration is not limited.

[0215] In this optional step, after the cleaning robot sprays the target fluid onto the heavily soiled area, the cleaning robot can be controlled to be in a stopped state, that is, to remain stationary in place. After a fourth time period, it can return to the heavily soiled area to perform friction cleaning, so that the sprayed target fluid has sufficient time to wet, penetrate or take effect on the non-fluid dirty surface.

[0216] In this context, "in place" can refer to the location where the spraying of the target fluid stops after covering all heavily polluted areas, or it can refer to the location corresponding to the point where the spraying of the target fluid stops.

[0217] In this way, after spraying the target fluid into the heavily soiled area, the robot remains stationary for four hours to ensure that the target fluid and the stains in the heavily soiled area are in full contact, achieving a softening, dissolving, or chemical reaction state, thereby improving the efficiency of subsequent friction cleaning. Furthermore, by controlling the cleaning robot to remain stationary, path redundancy and time waste caused by moving and returning can be prevented, achieving a synergy between cleaning efficiency and effectiveness.

[0218] Optionally, the method also includes:

[0219] After spraying the target fluid into the heavily polluted area, the cleaning robot is controlled again to perform edge detection of the heavily polluted area according to the edge cleaning path;

[0220] After conducting edge detection on the heavily contaminated area, the cleaning robot is controlled to travel to the target location, and then enters the heavily contaminated area to perform friction cleaning.

[0221] In this embodiment, the target location may refer to the starting coordinate point determined by the cleaning robot based on the edge detection results, used to begin entering the heavily soiled area for friction cleaning. This target location is typically located at a key access point on the edge or inside the heavily soiled area. This embodiment does not limit the specific location corresponding to the target location.

[0222] In this optional step, after the cleaning robot sprays the target fluid, the cleaning robot can be controlled to perform edge detection along the edge of the heavily soiled area again according to the edge cleaning path, then travel to the target position, and enter the heavily soiled area from the target position to start friction cleaning.

[0223] It should be noted that there is usually a preparation and waiting process for the hot fluid. During the preparation of the hot fluid, the cleaning robot can perform edge detection around the heavily contaminated area to find a suitable hot fluid injection point and / or make optimal cleaning preparations for the subsequent selection of the location to enter the heavily contaminated area for cleaning.

[0224] In this way, by clearly defining the outline of heavily contaminated areas through edge detection and combining it with the selection of target locations, an effective cleaning path can be planned to enter the heavily contaminated areas, avoiding ineffective movement. Furthermore, during edge detection, sufficient immersion time can be given to the target fluid simultaneously, preparing the cleaning robot for entry and improving process continuity. In addition, entering from the target location based on the determined boundary detection results ensures that friction cleaning effectively covers heavily contaminated areas, reducing cleaning omissions and improving cleaning efficiency.

[0225] Optionally, the target location may be determined by at least one of the following methods:

[0226] The initial position for edge detection;

[0227] The first end position for edge detection;

[0228] Outline information of heavily polluted areas;

[0229] Information on the distribution of dirt levels in heavily polluted areas.

[0230] In this embodiment of the application, the first initial position may refer to the initial coordinate point where the cleaning robot begins to perform edge detection.

[0231] The first ending position can refer to the final coordinate point where the cleaning robot is located when it completes the edge detection.

[0232] Contour information can refer to the shape and spatial extent data of the outer boundary of a heavily polluted area obtained through edge detection.

[0233] Information on the distribution of dirt levels can refer to the differences and spatial distribution characteristics of dirt levels (such as concentration and area) at different locations within a heavily polluted area.

[0234] In some embodiments, the heavily contaminated area is scanned using a visual sensor or lidar to extract its contour information, namely the contour shape and geometric center. If the heavily contaminated area is clustered in a clump (such as a circle or ellipse), the centroid coordinates of the contour can be set as the target location. If the heavily contaminated area is distributed in a long strip (such as spill marks), the center point of the middle section or the widest part of the contour can be set as the target location. In this way, the geometric features of the heavily contaminated area can be adaptively located, ensuring that the cleaning action covers the core contaminated area.

[0235] Optionally, the outline area of ​​heavily polluted areas can be combined. If the outline area exceeds the area threshold, multiple target location points can be generated for zoned cleaning.

[0236] In other embodiments, a heat map of dirt levels is generated through multi-sensor fusion, and the target location is determined based on the dirt intensity distribution. For example, the coordinate point with the highest sensor reading can be selected as the target location; the weighted center coordinates of multiple points in a heavily polluted area are calculated as the target location using the pollution levels of multiple points as weights; and the location of the most polluted sub-region is located along the pollution intensity gradient direction as the target location. This application does not specifically limit the method of determining the target location based on the dirt level distribution information of a heavily polluted area.

[0237] Thus, this application defines multiple determination methods to identify the target location, allowing for the selection of appropriate entry points based on different scenario requirements, adapting to diverse heavily soiled area shapes and dirt distribution characteristics. Using the initial or final position from edge detection as the entry point simplifies the location determination logic, reduces additional calculations, and improves response speed. Selecting the entry point based on contour information or dirt distribution information enables the robot cleaner to begin work from heavily soiled or easily cleaned areas, enhancing the targeting and efficiency of the cleaning process.

[0238] Optionally, the method also includes:

[0239] After scrubbing and cleaning at least some of the heavily soiled areas, control the cleaning robot to detect dirt in the heavily soiled areas;

[0240] If the degree of dirt and / or the area of ​​dirt in the heavily soiled area does not meet the first preset condition, the cleaning robot is controlled to perform friction cleaning on at least part of the heavily soiled area again.

[0241] In this embodiment of the application, the first preset condition may refer to the fact that after the heavily soiled area is cleaned by friction, the degree of residual dirt is lower than a first threshold and / or the area of ​​dirt is lower than a second threshold. The first preset condition is used to determine whether the heavily soiled area needs to be cleaned again.

[0242] In this optional step, after the cleaning robot completes the friction cleaning of at least part of the heavily soiled area, the cleaning effect can be evaluated by a dirt detection mechanism (such as a sensor); if the residual dirt level or area of ​​the heavily soiled area is detected to be less than the preset cleaning standard, that is, the residual dirt level needs to be greater than the first threshold and / or the dirt area needs to be greater than the second threshold, the cleaning robot is controlled to perform friction cleaning on the at least part of the heavily soiled area again until the first preset condition is met.

[0243] In this embodiment, after the cleaning robot has completed the friction cleaning of at least part of the heavily soiled area, the robot can be controlled to rotate its body direction. The cleaning effect of the heavily soiled area can be evaluated by the front sensor or directly by the rear sensor. This application does not specifically limit the method of evaluating the cleaning effect or the method of detecting the heavily soiled area.

[0244] It should be noted that the embodiments of this application do not specifically limit the size of the first threshold and the second threshold, and can be set based on application scenario requirements or user requirements.

[0245] In this way, by detecting and providing feedback after cleaning heavily soiled areas, we can ensure that these areas are effectively cleaned and avoid incomplete cleaning. Furthermore, by repeatedly cleaning heavily soiled areas that do not meet the first preset condition, we can avoid wasting energy and time caused by blindly repeating friction. This not only achieves precise utilization of cleaning resources but also improves the reliability and consistency of the cleaning process.

[0246] Optionally, the method also includes:

[0247] If the cleaning robot repeats the friction cleaning of at least some heavily soiled areas more than a preset number of times, the cleaning robot is controlled to continue cleaning the areas to be cleaned, excluding the heavily soiled areas.

[0248] In this embodiment, the preset number of times refers to the maximum number of times the cleaning robot is allowed to perform friction cleaning on the same heavily soiled area. This preset number of times can be preset based on a balance between cleaning efficiency, energy consumption, and stain removability. This embodiment does not specifically limit the value of the preset number of times. For example, the preset number of times could be 3 times.

[0249] In this optional step, after the cleaning robot has repeated the friction cleaning of at least part of the heavily soiled area a preset maximum number of times, it can stop cleaning the heavily soiled area and control the cleaning robot to resume the normal cleaning process for non-heavily soiled areas. This avoids getting bogged down in ineffective repetitive work on stubborn stains or misidentified heavily soiled areas. For example, a patterned surface to be cleaned may be misidentified as a heavily soiled area.

[0250] It should be noted that, in this application, at least some heavily polluted areas include all heavily polluted areas and some areas within heavily polluted areas.

[0251] By setting an upper limit on the number of repetitions of friction cleaning, the cleaning robot is prevented from staying in the same area for a long time due to extremely stubborn stains or misidentification of heavily soiled areas. This ensures the overall efficiency of the cleaning task, reduces the sacrifice of overall cleaning progress due to excessive cleaning in certain areas, thereby reducing unnecessary consumption of energy and time and improving the overall economy of cleaning operations.

[0252] Optionally, controlling the spraying device to be in the on state includes:

[0253] Conduct dirt and grime testing in heavily polluted areas;

[0254] If the degree of dirtiness and / or the area of ​​dirtiness in the heavily polluted area does not meet the second preset condition, the spraying device is controlled to be turned on.

[0255] In this embodiment, the second preset condition may refer to a pre-set judgment standard regarding the first degree of dirt threshold and / or the first dirt area threshold, used to determine whether the heavily soiled area needs to be sprayed with the target fluid for auxiliary cleaning. This embodiment does not limit the specific values ​​corresponding to the first degree of dirt threshold and / or the first dirt area threshold; they can be set based on application scenario needs or user requirements.

[0256] In this optional step, before the cleaning robot controls the spraying device to start, non-fluid dynamic dirt in heavily soiled areas can be detected. The spraying device will only be activated if the detected dirt level and / or dirt area does not meet the second preset condition. This achieves condition-triggered spraying based on the severity of dirt, avoiding unnecessary fluid spraying of minor stains.

[0257] Optionally, after spraying the target fluid onto the heavily soiled area, the mop is controlled to make a first reciprocating movement between a first position and a second position; or, after determining that the soiled area of ​​the heavily soiled area is greater than a preset threshold, the mop is controlled to make a second reciprocating movement between a third position and a fourth position to perform friction cleaning on the heavily soiled area.

[0258] In this way, by spraying the target fluid only on heavily soiled areas that meet a certain level of dirtiness and / or area, unnecessary consumption of cleaning fluid or water is reduced, lowering operating costs. It also avoids over-treating minor stains, allowing cleaning resources to be concentrated on the truly heavily soiled areas that require the target fluid's assistance, thus improving overall cleaning efficiency. Furthermore, through the dynamic detection of heavily soiled areas and condition assessments, the cleaning robot can make autonomous decisions based on the actual soiling situation, enhancing its level of intelligence.

[0259] Optionally, the method also includes:

[0260] After friction cleaning of at least part of the heavily soiled area, if the degree of soiling and / or area of ​​soiling in the heavily soiled area does not meet the third preset condition, the spraying device is turned on to spray the target fluid into the heavily soiled area.

[0261] In this embodiment, the third preset condition may refer to a pre-set judgment standard regarding the second degree of dirt threshold and / or the second dirt area threshold, used to determine whether the heavily soiled area has achieved a good cleaning effect after the first friction cleaning. This embodiment does not limit the specific values ​​corresponding to the second degree of dirt threshold and / or the second dirt area threshold; they can be set based on application scenario needs or user requirements.

[0262] In this optional step, after the cleaning robot completes friction cleaning of at least part of the heavily soiled area, the degree of dirt and / or the area of ​​dirt in the heavily soiled area is detected again. If the degree of dirt and / or the area of ​​dirt still does not meet the third preset condition, the spraying device is controlled to turn on and spray the target fluid to achieve dynamic feedback and secondary processing based on the cleaning effect.

[0263] In this way, by detecting and judging the conditions after friction cleaning, the target fluid is sprayed on heavily soiled areas that have not met the cleaning standards, ensuring that stubborn stains in the heavily soiled areas can be effectively dissolved and the cleaning quality improved. Furthermore, by spraying the target fluid on areas where heavy stains still remain after friction cleaning, this application can avoid fluid waste and achieve on-demand allocation of cleaning resources.

[0264] Optionally, the spraying device is controlled to be in the on state to spray the target fluid onto the heavily polluted area, including:

[0265] The steam generation device is kept in the on state so that steam is sprayed into the heavily polluted area through nozzles.

[0266] In this optional step, by controlling the steam preparation device to turn on, the nozzle directly sprays steam into the heavily polluted area, and the high temperature, wetting and impact characteristics of the steam are used to act on the non-flowing dirty surface of the heavily polluted area.

[0267] Because the high temperature of steam can quickly soften stubborn stains such as grease and adhesives, reducing their adhesion, and because high-temperature steam has the natural ability to sterilize and decompose odor molecules, it can achieve hygiene and disinfection while cleaning, improving environmental sanitation. Therefore, by directly spraying steam onto heavily soiled areas, the efficiency and cleaning effect of subsequent friction cleaning can be significantly improved. In addition, steam cleaning mainly uses water vapor, requiring little or no chemical cleaning agents, which can reduce the use of chemicals and water consumption, making it more energy-efficient and environmentally friendly.

[0268] Optionally, the spraying device is controlled to be in the on state to spray the target fluid onto the heavily polluted area, including:

[0269] The spraying device is turned on to spray the target liquid into the heavily polluted area through the nozzle.

[0270] In this optional step, the spraying device is turned on so that the nozzle can directly spray the target liquid (such as cleaning solution, water or mixed solution) onto the heavily soiled area, and the wetting, dissolving or chemical reaction properties of the target liquid are used to act on the soiled surface.

[0271] Optionally, the spraying device can precisely control the amount of liquid sprayed, the spraying range, and the spraying timing to avoid wasting the target liquid and ensure the controllability of the cleaning process.

[0272] Because the target liquid can penetrate and dissolve stain components, or disperse stains through surface activity, spraying the target liquid onto heavily soiled areas can create favorable conditions for subsequent friction cleaning, allowing the stains in heavily soiled areas to dissolve and disperse quickly. Furthermore, this application allows for the selection of target liquids with different functions based on the type of stain, achieving targeted cleaning and improving treatment effectiveness.

[0273] Optionally, the method also includes:

[0274] During the process of spraying the target fluid into the heavily polluted area by the spraying device, the first light emitting device is kept in the on state to visualize the spraying process of the target fluid.

[0275] In this optional step, while the cleaning robot controls the spraying device to spray the target fluid, the first light emitting device can also be turned on simultaneously to emit detection light to the sprayed target fluid, so that the movement trajectory, distribution range or morphological changes of the target fluid in the air can be perceived by vision or captured by sensors, thereby realizing the visualization of the spraying process.

[0276] In this way, by emitting probe light towards the target fluid, the spraying process is visualized, allowing users to intuitively observe the coverage, uniformity, and movement of the sprayed fluid, facilitating timely evaluation of the spraying effect. Furthermore, visualizing the spraying process enhances users' perception and understanding of the cleaning robot's operation, improving the user experience and building trust.

[0277] Optionally, the method also includes:

[0278] If a heavily polluted area is detected, the second light emitting device is turned on to visualize the heavily polluted area.

[0279] In this optional step, after the cleaning robot detects a heavily soiled area, it can control the second light emitting device to turn on and emit detection light to the heavily soiled area, so that the outline, range or dirt features of the heavily soiled area are visually enhanced or optically contrasted under the illumination of the detection light, thereby realizing the visualization of the heavily soiled area.

[0280] By emitting detection light towards heavily soiled areas, these areas are visualized, allowing users or cleaning robots to clearly identify their specific locations and boundaries, facilitating precise positioning for subsequent cleaning operations. Visualizing heavily soiled areas also allows users to directly observe the type of dirt before cleaning, enhancing transparency and user engagement in the cleaning process. Furthermore, the detection light reveals changes in the color, texture, or reflective properties of stains; therefore, emitting detection light towards heavily soiled areas can also aid in determining the degree of soiling, providing optical evidence for qualitative or quantitative assessments of dirt levels.

[0281] Optionally, the method also includes:

[0282] If the dirt in the heavily soiled area is detected to be non-flowing, the cleaning robot is controlled to move to the cleaning position, and then the cleaning robot is controlled to enter the heavily soiled area.

[0283] In this embodiment of the application, entering the cleaning position may refer to the starting coordinate point determined by the cleaning robot based on the edge detection results of the heavily soiled area, which is used to start entering the heavily soiled area for subsequent operations.

[0284] It should be noted that the method for determining the entry cleaning location is similar to the method for determining the target location described above. For details, please refer to the description of the target location in the above embodiments, which will not be repeated here.

[0285] Optionally, entry into the cleaning location is determined by at least one of the following methods:

[0286] The second initial position for edge detection;

[0287] The second end position for edge detection;

[0288] Outline information of heavily polluted areas;

[0289] Information on the distribution of dirt levels in heavily polluted areas.

[0290] The second initial position may be the same as or different from the first initial position, and the second ending position may be the same as or different from the first ending position. This application embodiment does not specifically limit this.

[0291] Thus, this application defines multiple determination methods to identify the entry point for cleaning, allowing for the selection of appropriate entry points based on different scenario requirements, adapting to diverse heavily soiled area shapes and dirt distribution characteristics. Specifically, using the initial or final position from edge detection as the entry point simplifies the location determination logic, reduces additional calculations, and improves response speed. Selecting the entry point based on contour information or dirt distribution information enables the robot cleaner to begin work from heavily soiled or easily cleanable areas, enhancing the targeting and efficiency of the cleaning process.

[0292] During the process of a cleaning robot performing edge detection in heavily soiled areas according to its edge cleaning path, precise boundary information can be obtained. This allows for the planning of a reasonable entry point for cleaning, avoiding path redundancy or incomplete coverage caused by blindly entering heavily soiled areas. Furthermore, this structured entry ensures that the cleaning robot begins subsequent cleaning operations from a predetermined position, making the cleaning process more orderly. In addition, the boundary data obtained from edge detection can be directly used for subsequent cleaning path planning, thereby improving overall operational efficiency.

[0293] Optionally, the method also includes:

[0294] After the cleaning robot performs edge detection on heavily contaminated areas, it generates map marking information;

[0295] The map marking information is sent to the terminal device for visualization and the cleaning robot is controlled to clean the areas to be cleaned, except for heavily soiled areas, according to the preset path.

[0296] The terminal device establishes a communication connection with the cleaning robot to control the cleaning robot in response to user operations on the terminal device.

[0297] In this embodiment of the application, map marking information may refer to data generated based on edge detection results, used to identify the location, outline, or attributes of heavily polluted areas in an environmental map.

[0298] The preset path refers to the movement trajectory of the cleaning robot planned before performing the cleaning task, used to cover non-heavily soiled areas within the area to be cleaned. Optionally, the preset path can be a bow-shaped path, a loop-shaped path, or a custom path planned according to the type of area to be cleaned, the area area, and the obstacles existing in the area. This application embodiment does not limit the specific path corresponding to the preset path.

[0299] User operation on the terminal device can refer to the control commands or parameter adjustments issued by the user to the cleaning robot through the interactive interface of the terminal device (such as a mobile phone or tablet).

[0300] Optionally, the operation includes a confirm operation, a cancel operation, performing a cleaning operation on the target area, and returning to the base station. The confirm operation may refer to confirming the operation to perform cleaning on the heavily contaminated area, and the cancel operation may refer to reversing the operation to perform cleaning on the heavily contaminated area. This application embodiment does not specifically limit the user's operation on the terminal device; the above is merely an example.

[0301] In this optional step, after the cleaning robot performs edge detection along the edge of the heavily soiled area according to the edge cleaning path, map marking information can be generated and sent to the terminal device for display. Furthermore, the cleaning robot can also clean areas other than the heavily soiled area according to a preset path, and the terminal device can remotely control the cleaning robot through user operation. For example, in response to user operation on the terminal device, a control command is generated to control the cleaning robot to return to the heavily soiled area for friction cleaning.

[0302] In this way, by visually displaying heavily soiled area markers on terminal devices, users can intuitively understand the distribution of dirt in these areas and remotely intervene to control the cleaning, achieving flexible human-machine collaborative cleaning management. Furthermore, the visualization of map marker information allows users to clearly grasp the cleaning progress and key areas, while the remote control function provides users with real-time intervention capabilities, greatly enhancing the user experience. In addition, the cleaning robot can continue cleaning other non-heavily soiled areas. During this process, users can also plan or instruct specialized treatment of heavily soiled areas based on map marker information, thereby improving overall cleaning efficiency.

[0303] Optionally, controlling the mop to perform a first reciprocating movement between a first position and a second position to perform abrasive cleaning on at least a portion of heavily soiled areas includes:

[0304] After cleaning all areas except the heavily soiled areas within the cleaning area, the cleaning robot is controlled to return to the heavily soiled area, and the mop is controlled to make a first reciprocating movement between the first position and the second position to perform friction cleaning on at least part of the heavily soiled area.

[0305] In this optional step, after the cleaning robot has completed cleaning the areas within the cleaning area excluding the heavily soiled areas, it can be controlled to return to the heavily soiled area and control the mop to perform a first reciprocating movement between the first and second positions to perform friction cleaning on at least a portion of the heavily soiled areas. This process can be control logic automatically executed by the cleaning robot, or control logic executed in response to user input.

[0306] Optionally, during the process of the cleaning robot returning to the heavily soiled area, it can also re-determine the entry point for cleaning and repeat the cleaning of the heavily soiled area from the entry point.

[0307] This approach prioritizes cleaning large, regular areas (excluding heavily soiled areas) before focusing on the heavily soiled areas, allowing for a tiered and phased cleaning process. This streamlines the cleaning workflow and improves efficiency. It also prevents the mop from becoming contaminated or excessive time spent on heavily soiled areas, ensuring the overall cleaning progress remains unaffected and maximizing the cleaning efficiency of regular areas. Furthermore, after cleaning all areas except the heavily soiled ones, returning to the heavily soiled areas for focused, reciprocating friction cleaning applies a more sustained and concentrated mechanical action, improving the removal of stubborn stains.

[0308] Optionally, the method also includes:

[0309] During the friction cleaning of at least part of the heavily soiled area, the drive wheel is controlled to be stopped or the drive wheel is controlled to run at a first speed.

[0310] The first rotational speed is less than the second rotational speed, which is the rotational speed of the drive wheel in normal cleaning mode.

[0311] In this embodiment, the first rotational speed may refer to the lower rotational speed at which the drive wheel is controlled to operate during friction cleaning of heavily soiled areas. The second rotational speed may refer to the standard rotational speed at which the drive wheel performs cleaning tasks in non-heavily soiled areas under normal cleaning mode.

[0312] The standard cleaning mode refers to the working mode in which the cleaning robot performs standard cleaning operations on non-heavily soiled areas within the cleaning area. In this working mode, the drive wheels operate at the second speed and the mop operates at the fourth speed.

[0313] In this optional step, during the process of the cleaning robot performing friction cleaning on heavily soiled areas, the drive wheels can be controlled to stop or run at a lower first rotation speed, so that its moving speed is significantly lower than the second rotation speed in the conventional cleaning mode, thereby achieving focused friction cleaning in heavily soiled areas at low speed or in a stationary state.

[0314] In this way, slowing down or stopping the drive wheels reduces the overall movement of the cleaning robot, allowing the mop to work on the same heavily soiled area for a longer period, thus improving the continuity and intensity of friction cleaning. Furthermore, the slow operation of the drive wheels facilitates precise control of the cleaning robot's fine-tuning movements within heavily soiled areas, preventing missed areas or deviations due to excessive speed, and improving cleaning accuracy. In addition, slow-speed or stationary cleaning of heavily soiled areas reduces ineffective movement of the drive wheels, lowering energy consumption and mechanical wear.

[0315] Optionally, the method also includes;

[0316] When the drive wheel is stopped or running at the first speed, the second drive component is controlled to drive the mop to rotate.

[0317] In this optional step, while the drive wheel is stopped or running at a low speed of the first rotation speed, the cleaning robot drives the mop to rotate actively by controlling the second drive component, so that the mop can apply a continuous friction cleaning effect to the heavily soiled area by rotating itself when the cleaning robot is stationary or running slowly.

[0318] In this way, the mop rotation provides active friction even when the cleaning robot is stopped or running at low speed, preventing a decrease in cleaning effectiveness due to robot stagnation and ensuring continuous and effective treatment of heavily soiled areas. Furthermore, the combination of mop rotation and the low-speed movement of the cleaning robot creates a composite cleaning trajectory in heavily soiled areas, increasing cleaning coverage and intensity per unit area. In addition, low-speed or stopped drive wheels reduce energy consumption, while mop rotation focuses on localized cleaning, optimizing the division of labor within the power system and extending the lifespan of components.

[0319] Optionally, the method also includes;

[0320] While the drive wheel is stopped or the drive wheel is running at a first speed, the control mop is to run at a third speed.

[0321] The third speed is greater than the fourth speed, which is the speed of the mop in normal cleaning mode.

[0322] In this embodiment, the third rotational speed can refer to the higher rotational speed at which the mop is controlled to operate during friction cleaning of heavily soiled areas. The fourth rotational speed can refer to the standard rotational speed at which the mop performs cleaning tasks on non-heavily soiled areas in normal cleaning mode.

[0323] In this optional step, while the drive wheels are stopped or running at a low speed of the first rotation speed, the cleaning robot can control the mop to run at a third rotation speed higher than the normal cleaning mode, so that when the cleaning robot's movement is restricted or slow, the mop can increase its own rotation speed to enhance the friction cleaning intensity on heavily soiled areas.

[0324] In this way, the high-speed rotation of the mop increases the number of friction cycles with heavily soiled areas per unit time, thereby improving the ability to remove stubborn stains in these areas. Furthermore, when the overall movement speed of the cleaning robot decreases, increasing the mop's rotation speed can compensate for the loss of cleaning efficiency caused by slow movement, ensuring effective cleaning. In addition, for high-intensity cleaning needs in heavily soiled areas, adjusting the mop's rotation speed to a higher level allows for matching cleaning parameters with the degree of soiling, enhancing the flexibility of the cleaning strategy.

[0325] Optionally, controlling the mop to perform a first reciprocating movement between the first position and the second position includes:

[0326] The cleaning robot is controlled to travel a third distance or a seventh duration in the first direction and then stop, and the mop is controlled to make a first reciprocating movement between the first position and the second position;

[0327] After the cleaning robot moves a fourth distance or eight hours in the second direction, it stops and the mop moves back and forth between the first and second positions.

[0328] The first direction is opposite to the second direction.

[0329] In this embodiment, the first direction may refer to the initial direction of movement of the cleaning robot when performing friction cleaning in a heavily soiled area. The third distance may refer to the travel length of the cleaning robot along the first direction. The seventh duration may refer to the duration of the cleaning robot's movement along the first direction.

[0330] The second direction can refer to the direction of movement opposite to the first direction. The fourth distance can refer to the distance the cleaning robot travels along the second direction. The eighth duration can refer to the duration the cleaning robot travels along the second direction.

[0331] Optionally, the first direction is usually the forward direction and the second direction is usually the backward direction. The specific directions corresponding to the first and second directions are not limited in the embodiments of this application. For example, the first and second directions can also be left and right directions.

[0332] In this optional step, the cleaning robot can be controlled to perform friction cleaning by alternating reverse movements: first, it moves a third distance or a seventh duration along the first direction and then stops and performs reciprocating friction, then moves a fourth distance or an eighth duration along the opposite second direction and then stops and performs reciprocating friction, thus covering heavily soiled areas through segmented bidirectional movement.

[0333] The third distance can be equal to the length of the fourth distance, and the seventh duration and the eighth duration can also be equal. This application embodiment does not limit the specific values ​​corresponding to the third distance, the fourth distance, the seventh duration and the eighth duration, which can be set based on application scenario requirements or user requirements.

[0334] Optionally, during the operation of the drive wheel based on the first rotation speed, and / or during the operation of the mop based on the third rotation speed, the cleaning robot can be controlled to travel a third distance or a seventh duration in the first direction and then stop, and the mop can be controlled to perform a first reciprocating movement between the first position and the second position; the cleaning robot can be controlled to travel a fourth distance or an eighth duration in the second direction and then stop, and the mop can be controlled to perform a first reciprocating movement between the first position and the second position.

[0335] In this way, by controlling the cleaning robot to move in two-way segments, omissions or uneven effects that may occur with unidirectional cleaning can be avoided, ensuring that heavily soiled areas are fully covered. Combined with reciprocating friction during each segment's movement—that is, controlling the first reciprocating movement between the first and second positions—the same heavily soiled area can receive multiple cleaning actions from different directions, enhancing the removal of stubborn stains within that area. Furthermore, by using distance or duration as the termination condition for movement, the cleaning range of each segment can be flexibly adjusted according to the actual shape or dirt distribution of the heavily soiled area, improving the flexibility of path control.

[0336] Optionally, the cleaning robot cleans the area to be cleaned, including:

[0337] The cleaning robot cleans the area to be cleaned based on the conventional cleaning mode.

[0338] In this optional step, after the cleaning robot detects a heavily soiled area in the normal cleaning mode, it further determines whether there is non-flowing dynamic dirt in the heavily soiled area. If it is determined that there is non-flowing dynamic dirt, the mop is triggered to perform a first reciprocating movement between the first position and the second position to perform friction cleaning, thereby achieving a special cleaning action for non-flowing dynamic dirt.

[0339] Optionally, the method also includes:

[0340] Before performing abrasive cleaning on at least some heavily soiled areas, control the cleaning robot to perform at least one of the following operations:

[0341] Control the spraying device to spray the target fluid onto the mop;

[0342] Control the spraying device to spray the target fluid onto the heavily polluted area;

[0343] Control the cleaning robot to return to the cleaning base station to wash the mop.

[0344] For example, before the cleaning robot performs friction cleaning on heavily soiled areas, three pre-treatment operations can be offered: spraying the target fluid onto the mop, spraying the target fluid onto the heavily soiled area, or controlling the cleaning robot to return to the base station to clean the mop. These operations are used to optimize cleaning conditions or tool status before friction cleaning, such as pre-wetting the mop for better cleaning results.

[0345] In this way, by spraying the target fluid onto the mop or heavily soiled areas, stains can be softened, and the dissolving or lubricating effects enhanced, making the subsequent friction cleaning process more efficient. Returning to the cleaning station to wash the mop ensures that it is clean or damp before cleaning heavily soiled areas, preventing secondary contamination or reduced cleaning power from a dirty mop. These three pretreatment methods can be flexibly selected based on the type of heavily soiled area, the degree of soiling, or the current condition of the mop, enhancing the flexibility of cleaning strategy selection and the adaptability of the cleaning process.

[0346] Optionally, if a heavily soiled area is detected, the mop is controlled to perform a first reciprocating movement between a first position and a second position, including:

[0347] If a heavily soiled area is detected, and the heavily soiled area is located in the target area or the surface to be cleaned in the heavily soiled area is the target material, the cleaning robot is controlled to stop after traveling the fifth distance or the ninth time, and the mop is controlled to make a first reciprocating movement between the first position and the second position.

[0348] In this embodiment of the application, the target area may refer to an area that needs to be cleaned in particular or an area within that area that is usually heavily soiled. For example, the target area is the kitchen area.

[0349] The target material can refer to a type of material with specific physical properties on the surface to be cleaned, which can be easily confused with the pattern or shape of dirt in heavily soiled areas. For example, the target material could be a patterned wood panel or granite.

[0350] The fifth distance can refer to the distance the cleaning robot travels between two stops performing reciprocating friction cleaning in a heavily soiled area.

[0351] The ninth duration can refer to the travel time between two stops of the cleaning robot performing reciprocating friction cleaning in heavily soiled areas.

[0352] It should be noted that the embodiments of this application do not limit the specific area type corresponding to the target area, the specific material type corresponding to the target material, or the specific values ​​corresponding to the fifth distance and the ninth duration. These can be set based on application scenario requirements or user requirements.

[0353] In this optional step, after the cleaning robot detects a heavily soiled area, it further determines whether the heavily soiled area is located in a specific target area or has a specific target material. If the conditions are met, the cleaning robot can be controlled to move in an intermittent manner, that is, stop after moving a fixed fifth distance or a ninth time, and perform reciprocating friction cleaning with a mop to achieve a refined cleaning strategy for a specific target area or target material.

[0354] Optionally, during the operation of the drive wheels based on the first rotational speed, and / or during the operation of the mop based on the third rotational speed, the cleaning robot can be controlled to stop after traveling a fifth distance or a ninth duration, and the mop can be controlled to perform a first reciprocating movement between the first position and the second position.

[0355] In this way, intermittent reciprocating friction, applied to target areas or surfaces with specific materials, avoids insufficient cleaning or surface damage that might occur with continuous movement, thus improving cleaning safety and effectiveness. Furthermore, by frequently stopping and repeating the reciprocating friction, cleaning force can be concentrated in localized areas, making it particularly suitable for materials or key areas requiring high cleaning intensity. In addition, using a fixed fifth distance or ninth duration as the intermittent trigger condition makes the cleaning process predictable and consistent, helping to optimize cleaning parameters and energy consumption management.

[0356] Optionally, based on the forward direction of the cleaning robot, the mop is controlled to perform a first reciprocating movement between a first position and a second position to perform abrasive cleaning on at least some heavily soiled areas, including:

[0357] Control the cleaning robot to move backwards to clean at least part of the heavily soiled areas with a mop;

[0358] Specifically, in the process of controlling the cleaning robot to move backward to clean at least part of the heavily soiled area with a mop, the mop is controlled to make a first reciprocating movement between a first position and a second position.

[0359] In this embodiment of the application, the backward movement can refer to the cleaning robot moving in the opposite direction to the normal forward direction, so that the mop is located behind the direction of movement of the cleaning robot.

[0360] In this optional step, the cleaning robot is controlled to move backward, so that the mop is behind the direction of travel of the cleaning robot. During the backward movement, the mop is simultaneously controlled to make a first reciprocating movement between the first position and the second position, so as to perform friction cleaning on the heavily soiled area when the cleaning robot moves backward.

[0361] In this way, by controlling the cleaning robot to move backwards to clean heavily soiled areas, the mop can contact and cover these areas earlier, preventing the drive wheels or other dry cleaning components from crushing or spreading the stains first, and avoiding contamination of the dry cleaning components by contacting the dirt first. This reduces cross-contamination and improves the overall cleaning effect. Furthermore, the backward movement combined with the reciprocating friction of the mop creates a denser cleaning path in heavily soiled areas, making it particularly suitable for concentrated treatment of stubborn stains. In addition, by providing both forward and backward cleaning directions, this application allows the cleaning robot to adjust its cleaning strategy according to the location, shape, or environmental constraints of the heavily soiled area, enhancing the robot's adaptability.

[0362] Optionally, as the cleaning robot moves backward to clean at least part of heavily soiled areas with a mop, the direction of rotation of the mop is opposite to the direction of rotation of the drive wheels.

[0363] When the drive wheels rotate backward, causing the cleaning robot to move backward, if the mop rotates in the opposite direction, it will create a reverse relative motion with the surface to be cleaned. This reverse relative motion creates a combination of shearing and tensile forces at the contact point between the mop and the stain, which can produce a stronger peeling effect on adhesive stains (such as dried oil stains and glue), thereby improving the cleaning effect.

[0364] It should be noted that, in the process of controlling the cleaning robot to move backward to clean at least part of the heavily soiled area with the mop, any of the possible implementation methods mentioned in the above embodiments can also be applied. For example, controlling the moving drive to drive the mop to move between the first and second positions based on a preset frequency, controlling the mop to perform a second reciprocating movement between the third and fourth positions, controlling the spraying device to spray the target fluid onto the heavily soiled area, controlling the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path, and controlling the cleaning robot to find the target position, and at the target position, controlling the cleaning robot to enter the heavily soiled area, etc. The corresponding implementation methods are not described in detail here. The execution steps in the above embodiments can be arbitrarily combined with the backward cleaning process.

[0365] Optionally, at least some heavily soiled areas may be cleaned by friction, including:

[0366] During the friction cleaning of at least some heavily soiled areas, the cleaning robot is controlled to adjust its body posture to increase the pressure of the mop assembly on the cleaning surface.

[0367] In this embodiment of the application, adjusting the body posture can refer to the cleaning robot changing the relative position or angle of its own structure (such as chassis, counterweight or joints) to adjust its center of gravity distribution or contact state with the surface to be cleaned, thereby changing the pressure applied by the mop to the surface to be cleaned.

[0368] Optionally, the cleaning robot can be controlled to tilt its body backward relative to the direction of travel, thereby increasing the contact pressure between the mop and the surface to be cleaned.

[0369] In this way, by increasing the pressure of the mop on the surface to be cleaned, the positive pressure of the mop during the friction cleaning process can be increased, thereby enhancing the mechanical removal effect on stubborn stains in heavily soiled areas. Furthermore, under the conditions of the first or second reciprocating motion, increasing the pressure can also improve the cleaning intensity per unit area and shorten the processing time for heavily soiled areas. In addition, by dynamically adjusting the machine's posture and pressure according to the identified heavily soiled areas, flexible control of cleaning intensity can be achieved, improving adaptability to different levels of dirt.

[0370] Optionally, the method also includes:

[0371] If a heavily soiled area is detected and it is determined that the heavily soiled area is located at the intersection of the first plane and the second plane, the mop is controlled to clean the heavily soiled area in the normal cleaning mode.

[0372] The first plane is higher than the second plane.

[0373] In this embodiment, the first plane can refer to a relatively high or near-high surface area in the environment to be cleaned. The second plane can refer to a relatively low or near-high surface area adjacent to the first plane. A height difference exists between the first and second planes, forming a step, threshold, staircase, or ramp-like boundary structure.

[0374] In this optional step, when the cleaning robot detects that the heavily soiled area is located at the intersection of the first plane and the second plane (i.e., the location with a height difference), the mop can be controlled to clean the heavily soiled area using the normal cleaning mode, without activating the special friction cleaning mode for the heavily soiled area, so as to avoid the cleaning robot's body center of gravity becoming unstable and tipping over.

[0375] Thus, at boundary locations with height differences, using a special cleaning mode involving reciprocating friction could lead to the cleaning robot losing control due to frequent mop vibrations or unstable movement, potentially resulting in accidental falls and damage, lacking safety assurance. In contrast, the conventional cleaning mode provides smoother movement, reducing operational risks in complex terrain and improving safety. Furthermore, by automatically switching cleaning modes based on different terrain features, the more reliable conventional cleaning module is prioritized at planar boundaries, enhancing the overall robustness of the cleaning process.

[0376] Optionally, the method also includes:

[0377] If the dirt in a heavily soiled area is detected to be non-flowing dynamic dirt, the attribute information of the heavily soiled area is determined; the attribute information includes at least one of the following: cleaning mode recommendation information generated based on historical cleaning records, and user-specified cleaning mode information;

[0378] The cleaning robot is controlled to be in a target cleaning mode based on the attribute information; the target cleaning mode includes at least: controlling the mop to make a first reciprocating movement between a first position and a second position to perform friction cleaning on at least some heavily soiled areas.

[0379] In this embodiment of the application, historical cleaning records may refer to a set of data accumulated by the cleaning robot in historical cleaning tasks that are related to the cleaning process of heavily soiled areas, and may include information such as soil type, cleaning mode, and cleaning effect.

[0380] Recommended cleaning mode information can refer to cleaning mode parameters or cleaning mode types that are suggested for currently heavily polluted areas, generated based on the analysis of historical cleaning records.

[0381] Cleaning mode information can refer to the cleaning mode that the user explicitly specifies through instructions or settings, and the cleaning mode that the cleaning robot is expected to use for heavily soiled areas.

[0382] The target cleaning mode can refer to a selected and executed cleaning mode that includes at least a mode in which the mop makes a first reciprocating movement between a first position and a second position to perform friction cleaning.

[0383] In this way, by combining historical cleaning performance data or user habits, proven and effective cleaning patterns can be matched to specific heavily soiled areas, improving the reliability of cleaning results and user satisfaction. Furthermore, using historical cleaning records for cleaning pattern recommendations enables the cleaning process to have self-learning capabilities, gradually optimizing strategies for different types of heavily soiled areas. Users can actively specify cleaning patterns to meet personalized needs, achieving a balance between automatic recommendations from the cleaning robot and manual intervention, enhancing operational flexibility.

[0384] Optionally, the method also includes:

[0385] If a heavily soiled area is detected, the cleaning robot is controlled to avoid the heavily soiled area, and a second alert message is generated.

[0386] Control the cleaning robot to continue cleaning the areas within the designated cleaning area, excluding heavily soiled areas, following the preset path.

[0387] In this embodiment of the application, the second prompt information may refer to the notification signal sent by the cleaning robot to the user through sound, light, communication or other means after detecting a heavily soiled area and deciding to avoid it. Its content may include the location of the heavily soiled area, the detection time, the reason for avoidance and other status records.

[0388] In this optional step, after the cleaning robot detects a heavily soiled area, it can be controlled to actively avoid the area, not perform immediate cleaning, generate a second prompt message, and continue to complete the routine cleaning of other areas according to the preset path.

[0389] It should be noted that the second prompt message and the first prompt message are displayed in different formats and with different content, and are used to provide prompts for different scenarios.

[0390] In this way, for heavily soiled areas that may exceed the cleaning robot's capabilities or pose operational risks (such as large areas of liquid or near fragile items), proactive avoidance can prevent cleaning failures or equipment damage. Furthermore, by generating a second alert, the location or status of the heavily soiled area can be recorded for the user, facilitating subsequent manual inspection or targeted treatment. Moreover, by avoiding heavily soiled areas and continuing to clean the remaining areas within the pre-set path, the overall cleaning task can be prevented from being interrupted by handling heavily soiled areas, ensuring the complete execution of the pre-set path and improving overall cleaning efficiency.

[0391] 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.

[0392] For example, Figure 10 This is a schematic diagram of a control device for a cleaning robot provided in an embodiment of this application. The cleaning robot includes a mop assembly, which includes a mop. The mop has a first position, a second position, and a third position. The first and second positions are the two endpoints of the mop during a first reciprocating movement. With the direction of the cleaning robot's movement as the longitudinal direction, the first, second, and third positions are spaced laterally perpendicular to the longitudinal direction. The third position is the maximum limit position of the mop's extension relative to the robot's body in the lateral direction. The distance between the first and second positions is less than the distance between the first and third positions. Figure 10 As shown, the control device 1000 of the cleaning robot includes:

[0393] The first control module 1001 is used to control the cleaning robot to perform edge detection of the heavily soiled area according to the edge cleaning path when the cleaning robot detects the presence of a heavily soiled area during the cleaning process of the area to be cleaned.

[0394] The second control module 1002 is used to control the mop to make a first reciprocating movement between a first position and a second position when the dirt in the heavily soiled area is detected to be non-flowing dirt, so as to perform friction cleaning on at least part of the heavily soiled area.

[0395] Optionally, the control device 1000 of the cleaning robot further includes a third control module, which is used for:

[0396] If the dirt in the heavily soiled area is detected to be dynamic dirt, the cleaning robot is controlled to clean the other areas in the area to be cleaned, excluding the heavily soiled area.

[0397] After the first duration or the first distance, the cleaning robot is controlled to return to the heavily soiled area for friction cleaning, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0398] Optionally, the control device 1000 of the cleaning robot also includes a fourth control module, which is used for:

[0399] If the dirt in a heavily soiled area is detected to be fluid and dynamic, the cleaning robot will be kept in a stopped state.

[0400] After the second duration, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path, in order to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

[0401] Optionally, the second control module 1002 includes a detection unit, which is used for:

[0402] By analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection, it was determined that non-flowing dynamic dirt exists in heavily polluted areas.

[0403] Optionally, the mop also includes a fourth position, the distance between the first and fourth positions being less than the distance between the first and third positions; the control device 1000 of the cleaning robot also includes a fifth control module, which is used for:

[0404] If the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop is controlled to make a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

[0405] Optionally, the mop assembly also includes a rotation drive for driving the mop to rotate, and the second control module 1002 includes a control unit for:

[0406] During the process of controlling the mop to reciprocate between the first position and the second position, the control rotation drive drives the mop to rotate.

[0407] Optionally, the cleaning robot also includes a spraying device, and the control device 1000 of the cleaning robot further includes a sixth control module, which is used for:

[0408] If the dirt in the heavily polluted area is detected to be non-flowing, the spraying device is turned on before cleaning the heavily polluted area to spray the target fluid into the heavily polluted area.

[0409] Optionally, the spraying device is used to spray hot fluid; the sixth control module is specifically used for:

[0410] After the spraying device is turned on, the cleaning robot is stopped.

[0411] After the third period, the spraying device was controlled to spray hot fluid onto the heavily polluted area.

[0412] Optionally, the control device 1000 of the cleaning robot further includes a seventh control module, which is used for:

[0413] After spraying the target fluid into the heavily polluted area, the cleaning robot is kept in a stopped state.

[0414] After the fourth hour, the cleaning robot returns to the heavily soiled area to perform friction cleaning.

[0415] Optionally, the control device 1000 of the cleaning robot further includes an eighth control module, which is used for:

[0416] After spraying the target fluid into the heavily polluted area, the cleaning robot is controlled again to perform edge detection of the heavily polluted area according to the edge cleaning path;

[0417] After conducting edge detection on the heavily contaminated area, the cleaning robot is controlled to travel to the target location, and then enters the heavily contaminated area to perform friction cleaning.

[0418] It should be noted that the specific implementation principle and effect of the control device 1000 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0419] This application also provides an electronic device. Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 11 As shown, the electronic device may include: a processor 1101 and a memory 1102 communicatively connected to the processor 1101; the memory 1102 stores a computer program; the processor 1101 executes the computer program stored in the memory 1102, causing the processor 1101 to perform the method described in any of the above embodiments.

[0420] The memory 1102 and the processor 1101 can be connected via bus 1103.

[0421] 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.

[0422] 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.

[0423] 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.

[0424] 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.

[0425] 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.

[0426] 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.

[0427] 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.

[0428] 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.

[0429] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0430] 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.

[0431] 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.

[0432] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0433] 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.

[0434] 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.

[0435] 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.

[0436] 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.

[0437] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly, the mop assembly includes a mop, the mop has a first position, a second position, and a third position, the first position and the second position are two endpoint positions of the mop during a first reciprocating movement, the third position is the maximum radial extension limit of the mop relative to the body of the cleaning robot during cleaning, and the distance between the first position and the second position is smaller than the distance between the first position and the third position; the method includes: If a heavily soiled area is detected during the cleaning process of the cleaning robot, the robot is controlled to perform edge detection on the heavily soiled area according to the edge cleaning path. If the dirt in the heavily soiled area is detected to be non-flowing, the mop is controlled to move back and forth between a first position and a second position to perform friction cleaning on at least a portion of the heavily soiled area.

2. The method according to claim 1, characterized in that, The method further includes: If the dirt in the heavily soiled area is detected to be flowing dirt, the cleaning robot is controlled to clean other areas in the area to be cleaned, excluding the heavily soiled area. After a first duration or a first distance, the cleaning robot is controlled to return to the heavily soiled area for friction cleaning, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

3. The method according to claim 1, characterized in that, The method further includes: If the dirt in the heavily soiled area is detected to be fluid, the cleaning robot is controlled to stop moving. After the second duration, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path, in order to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt.

4. The method according to claim 1, characterized in that, The detection that the dirt in the heavily polluted area is non-flowing dirt includes: By analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection, it was determined that non-flowing dynamic dirt exists in the heavily soiled area.

5. The method according to claim 1, characterized in that, The mop further includes a fourth position, wherein the distance between the first position and the fourth position is less than the distance between the first position and the third position; the method further includes: If the dirt in the heavily soiled area is detected to be non-flowing and the location and / or size of the heavily soiled area meet the target preset conditions, the mop is controlled to make a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

6. The method according to claim 1, characterized in that, The mop assembly further includes a rotation drive for driving the mop to rotate, and controlling the mop to perform a first reciprocating movement between a first position and a second position includes: During the process of controlling the mop to reciprocate between the first position and the second position, the rotation drive is controlled to drive the mop to rotate.

7. The method according to claim 1, characterized in that, The cleaning robot also includes a spraying device, and the method further includes: Upon detecting that the dirt in the heavily soiled area is non-flowing and before cleaning the heavily soiled area, the spraying device is turned on to spray the target fluid into the heavily soiled area.

8. The method according to claim 7, characterized in that, The spraying device is used to spray hot fluid; controlling the spraying device to be in the on state to spray the target fluid onto the heavily polluted area includes: After the spraying device is turned on, the cleaning robot is stopped. After a third period of time, the spraying device is controlled to spray the hot fluid onto the heavily polluted area.

9. The method according to claim 7, characterized in that, The method further includes: After spraying the target fluid into the heavily polluted area, the cleaning robot is controlled to stop moving. After a fourth period of time, the cleaning robot is controlled to return to the heavily soiled area for friction cleaning.

10. The method according to claim 7, characterized in that, The method further includes: After spraying the target fluid into the heavily polluted area, the cleaning robot is controlled again to perform edge detection on the heavily polluted area according to the edge cleaning path; After performing edge detection on the heavily soiled area, the cleaning robot is controlled to travel to the target location, and at the target location, the cleaning robot is controlled to enter the heavily soiled area to perform friction cleaning.

11. A control device for a cleaning robot, characterized in that, The cleaning robot includes a mop assembly, which includes a mop. The mop has a first position, a second position, and a third position. The first position and the second position are two endpoint positions of the mop during a first reciprocating movement. The third position is the maximum radial extension limit of the mop relative to the body of the cleaning robot when performing cleaning. The distance between the first position and the second position is smaller than the distance between the first position and the third position. The device includes: The first control module is used to control the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path if it detects a heavily soiled area during the cleaning process of the cleaning robot. The second control module is used to control the mop to perform a first reciprocating movement between a first position and a second position when it is detected that the dirt in the heavily soiled area is non-flowing dirt, so as to perform friction cleaning on at least part of the heavily soiled area.

12. A cleaning robot, characterized in that, The cleaning robot includes a mop assembly, which includes a mop. The mop has a first position, a second position, and a third position. The first position and the second position are two endpoint positions of the mop during a first reciprocating movement. The third position is the maximum radial extension limit of the mop relative to the body of the cleaning robot when performing cleaning. The distance between the first position and the second position is smaller than the distance between the first position and the third position. The cleaning robot is used to perform the method as described in any one of claims 1-10.

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