Cleaning robot and cleaning method thereof

Abstract

The invention provides a cleaning robot and a cleaning method thereof.The cleaning robot comprises a robot body, a first cleaning assembly, a detection assembly and a control assembly, the first cleaning assembly comprises a cleaning brush head and a telescopic mechanism, the cleaning brush head is connected with the telescopic mechanism, and the telescopic mechanism is connected with the robot body; the telescopic mechanism is configured to drive the cleaning brush head to move in the preset direction; the detection assembly is configured to detect environment information in a to-be-cleaned area and generate a brush head cleaning task according to the environment information; the control assembly is electrically connected with the telescopic mechanism, and the control assembly is configured to control the telescopic stroke of the telescopic mechanism according to the environment information obtained by the detection assembly so as to control the first cleaning assembly to execute the brush head cleaning task. The floor sweeping robot can break through the limitation that a traditional floor sweeping robot only aims at plane cleaning, the problem of ground gap cleaning blind areas is solved, the thoroughness of ground gap cleaning is remarkably improved, meanwhile, the complexity of manual cleaning is avoided, and automation of whole house cleaning is achieved.

Description

Technical Field

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

[0002] In household cleaning scenarios, floor crevices are often overlooked. During daily use, dust, hair, food scraps, and other debris easily accumulate in these crevices. This is especially true in pet-filled homes or damp environments, where bacteria can easily grow, emitting odors and affecting indoor air quality.

[0003] In related technologies, robotic vacuum cleaners typically use roller brushes, side brushes, or mops for cleaning. Their cleaning principle mainly involves rotating bristles to sweep debris to the suction port, or using a wet mop mode to absorb stains. However, they cannot adapt to the concave characteristics of floor crevices, as the bristles or mop cannot reach deep into these crevices, resulting in debris residue. Alternatively, some users may try to use manual tools, such as mini electric toothbrushes, to assist in cleaning floor crevices. However, manual cleaning is cumbersome and inefficient, failing to automate whole-house cleaning.

[0004] Therefore, there is an urgent need for a solution that can deeply clean floor crevices to address persistent pain points in home cleaning. Summary of the Invention

[0005] In view of the above problems, this application provides a cleaning robot and its cleaning method, which can overcome the limitations of traditional sweeping robots that only target flat surfaces, solve the problem of blind spots in cleaning floor crevices, significantly improve the thoroughness of cleaning floor crevices, and avoid the tediousness of manual cleaning, thus realizing the automation of whole-house cleaning.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides a cleaning robot for cleaning floors and floor crevices, comprising:

[0008] Robot body;

[0009] A first cleaning component includes a cleaning brush head and a telescopic mechanism. The cleaning brush head is connected to the telescopic mechanism, which is connected to the robot body. The telescopic mechanism is configured to drive the cleaning brush head to move along a preset direction.

[0010] A detection component is configured to detect environmental information in the area to be cleaned and generate a brush head cleaning task based on the environmental information.

[0011] The system also includes a control component electrically connected to the telescopic mechanism, configured to control the telescopic stroke of the telescopic mechanism based on environmental information obtained by the detection component, so as to control the first cleaning component to perform the brush head cleaning task.

[0012] The cleaning robot provided in this application solves the technical problem of deep cleaning of areas in related technologies by combining a telescopic mechanism with a cleaning brush head. Specifically, the telescopic mechanism can drive the cleaning brush head to move along a preset direction, thereby adapting to cleaning areas of different depths, such as grout lines in tiles or wooden floors. The movement trajectory of the cleaning brush head is jointly controlled by the travel range of the telescopic mechanism and the navigation system of the robot body, ensuring that the cleaning brush head can accurately embed into the area to be cleaned and cover the entire cleaning path. Through innovative structural design, this application enables the cleaning robot to overcome the limitations of traditional planar cleaning areas and directly act on deep cleaning areas, thereby achieving physical removal of residual debris from floor crevices. The reciprocating motion of the telescopic mechanism and the cleaning action of the cleaning brush head work together to ensure the continuity and coverage of the cleaning process, ultimately achieving deep coverage and thorough cleaning of the area to be cleaned, while avoiding damage to the surface of the area to be cleaned. Therefore, this application can overcome the limitations of traditional sweeping robots that only target planar cleaning, solve the problem of blind spots in floor crevices cleaning, significantly improve the thoroughness of floor crevices cleaning, avoid the tediousness of manual cleaning, and realize the automation of whole-house cleaning.

[0013] As an optional implementation, the detection component is connected to the robot body and electrically connected to the control component;

[0014] The detection component is configured to detect information about floor cracks in the area to be cleaned.

[0015] The control component is configured to control the extension stroke of the telescopic mechanism based on the ground gap information detected by the detection component.

[0016] The detection component can collect information about the floor crevices in the area to be cleaned and transmit the detection signals to the control component. The detection component detects the floor crevices in the area to be cleaned, and the control component dynamically adjusts the stroke of the telescopic mechanism based on the detection signals. The cleaning robot can dynamically adapt to the floor crevices in the area to be cleaned, thereby achieving precise cleaning path planning and efficient cleaning of the floor crevices.

[0017] As an optional implementation, the detection component is a sensor;

[0018] Alternatively, the detection component may be an image recognition module.

[0019] The sensor can collect information about the gaps in the ground in the area to be cleaned by the material's reflectivity, and the image recognition module can collect information about the gaps in the ground in the area to be cleaned by the image features.

[0020] As an optional implementation, the first cleaning component further includes a drive mechanism, which is electrically connected to the control component;

[0021] The drive mechanism is connected to the cleaning brush head, and the drive mechanism is configured to drive the cleaning brush head to perform cleaning actions;

[0022] Alternatively, the drive mechanism is connected to the telescopic mechanism, and the drive mechanism is configured to drive the telescopic mechanism to move so as to drive the cleaning brush head to perform cleaning actions.

[0023] By introducing a drive mechanism, the control component dynamically adjusts the cleaning mode of the drive mechanism based on the detection signals detected by the detection component. The cleaning brush head can move along the target direction (such as rotation or vibration), thereby enhancing the cleaning ability of areas to be cleaned, such as stubborn debris in floor crevices. This design compensates for the shortcomings of traditional robotic vacuum cleaners that rely solely on static friction through dynamic cleaning, significantly improving the stability of cleaning results.

[0024] As an optional implementation, the driving mechanism includes: a first driving unit, which is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to vibrate.

[0025] In this way, the cleaning brush head can perform a vibrating motion, which loosens stubborn debris and ensures effective cleaning of stubborn stains.

[0026] As an optional implementation, the first driving unit is a vibration motor.

[0027] Driven by a vibrating motor, the cleaning brush head enhances cleaning power through vibration, thereby achieving deep loosening and efficient removal of stubborn stains in floor crevices.

[0028] As an optional implementation, the driving mechanism includes a second driving unit connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to rotate.

[0029] In this way, the cleaning brush head can perform a rotating motion, which carries the debris out of the area to be cleaned, significantly improving the cleaning ability of stubborn stains.

[0030] As an optional implementation, the second drive unit is a rotary motor.

[0031] By designing a rotating motor, the cleaning brush head can perform a rotating motion, ensuring its ability to clean stubborn stains.

[0032] As an optional implementation, the driving mechanism includes: a first driving unit and a second driving unit, wherein the first driving unit is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to vibrate;

[0033] The second drive unit is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to rotate.

[0034] In this way, the cleaning brush head can perform vibration and rotation simultaneously, forming a combined vibration and rotation cleaning method. This design loosens stubborn debris through vibration and removes it from the area to be cleaned through rotation, significantly improving the cleaning ability for stubborn stains.

[0035] As an optional implementation, the first drive unit is a vibration motor, the second drive unit is a rotary motor, and the vibration motor and the rotary motor are connected by a coupling.

[0036] By combining a vibrating motor and a rotary motor, the cleaning brush head can simultaneously perform vibration and rotation, significantly improving its ability to clean stubborn stains. This design, through the integration of a coupling, ensures synchronized power output from the two motors, enhancing the stability of the cleaning effect.

[0037] As an alternative implementation, the cleaning brush head includes bristles whose profile at one end facing the area to be cleaned matches the profile of the floor crevices in the area to be cleaned.

[0038] Through a contour-matched structural design, the cleaning brush head conforms to the contours of the floor crevices when reaching deep into the area to be cleaned, avoiding scratches caused by rigid contact. This design ensures cleaning effectiveness while protecting the surface integrity of the floor and its crevices, extending the lifespan of the area to be cleaned, and improving the stability of the cleaning action.

[0039] As an alternative implementation, the bristles are periodically bent along the axial direction of the cleaning brush head, and the amplitude of the periodic bending matches the width of the floor crevices in the area to be cleaned.

[0040] Through the periodic bending structure of the bristles, the cleaning brush head can conform to the inner wall of the area to be cleaned and generate dynamic friction through elastic deformation. This design significantly improves the cleaning ability of sticky debris (such as food residue and hair) while avoiding surface scratches caused by rigid contact, thus extending the lifespan of the area to be cleaned.

[0041] As an optional implementation, the elastic modulus of the brush bristles is less than the elastic modulus of the surface material of the area to be cleaned.

[0042] By employing a design that utilizes differences in elastic modulus, the bristles conform to the surface contours of the area to be cleaned during the cleaning process, preventing scratches caused by rigid contact. This design not only enhances cleaning effectiveness but also extends the lifespan of the area being cleaned.

[0043] As an optional implementation, it further includes: a second cleaning component; the second cleaning component includes one or more roller brushes, each of the roller brushes being connected to the robot body;

[0044] Along the forward direction of the cleaning robot, the second cleaning component is positioned behind the first cleaning component.

[0045] By collecting dirt using the second cleaning component, the cleaning robot can instantly remove the dirt that has been stirred up, thereby achieving comprehensive cleaning of the crevices in the floor and avoiding secondary pollution.

[0046] As an optional implementation, the robot body is provided with a mounting cavity for accommodating the second cleaning component;

[0047] The projection of the cleaning brush head in the forward direction of the cleaning robot is located within the projection of the mounting cavity in the forward direction of the cleaning robot.

[0048] The second cleaning component includes a plurality of roller brushes, which are evenly arranged along the length of the mounting cavity.

[0049] The mounting cavity design provides a stable base for the roller brushes, while multiple evenly spaced roller brushes expand the surface cleaning coverage and improve the efficiency of collecting floor debris. The cleaning brush head projection is located within the mounting cavity, ensuring that debris carried out by the first cleaning component is completely captured by the roller brushes, preventing debris from scattering outside the mounting cavity and creating new cleaning dead zones. This rational layout design makes the cleaning robot more compact, ensuring that the components do not interfere with each other during movement, thus improving the stability and reliability of the equipment's operation.

[0050] As an optional implementation, it further includes: a third cleaning component; the third cleaning component includes one or more mops, each of the mops being connected to the robot body;

[0051] Along the forward direction of the cleaning robot, the third cleaning component is positioned behind the second cleaning component.

[0052] The mop can wet-mop or dry-wipe the swept floor, removing residual fine dust and stains, leaving the floor clean and spotless. The third cleaning component completes the cleaning process, from deep cleaning of crevices to sweeping the floor surface, and finally wiping and brightening, completing a full-scene cleaning in one go. There is no need for users to manually mop afterwards, further enhancing the integrity of automated cleaning, which is especially suitable for home scenarios with high requirements for floor cleanliness.

[0053] Secondly, this application provides a cleaning method for a cleaning robot, applied to any of the cleaning robots described above, comprising:

[0054] Obtain the area to be cleaned;

[0055] Detect environmental information within the area to be cleaned, and generate a brush head cleaning task based on the environmental information;

[0056] Control the first cleaning component to perform the brush head cleaning task.

[0057] The cleaning method for the cleaning robot provided in this application achieves full automation of the cleaning process by acquiring area, detecting information, and executing tasks. Users can complete the cleaning of all gaps and floors throughout the house without manual intervention. This method generates targeted cleaning tasks based on environmental information from the detection components, avoiding indiscriminate cleaning, improving cleaning efficiency and energy utilization. Simultaneously, it provides process assurance for the coordinated operation of subsequent technical features, ensuring precise coordination between the telescopic mechanism, drive mechanism, and cleaning components to maximize cleaning effectiveness.

[0058] As an optional implementation, the environmental information includes at least: information on the ground gaps in the area to be cleaned.

[0059] Environmental information, including information about floor crevices, makes the detection process of cleaning methods more targeted, avoids interference from irrelevant environmental information, and ensures that detection components concentrate resources on capturing crevic-related data, improving the accuracy and efficiency of information acquisition. Cleaning tasks generated based on crevic information directly address cleaning pain points, ensuring that cleaning robots focus on crevic cleaning while also cleaning the floor surface. This solves the problem of traditional cleaning methods emphasizing surface cleaning while neglecting crevices, thus improving the effectiveness of crevic cleaning.

[0060] As an optional implementation, the ground gap information includes:

[0061] Precise coordinates of the location of the gap to be cleaned;

[0062] The step of detecting the information of ground gaps in the area to be cleaned includes:

[0063] The detection component scans the ground of the area to be cleaned in real time;

[0064] The contour boundary of the gap to be cleaned is identified by detecting the difference in reflectivity between the ground and the gap.

[0065] The depth and width information of the gap to be cleaned are obtained through the detection component;

[0066] The reflectivity difference, contour boundary, depth information and width information are fused to determine the location coordinates of the gap to be cleaned.

[0067] By defining the content and detection steps of the information on ground gaps, precise gap location can be achieved. Specifically, by identifying the contour through reflectivity differences, acquiring depth and width information, and fusing the data, the location coordinates of the gap can be accurately determined with less error, ensuring that the cleaning brush head can accurately align with the gap. The fusion analysis of multi-dimensional data makes the detection results more comprehensive, not only locating the gap but also determining its dimensional parameters, providing a precise basis for subsequent adjustment of the extension stroke and selection of cleaning actions, avoiding cleaning omissions or equipment damage caused by inaccurate positioning.

[0068] As an optional implementation, before the step of controlling the first cleaning component to perform the brush head cleaning task, the following specific steps are included:

[0069] Receives detection signals of the location coordinates of the crack to be cleaned and information on the ground crack generated by the detection component;

[0070] The travel range of the telescopic mechanism is adjusted according to the detection signal;

[0071] The telescopic mechanism is controlled to extend and retract the cleaning brush head in a direction perpendicular to the ground, so that the cleaning brush head can penetrate into the gap to be cleaned.

[0072] By adding stroke adjustment and brush head extension steps before performing cleaning tasks, the precision and adaptability of cleaning can be enhanced. The stroke range of the extension mechanism is adjusted based on detection signals to ensure that the extension depth of the cleaning brush head perfectly matches the depth of the gaps. This prevents inadequate cleaning due to insufficient stroke and avoids overloading the equipment or damaging surfaces due to excessive stroke. Controlling the brush head's vertical extension and retraction allows for precise insertion into gaps, preventing misalignment and ensuring that the cleaning action is concentrated within the gaps, improving the targeting and effectiveness of cleaning.

[0073] As an optional implementation, the step of adjusting the travel range of the telescopic mechanism according to the detection signal specifically includes:

[0074] Based on the preset travel range of the area to be cleaned, and combined with the depth information of the gaps to be cleaned, the travel range of the telescopic mechanism is adjusted to ensure that the cleaning brush head is adapted to the gaps to be cleaned.

[0075] By combining the preset travel range with the actual gap depth information, the extension travel not only conforms to the equipment design specifications, but also adapts to the depth differences of different gaps, improving the equipment's adaptability to complex gap environments; ensuring that the cleaning brush head is precisely matched with the gap depth, it can reach the bottom of the gap to the maximum extent to remove stubborn dirt and bacteria that have accumulated over time, solving the problem of over-cleaning shallow gaps and under-cleaning deep gaps caused by the fixed travel of traditional cleaning equipment.

[0076] As an optional implementation, the step of controlling the first cleaning component to perform the crevice cleaning task specifically includes:

[0077] The cleaning brush head is driven to vibrate at a preset frequency by the first drive unit;

[0078] And / or, drive the cleaning brush head to rotate at a preset speed via a second drive unit.

[0079] By clearly defining the vibration and rotation control methods of the cleaning brush head, the standardization and effectiveness of the cleaning action can be ensured. Preset vibration frequencies and preset rotation speeds guarantee stable cleaning force, preventing incomplete cleaning due to insufficient power or equipment damage due to excessive power. Users can adjust preset parameters according to actual cleaning needs (such as light dust or stubborn dirt), enhancing the equipment's flexibility. Independent or combined control of vibration and rotation can adapt to different types of crevices and dirt, achieving personalized cleaning and further improving the user experience.

[0080] As an optional implementation, after the step of fusing the reflectivity difference, contour boundary, depth information, and width information to determine the location coordinates of the gap to be cleaned, the method includes:

[0081] As the robot moves along the direction of the gap to be cleaned, the cleaning brush head remains embedded in the gap for continuous cleaning.

[0082] When the detection component detects that the current cleaning gap extension trajectory is interrupted, the control telescopic mechanism retracts the cleaning brush head to the preset initial position.

[0083] By limiting the continuous insertion of the brush head during the cleaning process and its retraction after a break in the trajectory, the continuity of the cleaning process is optimized. Continuous cleaning along the direction of the gap ensures that longer gaps are cleaned completely in one go, avoiding omissions caused by segmented cleaning. Timely retraction of the brush head when the trajectory is interrupted avoids wear and tear on the cleaning brush head and prevents the brush head from scratching the floor in non-gap areas, protecting the floor. This design makes the cleaning robot's movement more intelligent, dynamically adjusting the brush head state according to the gap trajectory, improving cleaning continuity and the energy efficiency of the equipment.

[0084] As an optional implementation, after the step of controlling the telescopic mechanism to retract the cleaning brush head to a preset initial position when the detection component detects that the current cleaning gap extension trajectory is interrupted, the method further includes:

[0085] The robot continues to move forward, while the detection components continuously scan the area to be cleaned ahead.

[0086] If the detection component identifies a new gap to be cleaned within a preset distance, it controls the telescopic mechanism to extend the cleaning brush head and adjusts the telescopic stroke according to the width and depth parameters of the new gap to be cleaned before performing the cleaning action.

[0087] By adding a new gap detection and cleaning process after the trajectory is interrupted, it helps to achieve full coverage cleaning of all gaps in the house. The robot body continues to move forward and scan continuously to ensure that no gaps are missed throughout the house, which is especially suitable for floors with many gaps and irregular distribution. For newly detected gaps, the extension stroke is readjusted before cleaning is performed to ensure that every gap is precisely and appropriately cleaned, thereby achieving comprehensive coverage of all gaps in the house.

[0088] As an optional implementation, after fusing data on reflectivity differences, contour boundaries, depth information, and width information to determine the precise location coordinates of the gap to be cleaned, the process includes:

[0089] The real-time trajectory coordinates are matched and calibrated with the pre-stored data in the whole-house cleaning map;

[0090] The robot's movement direction is dynamically adjusted based on the calibration results to ensure that the cleaning brush head always moves along the trajectory of the gap to be cleaned.

[0091] By matching and calibrating the trajectory coordinates with the cleaning map, the robot's movement direction control can be optimized. Real-time trajectory calibration corrects the robot's movement deviations, ensuring that the cleaning brush head always moves along the direction of the crevice trajectory, avoiding deviations caused by uneven ground, equipment vibration, and other factors, thus improving cleaning accuracy. Combined with pre-stored data from the whole-house cleaning map, collaborative planning of crevice cleaning and whole-house cleaning paths can be achieved, avoiding repeated cleaning or path conflicts, improving overall cleaning efficiency, and allowing users to intuitively understand the crevice cleaning progress through the map.

[0092] As an optional implementation, before or after the step of controlling the first cleaning component to perform the brush head cleaning task, the method further includes:

[0093] Mark the cleaned gap data on the cleaning map;

[0094] The data on cleaned gaps includes the number of times the gaps have been cleaned and the location coordinates of the gaps.

[0095] Tagging cleaned crevices before and after a cleaning task, such as marking the number of cleanings and location coordinates, helps users understand the cleaning status of all crevices in the house, facilitating targeted re-cleaning later. Cleaned data can also provide a reference for the cleaning robot's path planning, avoiding repeated cleaning of the same crevices and improving energy efficiency. The data tagging function makes the cleaning process more transparent; users can view cleaning records through their terminal devices, meeting their need to monitor cleaning effectiveness and further enhancing the product's intelligent experience.

[0096] In addition to the technical problems solved by this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that the cleaning robot and its cleaning method provided by this application can solve, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0097] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0098] Figure 1 This is a schematic diagram of an overall structure of a cleaning robot provided in an embodiment of this application;

[0099] Figure 2 A schematic diagram of another overall structure of the cleaning robot provided in an embodiment of this application;

[0100] Figure 3 This is a cross-sectional structural diagram of the cleaning robot provided in an embodiment of this application;

[0101] Figure 4 for Figure 3 A magnified structural diagram at point A;

[0102] Figure 5 This is a schematic diagram of the overall structure of the first cleaning component in the cleaning robot provided in the embodiments of this application.

[0103] Explanation of reference numerals in the attached figures:

[0104] 100- Cleaning Robot;

[0105] 110 - Robot body;

[0106] 111 - Installation cavity;

[0107] 120 - First cleaning component;

[0108] 121 - Cleaning brush head;

[0109] 122 - Telescopic mechanism;

[0110] 123 - Drive mechanism;

[0111] 124 - Transmission mechanism;

[0112] 130 - Detection component;

[0113] 140 - Second cleaning component;

[0114] 141-Roller brush;

[0115] 151 - Mop;

[0116] The direction the L-cleaning robot is heading. Detailed Implementation

[0117] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0118] With the popularization of smart homes and automated cleaning equipment, robotic vacuum cleaners have become an important tool for modern household cleaning, especially in floor cleaning.

[0119] Currently, floor gaps in areas such as kitchens, bathrooms, and living rooms have become a major cleaning challenge. These gaps, which serve as fillers at the joints of flooring, accumulate dust, hair, food scraps, and other contaminants over time, not only affecting the aesthetics of the room but also potentially breeding bacteria and posing a health risk.

[0120] In related technologies, existing robotic vacuum cleaners generally clean floors using roller brushes and mops. However, their cleaning components are typically designed to conform to the floor surface, making it difficult to reach into floor crevices. Users often need to manually clean these crevices using small brushes, toothpicks, or other tools, which is time-consuming, labor-intensive, and inefficient. Especially in home cleaning scenarios, users' demand for automated whole-house cleaning is growing, creating an urgent need for a robotic solution that can overcome the bottleneck of cleaning floor crevices to achieve truly thorough cleaning without blind spots.

[0121] To overcome the shortcomings of related technologies, this application provides a cleaning robot and its cleaning method. The cleaning robot includes a robot body, a first cleaning component, a detection component, and a control component. The first cleaning component includes a cleaning brush head and a telescopic mechanism. The cleaning brush head is connected to the telescopic mechanism, which is connected to the robot body. The telescopic mechanism is configured to drive the cleaning brush head to move along a preset direction. The detection component is configured to detect environmental information in the area to be cleaned and generate a brush head cleaning task based on the environmental information. The control component is electrically connected to the telescopic mechanism and is configured to control the extension and retraction stroke of the telescopic mechanism based on the environmental information obtained by the detection component, thereby controlling the first cleaning component to perform the brush head cleaning task. This application overcomes the limitation of traditional sweeping robots that only clean flat surfaces, solves the problem of blind spots in cleaning floor crevices, significantly improves the thoroughness of floor cleaning, avoids the tedium of manual cleaning, and achieves automation of whole-house cleaning.

[0122] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0123] Figure 1 This is a schematic diagram of the overall structure of the cleaning robot provided in an embodiment of this application. Figure 2 This is a schematic diagram of another overall structure of the cleaning robot provided in an embodiment of this application. Figure 3 This is a cross-sectional structural diagram of the cleaning robot provided in an embodiment of this application. Figure 4 for Figure 3 A magnified structural diagram at point A. Figure 5 This is a schematic diagram of the overall structure of the first cleaning component in the cleaning robot provided in the embodiments of this application.

[0124] Reference Figures 1 to 3 As shown, this application embodiment provides a cleaning robot 100, which is used to clean the floor and floor crevices. It may include a robot body 110 and a first cleaning component 120. Specifically, refer to... Figure 4 and Figure 5 As shown, the first cleaning component 120 may include a cleaning brush head 121 and a telescopic mechanism 122. The cleaning brush head 121 may be connected to the telescopic mechanism 122, and the telescopic mechanism 122 may be connected to the robot body 110. The telescopic mechanism 122 may be configured to drive the cleaning brush head 121 to move along a preset direction.

[0125] In this embodiment, the telescopic mechanism 122 can be a mechanical device capable of adjusting the telescopic stroke of the cleaning brush head 121. Exemplarily, the telescopic mechanism 122 can be a threaded sleeve, a miniature electric actuator, or a hydraulic drive mechanism. The cleaning brush head 121 can be a cleaning component for contacting and removing residue from crevices, and its material can be nylon, silicone, or other flexible materials.

[0126] In this embodiment of the application, the cleaning robot 100 may further include a detection component 130, which can be configured to detect environmental information in the area to be cleaned and generate a brush head cleaning task based on the environmental information.

[0127] In this embodiment of the application, the cleaning robot 100 may further include a control component (not shown in the figure). The control component may be electrically connected to the telescopic mechanism 122. The control component may be configured to control the telescopic stroke of the telescopic mechanism 122 according to the environmental information obtained by the detection component 130, so as to control the first cleaning component 120 to perform the brush head cleaning task.

[0128] The combined design of the telescopic mechanism 122 and the cleaning brush head 121 solves the technical problem of the inability to perform deep cleaning of the area to be cleaned in related technologies. Specifically, the telescopic mechanism 122 can drive the cleaning brush head 121 to move along a preset direction, thereby adapting to cleaning areas of different depths, such as floor crevices. The movement trajectory of the cleaning brush head 121 is jointly controlled by the travel range of the telescopic mechanism 122 and the navigation system of the robot body 110, ensuring that the cleaning brush head 121 can accurately embed into the area to be cleaned and cover the entire cleaning path.

[0129] This application, through innovative structural design, enables the cleaning robot 100 to overcome the limitations of traditional planar cleaning areas and directly target deep cleaning areas, thereby physically removing residual debris from floor crevices. The reciprocating motion of the telescopic mechanism 122 and the cleaning action of the cleaning brush head 121 work together to ensure the continuity and coverage of the cleaning process, ultimately achieving deep coverage and thorough cleaning of the area to be cleaned, while avoiding damage to the surface of the area to be cleaned.

[0130] Therefore, this application can overcome the limitations of traditional robotic vacuum cleaners that only target flat surfaces, solve the problem of cleaning blind spots in floor crevices, significantly improve the thoroughness of floor cleaning, and avoid the tediousness of manual cleaning, thus achieving automation of whole-house cleaning.

[0131] The following sections provide detailed descriptions of the specific structure of the cleaning robot 100, its cleaning method, and various possible implementation methods.

[0132] Among them, such as Figure 3As shown, the detection component 130 can be connected to the robot body 110, and it can also be electrically connected to the control component. The detection component 130 can be configured to detect floor gap information in the area to be cleaned. The detection component 130 can collect floor gap information in the area to be cleaned and transmit the detection signal to the control component.

[0133] In this embodiment, the control component can be configured to control the extension stroke of the telescopic mechanism 122 based on the floor gap information detected by the detection component 130. The detection component 130 detects the floor gap information in the area to be cleaned, and the control component can dynamically adjust the stroke of the telescopic mechanism 122 according to the detection signal. In this way, the cleaning robot 100 can dynamically adapt to the floor gap information in the area to be cleaned, thereby achieving precise cleaning path planning and efficient cleaning of the floor gap area.

[0134] In some embodiments, the detection component 130 may be a sensor. The sensor can collect information about floor crevices in the area to be cleaned by detecting the reflectivity of the material. For example, the detection component 130 may be an infrared sensor, which is a device that identifies locations by detecting differences in the infrared reflectivity of an object's surface, such as a combination of an infrared emitter and receiver. The infrared sensor can determine the location of crevices by detecting material differences between the floor and the floor crevices.

[0135] For example, in the embodiments of this application, the detection component 130 can be a binocular sensor, a line laser sensor, an AI vision sensor, etc. The embodiments of this application do not limit this, nor are they limited to the above examples.

[0136] Alternatively, in some other embodiments, the detection component 130 can be an image recognition module. The image recognition module can acquire information about floor cracks in the area to be cleaned through image features. The camera, in conjunction with the image recognition algorithm, can more accurately identify the direction and location of the cracks.

[0137] For example, in this embodiment, the detection component 130 can be an AI vision camera, etc.

[0138] like Figure 4 and Figure 5 As shown in the embodiments of this application, the first cleaning component 120 may further include a drive mechanism 123, wherein the drive mechanism 123 may be electrically connected to the control component.

[0139] In addition, in this embodiment, the drive mechanism 123 can be connected to the cleaning brush head 121, and the drive mechanism 123 can be configured to drive the cleaning brush head 121 to perform cleaning actions. Alternatively, the drive mechanism 123 can be connected to the telescopic mechanism 122, and the drive mechanism 123 can be configured to drive the telescopic mechanism 122 to move. Since the cleaning brush head 121 is connected to the telescopic mechanism 122, the telescopic mechanism 122 can drive the cleaning brush head 121 to perform cleaning actions.

[0140] By introducing the drive mechanism 123, the control component dynamically adjusts the cleaning mode of the drive mechanism 123 based on the detection signal detected by the detection component 130. The cleaning brush head 121 can move along the target direction (e.g., rotation or vibration), thereby enhancing the cleaning ability of areas to be cleaned, such as stubborn debris in floor crevices. This design compensates for the shortcomings of traditional robotic vacuum cleaners that rely solely on static friction through dynamic cleaning, significantly improving the stability of the cleaning effect.

[0141] In this embodiment, the control component is electrically connected to the detection component 130, the telescopic mechanism 122, and the drive mechanism 123. The control mechanism receives the gap position information transmitted by the detection component 130, controls the telescopic mechanism 122 to extend or retract the gap cleaning component 121, and simultaneously controls the start, stop, vibration frequency, or rotation speed of the drive mechanism 123.

[0142] In some embodiments, the first cleaning component 120 may further include a transmission mechanism 124, wherein one end of the transmission mechanism 124 may be connected to the drive mechanism 123, and the other end of the transmission mechanism 124 may be connected to the cleaning brush head 121 or the telescopic mechanism 122. The transmission mechanism 124 has a transmission function, and the drive mechanism 123 can drive the cleaning brush head 121 or the telescopic mechanism 122 to move through the transmission mechanism 124.

[0143] Specifically, in the embodiments of this application, the specific structure of the drive mechanism 123 may include, but is not limited to, the following possible implementations:

[0144] One possible implementation is that the drive mechanism 123 may include a first drive unit, which may be connected to the cleaning brush head 121 to drive the cleaning brush head 121 to vibrate. Alternatively, the first drive unit may be connected to the telescopic mechanism 122 to drive the telescopic mechanism 122 to vibrate, thereby synchronously driving the cleaning brush head 121 to vibrate.

[0145] In this way, the cleaning brush head 121 can perform a vibrating action. This design loosens stubborn debris through vibration, ensuring the cleaning ability for stubborn stains.

[0146] Specifically, in this embodiment, the first driving unit can be a vibration motor. Driven by the vibration motor, the vibration mode can quickly shake off loose contaminants, and the cleaning brush head 121 can enhance the cleaning power through vibration, thereby achieving deep loosening and efficient removal of stubborn stains in the crevices of the floor.

[0147] Another possible implementation is that the drive mechanism 123 may include a second drive unit, which may be connected to the cleaning brush head 121 to drive the cleaning brush head 121 to rotate. Alternatively, the second drive unit may be connected to the telescopic mechanism 122 to drive the telescopic mechanism 122 to rotate, thereby synchronously driving the cleaning brush head 121 to rotate.

[0148] In this way, the cleaning brush head 121 can perform a rotating motion. This design uses the rotating motion to carry the debris out of the area to be cleaned, which significantly improves the cleaning ability of stubborn stains.

[0149] Specifically, in this embodiment, the second drive unit can be a rotary motor. By designing a rotary motor, the rotation mode can enhance the removal of stubborn stains through friction, and the cleaning brush head 121 can perform a rotational action to ensure the cleaning ability of stubborn stains.

[0150] Another possible implementation is that the drive mechanism 123 may include a first drive unit and a second drive unit. The first drive unit may be connected to the cleaning brush head 121 or the telescopic mechanism 122 to drive the cleaning brush head 121 and / or the telescopic mechanism 122 to vibrate. The second drive unit may also be connected to the cleaning brush head 121 or the telescopic mechanism 122 to drive the cleaning brush head 121 and / or the telescopic mechanism 122 to rotate.

[0151] In this way, the cleaning brush head 121 can simultaneously perform vibration and rotation actions, forming a combined vibration + rotation cleaning method. This design loosens stubborn debris through vibration and removes it from the area to be cleaned through rotation, significantly improving the cleaning ability for stubborn stains.

[0152] Specifically, in the embodiments of this application, the first driving unit is a vibration motor, the second driving unit is a rotary motor, and the vibration motor and the rotary motor can be connected by a coupling.

[0153] By combining a vibration motor and a rotation motor, the cleaning brush head 121 can simultaneously perform vibration and rotation actions. The vibration mode quickly shakes off loose contaminants, while the rotation mode enhances friction to remove stubborn stains, ensuring optimal cleaning results for different types of stains and significantly improving the cleaning ability for stubborn stains. Furthermore, this design, through the integration of a coupling, ensures synchronized power output from the two motors, enhancing the stability of the cleaning effect.

[0154] It should be noted that, in this embodiment, the cleaning action of the cleaning brush head 121 can be shaking or rotating, or both simultaneously. Furthermore, shaking and rotation can be achieved simultaneously by the same drive unit, or two drive units can each achieve either shaking or rotation. Specifically, when two drive units achieve shaking or rotation separately, the two drive units are respectively connected to the cleaning brush head 121 and / or the telescopic mechanism 122.

[0155] It is understood that in this embodiment, the cleaning brush head 121 may include bristles, and the contour of the end of the bristles facing the area to be cleaned can match the contour of the floor crevices in the area to be cleaned. Thus, when the cleaning brush head 121 penetrates into the area to be cleaned, the bristles of the cleaning brush head 121 can conform to the contour of the floor crevices in the area to be cleaned, avoiding scratches caused by sharp or straight structures. In addition, the telescopic mechanism 122 drives the cleaning brush head 121 to extend and retract in a preset direction, ensuring that the bristles of the cleaning brush head 121 maintain stable contact with the area to be cleaned, thereby achieving physical friction during the cleaning process.

[0156] In other words, through the above structural design, the cleaning brush head 121 can conform to the contours of the floor crevices when it reaches the area to be cleaned, avoiding scratches caused by rigid contact. This design ensures cleaning effectiveness while protecting the surface integrity of the area to be cleaned (such as tiles, wood floors, and their crevices), extending the service life of the area to be cleaned, and improving the stability of the cleaning action.

[0157] In this embodiment of the application, the bristles of the cleaning brush head 121 can be periodically bent along the axial direction of the cleaning brush head 121, and the amplitude of the periodic bending can match the width of the floor gaps in the area to be cleaned.

[0158] It should be noted here that periodic bending refers to the repeating peaks and troughs in the bristle's bending pattern. This allows the amplitude of the periodic bending (i.e., the distance between the peaks and troughs) to match the width of the area to be cleaned. When the cleaning brush head 121 penetrates into the crevices of the floor, the bending structure of the bristles conforms to the inner wall of the crevices and generates dynamic friction through elastic deformation. This dynamic friction creates a squeezing-releasing cycle during cleaning, gradually pushing out adhesive debris.

[0159] In other words, through the periodic bending structure design of the bristles, the cleaning brush head 121 can conform to the inner wall of the floor crevices in the area to be cleaned, and generate dynamic friction through elastic deformation. This design significantly improves the cleaning ability of adhesive debris (such as food residue and hair), while avoiding surface scratches caused by rigid contact and extending the service life of the area to be cleaned.

[0160] In this embodiment, the elastic modulus of the brush bristles may be less than the elastic modulus of the surface material of the area to be cleaned.

[0161] It's important to note that the elastic modulus refers to a material's ability to resist deformation under stress. The bristles are made of a material with an elastic modulus lower than that of the surface material of the area to be cleaned. When the bristles come into contact with the area, their elastic deformation capacity ensures that the bristles conform to the surface contours of the area being cleaned, avoiding scratches caused by rigid contact. This difference in elastic modulus is achieved through material selection, ensuring that the bristles maintain structural stability during dynamic cleaning.

[0162] Therefore, through the design of different elastic moduli, the bristles can conform to the contours of the floor crevices in the area to be cleaned during the cleaning process, avoiding scratches caused by rigid contact. This design improves cleaning effectiveness while extending the lifespan of the area to be cleaned.

[0163] In this embodiment, the cleaning robot 100 may further include a second cleaning component 140, wherein the second cleaning component 140 may include one or more roller brushes 141, each roller brush 141 being connected to the robot body 110. Along the forward direction of the cleaning robot 100, the second cleaning component 140 may be positioned behind the first cleaning component 120.

[0164] Through the stain collection of the second cleaning component 140, the cleaning robot 100 can instantly remove the stirred-up stains, thereby achieving comprehensive cleaning of the floor crevices and avoiding secondary pollution.

[0165] For example, in this embodiment, the second cleaning component 140 can be a cleaning part for collecting stirred-up dirt, such as a roller brush 141 or a vacuuming component. Specifically, in this embodiment, the second cleaning component 140 can be, for example, a flexible roller brush or a negative pressure vacuuming component.

[0166] The second cleaning component 140 is located behind the first cleaning component 120. When the cleaning brush head 121 performs the cleaning action, the second cleaning component 140 can collect the raised dirt into the dust box through the lateral sweeping of the roller brush 141 or the negative pressure adsorption of the vacuum component, thus avoiding secondary pollution.

[0167] In this embodiment, the robot body 110 may be provided with a mounting cavity for accommodating the second cleaning component 140. The projection of the cleaning brush head 121 in the forward direction of the cleaning robot 100 is located within the projection of the mounting cavity in the forward direction of the cleaning robot 100.

[0168] In this embodiment of the application, the second cleaning component 140 may include a plurality of roller brushes 141, and the plurality of roller brushes 141 may be evenly arranged along the length direction of the mounting cavity.

[0169] In this embodiment, the cleaning robot 100 may further include a third cleaning component, wherein the third cleaning component may include one or more mops 151, each mop 151 being connected to the robot body 110. Along the forward direction of the cleaning robot 100, the third cleaning component may be positioned behind the second cleaning component 140.

[0170] In addition, this application embodiment also provides a cleaning method for a cleaning robot 100, applicable to any of the above-mentioned cleaning robots. Specifically, the cleaning method for the cleaning robot 100 may include:

[0171] Obtain the area to be cleaned.

[0172] Detect environmental information in the area to be cleaned and generate a brush head cleaning task based on the environmental information.

[0173] Control the first cleaning component 120 to perform the brush head cleaning task.

[0174] In this embodiment, the detection component 130 can construct a whole-house map to determine the area to be cleaned. Specifically, the detection component 130 can detect information about floor gaps in the area to be cleaned.

[0175] It is understood that, in the embodiments of this application, the detection component 130 may be, for example, a sensor or imaging device for collecting information on the location of the ground and the boundary of the ground gap. For example, the detection component 130 may be, for example, an infrared sensor, a camera or a laser scanner.

[0176] By acquiring area information, detecting data, and executing tasks, the cleaning process is fully automated, allowing users to clean all crevices and floors without manual intervention. This method generates targeted cleaning tasks based on environmental information from the detection components, avoiding indiscriminate cleaning, improving cleaning efficiency and energy utilization. It also provides process assurance for the coordinated operation of subsequent technical features, ensuring precise coordination between the telescopic mechanism, drive mechanism, and cleaning components to maximize cleaning effectiveness.

[0177] As an optional implementation, the environmental information may include at least: information on the cracks in the floor of the area to be cleaned.

[0178] Environmental information, including information about floor crevices, makes the detection process of cleaning methods more targeted, avoids interference from irrelevant environmental information, and ensures that detection components concentrate resources on capturing crevic-related data, improving the accuracy and efficiency of information acquisition. Cleaning tasks generated based on crevic information directly address cleaning pain points, ensuring that cleaning robots focus on crevic cleaning while also cleaning the floor surface. This solves the problem of traditional cleaning methods emphasizing surface cleaning while neglecting crevices, thus improving the effectiveness of crevic cleaning.

[0179] In this embodiment of the application, the ground gap information may include: the precise location coordinates of the gap to be cleaned.

[0180] The steps for detecting information about floor cracks in the area to be cleaned may include:

[0181] The detection component scans the ground of the area to be cleaned in real time.

[0182] By detecting the difference in reflectivity between the ground and the gaps between the ground, the outline boundary of the gap to be cleaned can be identified.

[0183] The depth and width information of the gap to be cleaned are obtained through the detection component.

[0184] By fusing data on reflectivity differences, contour boundaries, depth information, and width information, the location coordinates of the gap to be cleaned are determined.

[0185] By defining the content and detection steps of the information on ground gaps, precise gap location can be achieved. Specifically, by identifying the contour through reflectivity differences, acquiring depth and width information, and fusing the data, the location coordinates of the gap can be accurately determined with less error, ensuring that the cleaning brush head can accurately align with the gap. The fusion analysis of multi-dimensional data makes the detection results more comprehensive, not only locating the gap but also determining its dimensional parameters, providing a precise basis for subsequent adjustment of the extension stroke and selection of cleaning actions, avoiding cleaning omissions or equipment damage caused by inaccurate positioning.

[0186] In this embodiment of the application, before the step of controlling the first cleaning component 120 to perform the brush head cleaning task, the following may be included:

[0187] It receives the location coordinates of the gap to be cleaned and the ground gap information detection signal generated by the detection component 130.

[0188] Adjust the travel range of the telescopic mechanism 122 according to the detection signal.

[0189] The control telescopic mechanism 122 drives the cleaning brush head 121 to extend and retract in a direction perpendicular to the ground, so that the cleaning brush head 121 can penetrate into the gap to be cleaned.

[0190] By adding stroke adjustment and brush head extension steps before performing the cleaning task, the precision and adaptability of the cleaning process can be enhanced. The stroke range of the extension mechanism 122 is adjusted according to the detection signal to ensure that the extension depth of the cleaning brush head 121 perfectly matches the depth of the crevices. This prevents inadequate cleaning due to insufficient stroke, and avoids overloading the device or damaging the surface due to excessive stroke. Controlling the brush head's extension and retraction in the vertical direction allows for precise insertion into crevices, preventing misalignment and ensuring that the cleaning action is concentrated within the crevices, thus improving the targeting and effectiveness of the cleaning.

[0191] Furthermore, it is easy to understand that the step of adjusting the travel range of the telescopic mechanism 122 based on the detection signal may specifically include:

[0192] Based on the preset travel range of the area to be cleaned, the travel range of the telescopic mechanism 122 is adjusted in combination with the depth information of the gap to be cleaned to ensure that the cleaning brush head 121 is adapted to the gap to be cleaned.

[0193] By combining the preset travel range with the actual gap depth information, the extension travel not only conforms to the equipment design specifications but also adapts to the depth differences of different gaps, improving the equipment's adaptability to complex gap environments. This ensures that the cleaning brush head 121 is precisely matched to the gap depth, maximizing its ability to reach the bottom of the gap and remove stubborn debris and bacteria that have accumulated over time. This solves the problem of traditional cleaning equipment over-cleaning shallow gaps and under-cleaning deep gaps due to fixed travel distances.

[0194] In this embodiment of the application, the step of controlling the first cleaning component 120 to perform the crevice cleaning task may specifically include:

[0195] The first drive unit drives the cleaning brush head 121 to vibrate at a preset frequency.

[0196] And / or, the cleaning brush head 121 is driven to rotate at a preset speed by the second drive unit.

[0197] By clearly defining the vibration and rotation control methods of the cleaning brush head 121, the standardization and effectiveness of the cleaning action can be ensured. Preset vibration frequency and preset rotation speed guarantee the stability of cleaning force, avoiding incomplete cleaning due to insufficient power or equipment damage due to excessive power. Users can adjust preset parameters according to actual cleaning needs (such as light dust or stubborn dirt), improving the flexibility of the equipment; independent or combined control of vibration and rotation can adapt to different types of crevices and dirt, achieving personalized cleaning and further enhancing the user experience.

[0198] In this embodiment of the application, after the step of fusing data on reflectivity differences, contour boundaries, depth information, and width information to determine the location coordinates of the gap to be cleaned, the process may include:

[0199] As the robot body moves along the direction of the gap to be cleaned, the cleaning brush head 121 remains embedded in the gap for continuous cleaning.

[0200] When the detection component 130 detects that the current cleaning gap extension trajectory is interrupted, the control telescopic mechanism 122 retracts the cleaning brush head 121 to the preset initial position.

[0201] By limiting the continuous insertion of the brush head during the cleaning process and its retraction after a trajectory interruption, the continuity of the cleaning process is optimized. Continuous cleaning along the direction of the gap ensures that longer gaps are cleaned completely in one go, avoiding omissions caused by segmented cleaning. Timely retraction of the brush head when the trajectory is interrupted avoids both the wear and tear of the cleaning brush head idling and prevents the brush head from scratching the floor in non-gap areas, protecting the floor. This design makes the cleaning robot's movement more intelligent, dynamically adjusting the brush head state according to the gap trajectory, improving cleaning continuity and the energy efficiency of the equipment.

[0202] In this embodiment of the application, after the step of controlling the telescopic mechanism 122 to retract the cleaning brush head 121 to a preset initial position when the detection component 130 detects that the extension trajectory of the current gap to be cleaned is interrupted, the method may further include:

[0203] The robot body continues to move forward, while the detection component 130 continuously scans the area to be cleaned ahead.

[0204] If the detection component 130 detects a new gap to be cleaned within a preset distance, it controls the telescopic mechanism 122 to extend the cleaning brush head 121, and adjusts the telescopic stroke according to the width and depth parameters of the new gap to be cleaned before performing the cleaning action.

[0205] By adding a new gap detection and cleaning process after the trajectory is interrupted, it helps to achieve full coverage cleaning of all gaps in the house. The robot body continues to move forward and scan continuously to ensure that no gaps are missed throughout the house, which is especially suitable for floors with many gaps and irregular distribution. For newly detected gaps, the extension stroke is readjusted before cleaning is performed to ensure that every gap is precisely and appropriately cleaned, thereby achieving comprehensive coverage of all gaps in the house.

[0206] In this embodiment of the application, after fusing data of reflectivity differences, contour boundaries, depth information, and width information to determine the precise location coordinates of the gap to be cleaned, the process may include:

[0207] The real-time trajectory coordinates are matched and calibrated with the pre-stored data in the whole-house cleaning map.

[0208] The robot body 110 is dynamically adjusted according to the calibration results to ensure that the cleaning brush head 121 always moves along the trajectory of the gap to be cleaned.

[0209] By matching and calibrating the trajectory coordinates with the cleaning map, the movement direction control of the cleaning robot 100 can be optimized. Real-time trajectory calibration can correct the robot's movement deviation, ensuring that the cleaning brush head 121 always moves along the direction of the crevice trajectory, avoiding deviations caused by uneven ground, equipment vibration, and other factors, thus improving cleaning accuracy. Combined with pre-stored data from the whole-house cleaning map, collaborative planning of crevice cleaning and whole-house cleaning paths can be achieved, avoiding repeated cleaning or path conflicts, improving overall cleaning efficiency, and allowing users to intuitively understand the crevice cleaning progress through the map.

[0210] In this embodiment of the application, before or after the step of controlling the first cleaning component 120 to perform the brush head cleaning task, the cleaning method of the cleaning robot 100 may further include:

[0211] Mark the cleaned gap data on the cleaning map.

[0212] The cleaned gap data may include the number of times the gap has been cleaned and the location coordinates of the gap.

[0213] Tagging cleaned crevices before and after a cleaning task, such as marking the number of cleanings and location coordinates, helps users understand the cleaning status of all crevices in the house, facilitating targeted re-cleaning later. Cleaned data can also provide a reference for the cleaning robot's path planning, avoiding repeated cleaning of the same crevices and improving energy efficiency. The data tagging function makes the cleaning process more transparent; users can view cleaning records through their terminal devices, meeting their need to monitor cleaning effectiveness and further enhancing the product's intelligent experience.

[0214] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0215] It should be noted that the embodiments referred to in the specification, such as "one embodiment," "embodiment," "exemplary embodiment," and "some embodiments," may include specific features, structures, or characteristics, but not every embodiment may include that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0216] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "one" can be understood to convey either singular or plural usage.

[0217] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0218] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0219] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning robot for cleaning floors and floor crevices, characterized in that, include: Robot body; A first cleaning component includes a cleaning brush head and a telescopic mechanism. The cleaning brush head is connected to the telescopic mechanism, which is connected to the robot body. The telescopic mechanism is configured to drive the cleaning brush head to move along a preset direction. A detection component is configured to detect environmental information in the area to be cleaned and generate a brush head cleaning task based on the environmental information. The system also includes a control component electrically connected to the telescopic mechanism, configured to control the telescopic stroke of the telescopic mechanism based on environmental information obtained by the detection component, so as to control the first cleaning component to perform the brush head cleaning task.

2. The cleaning robot according to claim 1, characterized in that, The detection component is connected to the robot body and is electrically connected to the control component; The detection component is configured to detect information about floor cracks in the area to be cleaned. The control component is configured to control the extension stroke of the telescopic mechanism based on the ground gap information detected by the detection component.

3. The cleaning robot according to claim 2, characterized in that, The detection component is a sensor; Alternatively, the detection component may be an image recognition module.

4. The cleaning robot according to claim 2, characterized in that, The first cleaning component further includes a drive mechanism, which is electrically connected to the control component; The drive mechanism is connected to the cleaning brush head, and the drive mechanism is configured to drive the cleaning brush head to perform cleaning actions; Alternatively, the drive mechanism is connected to the telescopic mechanism, and the drive mechanism is configured to drive the telescopic mechanism to move so as to drive the cleaning brush head to perform cleaning actions.

5. The cleaning robot according to claim 4, characterized in that, The driving mechanism includes a first driving unit, which is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to vibrate.

6. The cleaning robot according to claim 4, characterized in that, The driving mechanism includes a second driving unit, which is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to rotate.

7. The cleaning robot according to claim 4, characterized in that, The driving mechanism includes: a first driving unit and a second driving unit; The first drive unit is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to vibrate; The second drive unit is connected to the cleaning brush head or the telescopic mechanism to drive the cleaning brush head and / or the telescopic mechanism to rotate.

8. The cleaning robot according to any one of claims 2-7, characterized in that, The cleaning brush head includes bristles, the contour of which matches the contour of the floor crevices in the area to be cleaned at one end.

9. The cleaning robot according to claim 8, characterized in that, The bristles are periodically bent along the axis of the cleaning brush head, and the amplitude of the periodic bending matches the width of the floor crevices in the area to be cleaned.

10. The cleaning robot according to claim 9, characterized in that, The elastic modulus of the brush bristles is less than the elastic modulus of the surface material of the area to be cleaned.

11. The cleaning robot according to any one of claims 1-7, characterized in that, Also includes: A second cleaning component; the second cleaning component includes one or more roller brushes, each of which is connected to the robot body; Along the forward direction of the cleaning robot, the second cleaning component is positioned behind the first cleaning component.

12. The cleaning robot according to claim 11, characterized in that, The robot body is provided with an installation cavity for accommodating the second cleaning component; The projection of the cleaning brush head in the forward direction of the cleaning robot is located within the projection of the mounting cavity in the forward direction of the cleaning robot. The second cleaning component includes a plurality of roller brushes, which are evenly arranged along the length of the mounting cavity.

13. The cleaning robot according to claim 11, characterized in that, Also includes: A third cleaning component; the third cleaning component includes one or more mops, each of which is connected to the robot body; Along the forward direction of the cleaning robot, the third cleaning component is positioned behind the second cleaning component.

14. A cleaning method for a cleaning robot, applied to the cleaning robot according to any one of claims 1-13, characterized in that, include: Obtain the area to be cleaned; Detect environmental information within the area to be cleaned, and generate a brush head cleaning task based on the environmental information; Control the first cleaning component to perform the brush head cleaning task.

15. The cleaning method of the cleaning robot according to claim 14, characterized in that, The environmental information includes at least: information on the gaps in the ground in the area to be cleaned.

16. The cleaning method of the cleaning robot according to claim 15, characterized in that, The ground gap information includes: Precise coordinates of the location of the gap to be cleaned; The step of detecting the information of ground gaps in the area to be cleaned includes: The detection component scans the ground of the area to be cleaned in real time; The contour boundary of the gap to be cleaned is identified by detecting the difference in reflectivity between the ground and the gap. The depth and width information of the gap to be cleaned are obtained through the detection component; The reflectivity difference, contour boundary, depth information and width information are fused to determine the location coordinates of the gap to be cleaned.

17. The cleaning method of the cleaning robot according to claim 14, characterized in that, Before the step of controlling the first cleaning component to perform the brush head cleaning task, the specific steps include: Receives detection signals of the location coordinates of the crack to be cleaned and information on the ground crack generated by the detection component; The travel range of the telescopic mechanism is adjusted according to the detection signal; The telescopic mechanism is controlled to extend and retract the cleaning brush head in a direction perpendicular to the ground, so that the cleaning brush head can penetrate into the gap to be cleaned.

18. The cleaning method of the cleaning robot according to claim 17, characterized in that, The step of adjusting the travel range of the telescopic mechanism according to the detection signal specifically includes: Based on the preset travel range of the area to be cleaned, and combined with the depth information of the crevices to be cleaned, the travel range of the telescopic mechanism is adjusted to ensure that the cleaning brush head is adapted to the crevices to be cleaned.

19. The cleaning method of the cleaning robot according to claim 14, characterized in that, The step of controlling the first cleaning component to perform the crevice cleaning task specifically includes: The cleaning brush head is driven to vibrate at a preset frequency by the first drive unit; And / or, drive the cleaning brush head to rotate at a preset speed via a second drive unit.

20. The cleaning method of the cleaning robot according to claim 16, characterized in that, After the step of fusing the reflectivity difference, contour boundary, depth information, and width information to determine the location coordinates of the gap to be cleaned, the following steps are included: As the robot moves along the direction of the gap to be cleaned, the cleaning brush head remains embedded in the gap for continuous cleaning. When the detection component detects that the current cleaning gap extension trajectory is interrupted, the control telescopic mechanism retracts the cleaning brush head to the preset initial position.

21. The cleaning method of the cleaning robot according to claim 20, characterized in that, After the step of controlling the telescopic mechanism to retract the cleaning brush head to a preset initial position when the detection component detects that the extension trajectory of the current gap to be cleaned is interrupted, the method further includes: The robot continues to move forward, while the detection components continuously scan the area to be cleaned ahead. If the detection component identifies a new gap to be cleaned within a preset distance, it controls the telescopic mechanism to extend the cleaning brush head and adjusts the telescopic stroke according to the width and depth parameters of the new gap to be cleaned before performing the cleaning action.

22. The cleaning method of the cleaning robot according to claim 16, characterized in that, After the step of fusing the reflectivity difference, contour boundary, depth information, and width information to determine the precise location coordinates of the gap to be cleaned, the following steps are included: The real-time trajectory coordinates are matched and calibrated with the pre-stored data in the whole-house cleaning map; The robot's movement direction is dynamically adjusted based on the calibration results to ensure that the cleaning brush head always moves along the trajectory of the gap to be cleaned.

23. The cleaning method of the cleaning robot according to claim 14, characterized in that, Before or after the step of controlling the first cleaning component to perform the brush head cleaning task, the method further includes: Mark the cleaned gap data on the cleaning map; The cleaned gap data includes the number of times the gap has been cleaned and the location coordinates of the gap.

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