Self-cleaning method, cleaning robot, cleaning system, and storage medium

Abstract

The application discloses a self-cleaning method, a cleaning robot, a cleaning system and a storage medium. The method is applied to a controller of a cleaning robot, the cleaning robot comprising a machine body and a moving assembly connected to the machine body, the moving assembly being configured to drive the machine body to move, the method comprising: in response to a return base station triggering instruction, checking a state of the cleaning robot, and determining whether a checking result meets a preset condition; based on the checking result meeting the preset condition, controlling the cleaning robot to perform a self-cleaning task. The self-cleaning task comprises a moving assembly self-cleaning task; and in response to the self-cleaning task being completed, controlling the cleaning robot to return to the base station. Thus, by performing self-cleaning on the moving assembly of the cleaning robot before it returns to the base station, dirt attached to the moving assembly is cleaned, thereby avoiding the situation that the dirt attached to the anti-skid ribs of the guide plate during the process of returning to the base station causes the guide plate to be difficult to clean.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a self-cleaning method, a cleaning robot, a cleaning system, and a storage medium. Background Technology

[0002] In related technologies, when cleaning robots perform cleaning tasks, their moving components are prone to accumulating dirt and grime. When the cleaning robot returns to the base station, the dirt on the moving components can easily contaminate the guide plate, which is difficult to clean due to its structure. Summary of the Invention

[0003] This application provides a self-cleaning method, a cleaning robot, a cleaning system, and a storage medium, which enables mobile components to self-clean before returning to the base station, preventing large particles of dirt attached to the mobile components from adhering to the anti-slip ribs of the guide plate, thereby at least partially solving the above-mentioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a self-cleaning method is provided, applied to a controller of a cleaning robot, the cleaning robot including a body and a moving component connected to the body, the moving component being configured to drive the body to move, the method comprising: In response to the return to base station trigger command, the status of the cleaning robot is checked, and it is determined whether the check result meets the preset conditions. Based on the test results meeting preset conditions, the cleaning robot is controlled to perform a self-cleaning task; the self-cleaning task includes the self-cleaning task of the moving components. In response to the completion of the self-cleaning task, the cleaning robot is controlled to return to the base station.

[0005] In some embodiments, the step of checking the status of the cleaning robot and determining whether the check result meets preset conditions includes: Check the current cleaning area of ​​the cleaning robot; If the current cleaning area is one of the following: heavily soiled area, large particulate area, hairy area, full-area cleaning area, or area cleaned by sweeping and mopping, then the test result is determined to meet the preset conditions.

[0006] In some embodiments, controlling the cleaning robot to perform a self-cleaning task includes: Determine the required level of self-cleaning for the cleaning robot; The cleaning robot is controlled to perform a self-cleaning task at a corresponding degree of self-cleaning.

[0007] In some embodiments, determining the self-cleaning degree of the cleaning robot includes: Based on the fact that the current cleaning area of ​​the cleaning robot includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, it is determined that the cleaning robot needs to perform N self-cleaning cycles. Based on the fact that the current cleaning area of ​​the cleaning robot does not contain heavily soiled areas, large particulate areas, areas with a lot of hair, areas requiring full-area cleaning, or areas requiring simultaneous sweeping and mopping, it is determined that the cleaning robot needs to perform M self-cleaning cycles. Where N and M are both natural numbers, and N > M.

[0008] In some embodiments, the mobile component is configured to self-clean via a cleaning element connected to one end of the base station; Controlling the cleaning robot to perform self-cleaning tasks includes: After the cleaning robot moves to the vicinity of the cleaning component, it performs the self-cleaning task.

[0009] In some embodiments, cleaning the movable component using the cleaning element includes: The moving component is controlled to contact the cleaning component, and the position of the cleaning robot relative to the cleaning component is fixed. The moving component is controlled to move relative to the cleaning component so that dirt attached to the moving component falls into the collection area.

[0010] In some embodiments, prior to the step of controlling the moving component to contact the cleaning component and fixing the position of the cleaning robot relative to the cleaning component, the method further includes: Based on the shape of the cleaning component, the movement pattern of the cleaning robot is determined so that the moving component contacts the cleaning component.

[0011] In some embodiments, the moving component includes at least two drive wheels, and after the step of controlling the moving component to contact the cleaning component and fixing the position of the cleaning robot relative to the cleaning component, the method further includes: The degree of dirtiness of each drive wheel is determined based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot and the walking path of each drive wheel; The rotational speed of each drive wheel is controlled based on the degree of dirtiness of each drive wheel; The rotational speed of the drive wheel is positively correlated with the degree of dirtiness of the drive wheel.

[0012] In some embodiments, determining the degree of dirt on each drive wheel based on the degree of dirt in the current cleaning area of ​​the cleaning robot and the travel path of each drive wheel, and controlling the rotational speed of each drive wheel based on the degree of dirt, includes: Based on the fact that the current cleaning area of ​​the cleaning robot includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, and the walking path of the drive wheel covers at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel is determined to be level P. Based on the degree of dirtiness of the drive wheel being P, it is determined that the drive wheel rotates at a speed of X revolutions per minute; Alternatively, based on the fact that the current cleaning area of ​​the cleaning robot includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, but the walking path of the drive wheel does not cover the heavily soiled area, large particulate area, hairy area, full-area cleaning area, or sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel is determined to be level Q. Based on the degree of dirtiness of the drive wheel being Q, it is determined that the drive wheel rotates at a speed of Y revolutions per minute; Alternatively, based on the fact that the current cleaning area of ​​the cleaning robot does not have heavily soiled areas, large particle areas, areas with a lot of hair, areas for full-area cleaning, or areas for cleaning while sweeping and mopping, the degree of dirtiness of the drive wheels is determined to be level S. Based on the degree of dirtiness of the drive wheel being S level, it is determined that the drive wheel rotates at a speed of Z revolutions per minute; Among them, P > Q > S, X > Y > Z.

[0013] In some embodiments, the cleaning robot further includes a cleaning component connected to the body, and the self-cleaning task further includes a self-cleaning task of the cleaning component.

[0014] In some embodiments, the return base station trigger instruction includes: The cleaning robot needs a trigger command to temporarily return to the base station during its cleaning task, or the cleaning robot needs a trigger command to return to the base station after completing its cleaning task.

[0015] According to a second aspect of this application, a cleaning robot is provided, comprising: body; A movable component, connected to the body, is used to drive the body to move; A cleaning component, connected to the body, is used to clean the surface to be cleaned; A controller, connected to the body, is used to perform the steps of the self-cleaning method as described above.

[0016] According to a third aspect of this application, a cleaning system is also provided, comprising: As mentioned above, cleaning robots; The base station is connected to a guide plate; A cleaning component is connected to the end of the guide plate away from the base station, and the cleaning component is used to perform self-cleaning on the cleaning robot.

[0017] According to a fourth aspect of this application, a computer-readable storage medium is also provided, having a computer program stored thereon that, when executed by a computer's processor, causes the computer to perform the steps of the aforementioned self-cleaning method.

[0018] In the self-cleaning method of this application embodiment, the state of the cleaning robot is checked before the cleaning robot returns to the base station. Based on the inspection result meeting the preset conditions, the cleaning component of the cleaning robot is controlled to perform a self-cleaning task, thereby cleaning the dirt attached to the moving component and avoiding the situation where the dirt is attached to the anti-slip ribs of the guide plate during the return to the base station, making the guide plate difficult to clean.

[0019] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0021] Figure 1 This is a flowchart of the self-cleaning method provided in an exemplary embodiment of this disclosure; Figure 2 This is a flowchart of a self-cleaning method provided in an exemplary embodiment of the present disclosure, which involves checking the status of a cleaning robot and determining whether the check result meets preset conditions. Figure 3 This is a flowchart illustrating the process of controlling a cleaning robot to perform a self-cleaning task in a self-cleaning method provided in an exemplary embodiment of this disclosure. Figure 4 This is a flowchart illustrating the determination of the self-cleaning degree of a cleaning robot in a self-cleaning method provided in an exemplary embodiment of this disclosure; Figure 5 This is a flowchart illustrating the self-cleaning method provided in the exemplary embodiments of this disclosure, in which a cleaning component is used to clean a moving part. Figure 6 This is a flowchart illustrating the process of determining the rotational speed of the drive wheel based on the current cleaning area and the travel path of the drive wheel in the self-cleaning method provided in the exemplary embodiments of this disclosure. Figure 7 This is one of the flowcharts for determining the drive wheel speed based on the degree of contamination of the drive wheel in the self-cleaning method provided in the exemplary embodiments of this disclosure; Figure 8 This is the second flowchart of the self-cleaning method provided in the exemplary embodiments of this disclosure, which determines the speed of the drive wheel based on the degree of contamination of the drive wheel; Figure 9 This is the third flowchart in the self-cleaning method provided in the exemplary embodiments of this disclosure, which determines the speed of the drive wheel based on the degree of contamination of the drive wheel; Figure 10 This is a schematic diagram of the structure of the cleaning robot provided in an exemplary embodiment of this disclosure; Figure 11 This is a schematic diagram of the structure of the cleaning component provided in an exemplary embodiment of this disclosure.

[0022] Explanation of reference numerals in the attached figures: 100. Cleaning robot; 110. Body; 120. Moving component; 121. Drive wheel; 122. Caster wheel; 130. Cleaning component; 131. Side brush; 132. Roller brush; 133. Mop; 140. Cleaning parts; 141. Cleaning roller. Detailed Implementation

[0023] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0024] According to the first aspect of this application, referring to Figure 1 This disclosure provides a self-cleaning method applied to the controller of a cleaning robot 100. The cleaning robot 100 includes a body 110 and a moving component 120 connected to the body 110, the moving component 120 being configured to drive the body 110 to move. The self-cleaning method includes: S110, In response to the return to base station trigger command, check the status of cleaning robot 100 and determine whether the check result meets the preset conditions.

[0025] S120. Based on the test results meeting preset conditions, control the cleaning robot 100 to perform a self-cleaning task. The self-cleaning task includes the self-cleaning task of the moving component 120.

[0026] S130, In response to the completion of the self-cleaning task, control the cleaning robot 100 to return to the base station.

[0027] By using the above technical solution, the cleaning robot 100 is inspected before returning to the base station. Based on the inspection results meeting the preset conditions, the cleaning component 130 of the cleaning robot 100 is controlled to perform a self-cleaning task, thereby cleaning the dirt attached to the moving component 120 and preventing the dirt from attaching to the anti-slip ribs of the guide plate during the return to the base station, which would make the guide plate difficult to clean.

[0028] Understandably, when the cleaning robot 100 performs a cleaning task, the moving component 120 moves the body 110, and the cleaning component 130 connected to the body 110 cleans the surface to be cleaned. After cleaning a preset area, cleaning a preset time, or completing a preset cleaning task, the cleaning robot 100 receives a trigger command to return to the base station. Based on the trigger command, the status of the cleaning robot 100 is checked to determine whether the check result meets preset conditions. When the check result meets the preset conditions, the cleaning robot 100 is controlled to perform a self-cleaning task. After completing the self-cleaning task, the cleaning robot 100 is controlled to return to the base station. Therefore, by performing self-cleaning on its moving component 120 before the cleaning robot 100 returns to the base station, dirt attached to the moving component 120 is cleaned, preventing dirt from adhering to the anti-slip ribs of the guide plate during the return process, thus avoiding the situation where the guide plate is difficult to clean.

[0029] In some embodiments, in response to a return base station trigger command, the status of the cleaning robot 100 is checked, and it is determined whether the check result meets a preset condition, including: in response to a return base station trigger command, determining the degree of dirtiness of the cleaning robot 100; and in response to the degree of dirtiness of the cleaning robot 100 meeting the self-cleaning trigger condition, controlling the cleaning robot 100 to perform a self-cleaning task.

[0030] It is understood that checking the status of the cleaning robot 100 includes checking the degree of dirtiness of the cleaning robot 100 itself, checking the degree of dirtiness of the moving component 120, and checking the degree of dirtiness of the cleaning component 130. The preset condition is the trigger condition for the self-cleaning task; the self-cleaning task is only executed when the inspection result meets the preset condition.

[0031] like Figure 2 As shown, in some embodiments, checking the status of the cleaning robot 100 and determining whether the check result meets preset conditions includes: S210, Inspect the current cleaning area of ​​the cleaning robot 100.

[0032] S220. If the current cleaning area is one of the following: heavily soiled area, large particulate matter area, hairy area, full-area cleaning area, or area that is cleaned by sweeping and mopping, then the test result is determined to meet the preset conditions.

[0033] Understandably, depending on the specific cleaning task performed by the cleaning robot 100, it can perform self-cleaning after each task, or it can perform self-cleaning only after a specific cleaning task. When the cleaning robot 100 performs self-cleaning for a specific task, this task may include cleaning heavily soiled areas, cleaning areas with large particles, cleaning areas with lots of hair, performing whole-house cleaning, or performing sweeping and mopping simultaneously.

[0034] It should be noted that the current cleaning area refers to the cleaning area corresponding to the cleaning robot 100 during the execution of this cleaning task. The current cleaning area is refreshed each time the cleaning robot 100 returns to the base station. That is, during a cleaning task, if the cleaning robot 100 is cleaning the living room, the current cleaning area is the living room. Once the cleaning robot 100 has finished cleaning the living room and returned to the base station, the current cleaning area will be refreshed. If the subsequent cleaning task is cleaning the master bedroom, the current cleaning area will be refreshed to the master bedroom.

[0035] In some embodiments, heavily soiled areas include areas containing pet feces, areas containing condiment stains such as soy sauce, and areas containing food scraps such as vegetable scraps. Areas containing large particles include areas containing pet food, pet litter, cookie crumbs, etc. For example, areas containing cat litter and areas containing cat food. Areas with abundant hair include areas containing human hair and areas containing pet hair.

[0036] In some embodiments, whole-area cleaning includes a cleaning robot 100 performing a one-time cleaning of all rooms in the house, including but not limited to the living room, master bedroom, secondary bedroom, children's room, bathroom, media room, dressing room, and storage room. Whole-area cleaning includes cleaning modes such as sweeping and mopping.

[0037] In some embodiments, the cleaning area where the cleaning robot 100 sweeps the floor with its side brush 131 and simultaneously mops the floor with its mop 133 during the cleaning process. The self-cleaning process can be tailored to different cleaning levels based on the area cleaned by the sweeping and mopping. For example, a tiered self-cleaning strategy can be developed, using a cleaning area of ​​10 square meters as a level.

[0038] like Figure 3 As shown, in some embodiments, controlling the cleaning robot 100 to perform a self-cleaning task includes: S310, Determine the required level of self-cleaning for the cleaning robot 100.

[0039] S320: Control the cleaning robot 100 to perform self-cleaning tasks with a corresponding degree of self-cleaning.

[0040] Understandably, the cleaning robot 100 can control itself to perform self-cleaning tasks to a corresponding degree based on its required self-cleaning level, in order to avoid over-cleaning or under-cleaning. Over-cleaning can easily lead to increased wear on the moving component 120 or the cleaning component 130, affecting their service life. Under-cleaning, during the process of the cleaning robot 100 returning to the base station after self-cleaning, dirt remaining on the cleaning component 130 or the moving component 120 due to insufficient cleaning may adhere to the guide plate, making the guide plate difficult to clean.

[0041] For example, the self-cleaning level of the cleaning robot 100 can be divided into five levels, from level one to level five, with the number of self-cleaning times or the self-cleaning duration of the moving component 120 and / or cleaning component 130 of the cleaning robot 100 increasing progressively. When it is determined that the cleaning robot 100 needs to perform self-cleaning at level three, the controller controls the cleaning robot 100 to perform the self-cleaning task at level three.

[0042] In some embodiments, the required degree of self-cleaning for the cleaning robot 100 can be determined based on the degree of dirtiness of the cleaning robot 100. Specifically, the required degree of self-cleaning for the cleaning robot 100 is positively correlated with the degree of dirtiness. That is, the dirtier the cleaning robot 100, the deeper the required degree of self-cleaning; the cleaner the cleaning robot 100, the shallower the required degree of self-cleaning.

[0043] For example, the level of dirtiness of the cleaning robot 100 can be divided into five levels based on the cleaning time, cleaning area, and degree of dirtiness of the cleaning area. Each level of dirtiness corresponds to a level of self-cleaning capability of the cleaning robot 100. When the level of dirtiness of the cleaning robot 100 is determined to be level two, the cleaning robot 100 is controlled to perform a self-cleaning task at level two.

[0044] like Figure 4 As shown, in some embodiments, determining the self-cleaning degree of the cleaning robot 100 includes: S410. Based on the fact that the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, it is determined that the cleaning robot 100 needs to perform N self-cleaning cycles.

[0045] S420: Based on the fact that the current cleaning area of ​​the cleaning robot 100 does not have heavily soiled areas, large particle areas, areas with a lot of hair, areas for full-area cleaning, or areas for cleaning while sweeping and mopping, it is determined that the cleaning robot 100 needs to perform M self-cleaning cycles.

[0046] Where N and M are both natural numbers, and N > M.

[0047] Understandably, the number of self-cleaning operations performed by the cleaning robot 100 can be determined based on the type of the current cleaning area. Specifically, if the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, area with a lot of pet hair, full-area cleaning area, or sweeping and mopping cleaning area, then the cleaning robot 100 needs to perform N self-cleaning operations. If the current cleaning area of ​​the cleaning robot 100 does not include any of these areas, then the cleaning robot 100 needs to perform M self-cleaning operations; N > M. That is, the number of cleaning operations performed when the current cleaning area of ​​the cleaning robot 100 includes at least one of these areas is greater than the number of cleaning operations performed when the current cleaning area does not include any of these areas.

[0048] For example, when the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping-and-mopping cleaning area, the cleaning robot 100 needs to perform 10 self-cleaning cycles. When the current cleaning area of ​​the cleaning robot 100 does not include any of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, or sweeping-and-mopping cleaning area, the cleaning robot 100 needs to perform 2 self-cleaning cycles.

[0049] It is evident that regardless of whether the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, or area with simultaneous sweeping and mopping, the cleaning robot 100 must perform self-cleaning before returning to the base station. The difference lies in the number of times self-cleaning is performed. It should be noted that the self-cleaning performed by the cleaning robot 100 before returning to the base station includes the self-cleaning of at least one of the moving component 120 and the cleaning component 130.

[0050] In some embodiments, M can be 0. When M is 0, it indicates that the cleaning robot 100 needs to perform 0 self-cleaning operations before returning to the base station. 0 self-cleaning operations are different from no self-cleaning. 0 self-cleaning operations mean that when the cleaning robot 100 moves to the position of the cleaning component 140, it pauses briefly before returning to the base station. No self-cleaning means that the cleaning robot 100 returns directly to the base station without passing the cleaning component 140 or without stopping when passing it.

[0051] For example, when the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping-and-mopping cleaning area, the cleaning robot 100 needs to perform 5 self-cleaning cycles. When the current cleaning area of ​​the cleaning robot 100 does not include any of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, or sweeping-and-mopping cleaning area, the cleaning robot 100 needs to perform 0 self-cleaning cycles.

[0052] In some embodiments, the mobile component 120 is configured to perform self-cleaning via a cleaning element 140 connected to one end of the base station. Controlling the cleaning robot 100 to perform a self-cleaning task includes: After the cleaning robot 100 moves to the vicinity of the cleaning component 140, it performs a self-cleaning task.

[0053] It is understandable that the moving component 120 achieves self-cleaning through the cleaning component 140. During the self-cleaning task, the controller controls the cleaning robot 100 to move to the vicinity of the cleaning component 140 and then perform the self-cleaning task.

[0054] In some embodiments, the cleaning component 140 includes a roller table. The roller table may have a cleaning roller 141, such that one side of the cleaning component 130 is attached to the outer peripheral surface of the cleaning roller 141, so that the cleaning component 140 can clean the cleaning component 130. The roller table may have two cleaning rollers 141, which are spaced apart, such that opposite sides of the cleaning component 130 are respectively attached to the outer peripheral surfaces of the two cleaning rollers 141, so that the cleaning component 140 can clean the cleaning component 130.

[0055] In some embodiments, the cleaning roller 141 is circular, and the diameter of the roller table can be reasonably selected based on different models of cleaning robots 100 or self-cleaning requirements. When the roller table has two cleaning rollers 141, the diameters of the two cleaning rollers 141 may be the same or different. For example, the diameter of the cleaning roller 141 closer to the base station is larger than the diameter of the cleaning roller 141 farther from the base station. Alternatively, the diameter of the cleaning roller 141 closer to the base station is smaller than the diameter of the cleaning roller 141 farther from the base station.

[0056] In some embodiments, the cleaning component 140 includes a brush head. The brush head can rotate and its bristles sweep away dirt adhering to the moving component 120.

[0057] In some embodiments, the base station is connected to a guide plate, and the cleaning component 140 is connected to the end of the guide plate away from the base station. This allows the cleaning robot 100 to perform self-cleaning before entering the guide plate, preventing dirt from falling onto the guide plate during the robot's return to the base station.

[0058] like Figure 5 As shown, in some embodiments, the cleaning component 140 is used to clean the moving component 120, including: S510, control the moving component 120 to contact the cleaning component 140, and fix the position of the cleaning robot 100 relative to the cleaning component 140.

[0059] S520, control the relative movement of the moving component 120 and the cleaning component 140 so that the dirt attached to the moving component 120 falls into the collection area.

[0060] Understandably, after the moving component 120 contacts the cleaning component 140, it fixes the relative positions of the cleaning robot 100 and the cleaning component 140 to prevent relative movement between them during the self-cleaning process. At this time, the moving component 120 and the cleaning component 140 are controlled to move relative to each other, so that the dirt attached to the moving component 120 falls into the collection area, thereby completing the self-cleaning of the moving component 120.

[0061] In some embodiments, the moving component 120 includes at least one of a drive wheel 121, a caster wheel 122, and a guide wheel.

[0062] When the moving component 120 is the drive wheel 121, the relative movement between the moving component 120 and the cleaning component 140 can be achieved by rotating the drive wheel 121 and keeping the cleaning component 140 fixed, thereby causing the dirt attached to the drive wheel 121 to fall into the collection area.

[0063] When the moving component 120 is a caster wheel 122 or a guide wheel, the relative movement between the moving component 120 and the cleaning component 140 can be achieved by rotating the cleaning component 140 and keeping the caster wheel 122 or the guide wheel fixed, thereby dropping the dirt attached to the caster wheel 122 or the guide wheel into the collection area.

[0064] In some embodiments, a resistance mechanism can be used to fix the position of the cleaning robot 100, thereby fixing the relative positions of the cleaning robot 100 and the cleaning component 140 and preventing relative movement between them during the self-cleaning process. The resistance mechanism includes a driving part and a locking part. The driving part can drive the locking part to actuate, causing the locking part to abut against the body 110, thus locking the position of the body 110 and fixing the relative positions of the cleaning robot 100 and the cleaning component 140.

[0065] In some embodiments, prior to the step of controlling the moving component 120 to contact the cleaning component 140 and fixing the position of the cleaning robot 100 relative to the cleaning component 140, the method further includes: Based on the shape of the cleaning component 140, the movement pattern of the cleaning robot 100 is determined so that the moving component 120 contacts the cleaning component 140.

[0066] It is understandable that the shape of the cleaning component 140 may vary depending on the model of the cleaning robot 100 or different self-cleaning requirements. Based on the shape of the cleaning component 140, the movement pattern of the cleaning robot 100 is determined to ensure that the moving component 120 can contact the cleaning component 140.

[0067] For example, when the cleaning component 140 is a roller table, the controller controls the cleaning robot 100 to switch to obstacle-crossing mode. In obstacle-crossing mode, the cleaning robot 100 moves towards the cleaning roller 141 so that after part of the cleaning robot 100 crosses the cleaning roller 141, the drive wheel 121 contacts the cleaning roller 141. In obstacle-crossing mode, one end of the body 110 is raised while the other end moves along the ground.

[0068] Understandably, based on the obstacle-crossing mode, the cleaning robot 100 is able to cross the cleaning roller 141, preventing the cleaning roller 141 from affecting the cleaning robot 100's return to the base station, and achieving self-cleaning of the drive wheel 121.

[0069] For example, when the cleaning component 140 is a roller table, the controller controls the cleaning robot 100 to switch to a horizontal movement mode. In the horizontal movement mode, the cleaning robot 100 moves towards the cleaning rollers 141 so that the cleaning robot 100 can contact both cleaning rollers 141 and the drive wheels 121 can contact both cleaning rollers 141. In the horizontal movement mode, the height of the body 110 at both ends is flush.

[0070] like Figure 6 As shown, in some embodiments, the moving component 120 includes at least two drive wheels 121. After the step of controlling the moving component 120 to contact the cleaning component 140 and fixing the position of the cleaning robot 100 relative to the cleaning component 140, the method further includes: S610: Based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot 100 and the walking path of each drive wheel 121, determine the degree of dirtiness of each drive wheel 121.

[0071] S620: Control the rotational speed of each drive wheel 121 based on the degree of dirtiness of each drive wheel 121.

[0072] The rotational speed of the drive wheel 121 is positively correlated with the degree of dirtiness of the drive wheel 121.

[0073] It is understandable that when the moving component 120 includes at least two drive wheels 121, the degree of dirtiness of the at least two drive wheels 121 may differ based on the current cleaning area and the walking path of the cleaning robot 100. In this case, the degree of dirtiness of each drive wheel 121 can be determined based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot 100 and the walking path of each drive wheel 121. Therefore, the rotational speed of each drive wheel 121 can be controlled according to its degree of dirtiness, so that each drive wheel 121 can achieve sufficient self-cleaning, avoiding over-cleaning or under-cleaning of the drive wheels 121.

[0074] The rotational speed of the drive wheel 121 is positively correlated with the degree of dirt on the drive wheel 121; that is, the more dirt on the drive wheel 121, the faster its rotational speed; the less dirt on the drive wheel 121, the slower its rotational speed. Within the same cleaning time, a faster rotational speed of the drive wheel 121 allows for more self-cleaning cycles.

[0075] For example, the moving component 120 includes two drive wheels 121, a left wheel and a right wheel. Based on the level of dirt in the current cleaning area of ​​the cleaning robot 100 and the respective movement paths of the left and right wheels, it is determined that the left wheel is at level two dirt level and the right wheel is at level three dirt level. At this time, the left wheel can be controlled to rotate at a speed of 200 revolutions per minute and perform self-cleaning; the right wheel can be controlled to rotate at a speed of 300 revolutions per minute and perform self-cleaning.

[0076] like Figure 7 As shown, in some embodiments, based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot 100 and the walking path of each drive wheel 121, the degree of dirtiness of each drive wheel 121 is determined, and the rotational speed of each drive wheel 121 is controlled based on the degree of dirtiness of each drive wheel 121, including: S710. Based on the fact that the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, and the walking path of the drive wheel 121 covers at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel 121 is determined to be level P.

[0077] S720. Based on the degree of dirtiness of the drive wheel 121 being P level, it is determined that the drive wheel 121 rotates at a speed of X revolutions per minute.

[0078] Or, such as Figure 8 As shown, in some embodiments, based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot 100 and the walking path of each drive wheel 121, the degree of dirtiness of each drive wheel 121 is determined, and the rotational speed of each drive wheel 121 is controlled based on the degree of dirtiness of each drive wheel 121, including: S810, based on the fact that the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, but the walking path of the drive wheel 121 does not cover the heavily soiled area, large particle area, hairy area, full-area cleaning area, or sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel 121 is determined to be level Q.

[0079] S820. Based on the degree of dirtiness of the drive wheel 121 being Q level, it is determined that the drive wheel 121 rotates at a speed of Y revolutions per minute.

[0080] Or, such as Figure 9 As shown, in some embodiments, based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot 100 and the walking path of each drive wheel 121, the degree of dirtiness of each drive wheel 121 is determined, and the rotational speed of each drive wheel 121 is controlled based on the degree of dirtiness of each drive wheel 121, including: S910, based on the fact that the current cleaning area of ​​the cleaning robot 100 does not have heavily soiled areas, large particle areas, areas with a lot of hair, areas for full-area cleaning, or areas for cleaning while sweeping and mopping, the degree of dirtiness of the drive wheel 121 is determined to be level S.

[0081] S920. Based on the degree of dirtiness of the drive wheel 121 being S level, it is determined that the drive wheel 121 rotates at a speed of Z revolutions per minute.

[0082] Among them, P > Q > S, X > Y > Z.

[0083] Understandably, the degree of dirtiness of the drive wheel 121 is determined based on whether the current cleaning area of ​​the cleaning robot 100 includes heavily soiled areas, areas with large particles, areas with a lot of hair, areas requiring full-area cleaning, and areas requiring simultaneous sweeping and mopping, as well as whether the walking path of the drive wheel 121 covers these areas. This, in turn, determines the rotational speed of the drive wheel 121. Thus, the rotational speed of the drive wheel 121 is determined based on different current cleaning areas and different walking paths of the drive wheel 121.

[0084] For example, based on the fact that the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, and the walking path of the drive wheel 121 covers at least one of these areas, the degree of dirtiness of the drive wheel 121 is determined to be level 3. Based on the degree of dirtiness of the drive wheel 121 being level 3, the drive wheel 121 is determined to rotate at a speed of 3000 rpm.

[0085] For example, based on the fact that the current cleaning area of ​​the cleaning robot 100 includes at least one of the following areas: heavily soiled area, large particle area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, but the walking path of the drive wheel 121 does not cover the heavily soiled area, large particle area, hairy area, full-area cleaning area, or sweeping and mopping cleaning area, the dirt level of the drive wheel 121 is determined to be level 2. Based on the dirt level of the drive wheel 121 being level 2, the drive wheel 121 is determined to rotate at a speed of 2000 rpm.

[0086] For example, based on the fact that the current cleaning area of ​​the cleaning robot 100 does not have heavily soiled areas, large particle areas, areas with a lot of hair, areas for full-area cleaning, or areas for cleaning while sweeping and mopping, the dirt level of the drive wheel 121 is determined to be level 1; based on the dirt level of the drive wheel 121 being level 1, the drive wheel 121 is determined to rotate at a speed of 1000 rpm.

[0087] In some embodiments, the cleaning robot 100 further includes a cleaning component 130 connected to the body 110, and the self-cleaning task also includes a self-cleaning task of the cleaning component 130.

[0088] Understandably, the cleaning robot 100 can also perform self-cleaning of the cleaning component 130 before returning to the base station, so as to keep the cleaning component 130 in a clean state and prevent the cleaning component 130 from falling dirt onto the guide plate.

[0089] It should be noted that the self-cleaning of the cleaning component 130 can be a relatively preliminary self-cleaning, which is sufficient to prevent dirt from falling onto the guide plate during the process of the cleaning robot 100 returning to the base station.

[0090] In some embodiments, the cleaning component 130 includes a fan, a side brush 131, a roller brush 132, and a mop 133.

[0091] The self-cleaning task of the cleaning component 130 includes: turning on the fan to draw dirt from the cleaning duct into the dust box. The controller can control the fan's power / level based on the current cleaning area. For example, the fan has three operating levels. In response to a cleaning area of ​​10 square meters, the controller controls the fan to operate at level 2 to draw dirt from the cleaning duct into the dust box. In response to a cleaning area of ​​30 square meters, the controller controls the fan to operate at level 3 to draw dirt from the cleaning duct into the dust box.

[0092] The self-cleaning task of the cleaning component 130 also includes: the controller controlling the side brush 131 to rotate in order to remove dirt from the side brush 131. For example, the controller controls the side brush 131 to alternately rotate forward and reverse in order to remove hair, pet hair, etc. tangled on the side brush 131.

[0093] The self-cleaning task of the cleaning component 130 also includes controlling the rotation of the roller brush 132 to remove dirt entangled on the roller brush 132. For example, the controller controls the roller brush 132 to alternately rotate forward and reverse to remove hair, pet hair, food residue, etc. entangled on the roller brush 132.

[0094] The self-cleaning task of the cleaning component 130 also includes controlling the mop 133 to perform self-cleaning. For example, the controller controls the water tank to deliver cleaning water to the mop 133 for self-cleaning. It should be noted that although the mop 133 has already performed self-cleaning before the cleaning robot 100 returns to the base station, the cleaning robot 100 still needs to further clean the mop 133 within the base station after returning to ensure the cleanliness of the mop 133 and prevent insufficient cleaning from affecting the subsequent mopping effect.

[0095] Among them, the mop 133 includes round mops, triangular mops, roller mops, etc.

[0096] In some embodiments, the completion of the self-cleaning task by the cleaning robot 100 can be confirmed by any of the following methods: 1. The cleaning component 130 and / or the moving component 120 completes a preset number of cleaning cycles; 2. The cleaning component 130 and / or the moving component 120 completes a preset cleaning duration; 3. The cleaning component 130 cleans the dirt that has fallen into the collection area.

[0097] When the cleaning component 130 or the moving component 120 performs its respective self-cleaning task, it needs to meet a preset number of cleaning cycles or a preset cleaning duration. Once the preset number of cleaning cycles or the preset cleaning duration are reached, the cleaning robot 100 can be considered to have completed its self-cleaning task. That is, the criterion for determining the completion of the self-cleaning task is that the cleaning component 130 and / or the moving component 120 have completed their respective self-cleaning tasks, and there is no need to perform secondary cleaning on the dirt generated during the self-cleaning process.

[0098] For example, after the side brush 131 of the cleaning component 130 alternately performs 20 forward and reverse rotations, it is determined that the side brush 131 of the cleaning component 130 has completed the self-cleaning task.

[0099] For example, after the drive wheel 121 of the moving component 120 rotates for 2 minutes, it is determined that the drive wheel 121 of the moving component 120 has completed the self-cleaning task.

[0100] Another criterion for judging the completion of the self-cleaning task is when the cleaning component 130 cleans the dirt that has fallen into the collection area. At this time, after the cleaning component 130 and / or the moving component 120 have completed the preset number of cleaning times or the preset cleaning time, the cleaning robot 100 uses its own cleaning component 130 to clean the dirt that has fallen into the collection area, so as to avoid the dirt generated during the self-cleaning process from being re-attached to the moving component 120, which would cause the dirt to adhere to the guide plate when the cleaning robot 100 returns to the base station, making it difficult to clean.

[0101] In some embodiments, the cleaning component 130 cleans dirt that has fallen into the collection area, including: Obtain information on the level of dirt and grime in the collection area.

[0102] Based on the level of dirt in the collection area, the cleaning robot 100 is controlled to move to the corresponding position and clean the dirt in the collection area.

[0103] During the self-cleaning process of the cleaning component 130 or the moving component 120, the dirt attached to each component will fall into the collection area. Since the specific location where the dirt falls may vary, it is necessary to first identify the dirt condition of the collection area. After obtaining the dirt condition of the collection area, the cleaning robot 100 is controlled to move to the corresponding position to complete the cleaning.

[0104] The system can obtain information about the level of dirt in the collection area through a visual recognition mechanism. This visual recognition mechanism includes cameras located at the front, rear, and sides of the device 110, or a camera located at the bottom of the device 110.

[0105] In some embodiments, prior to the step of obtaining the dirt status of the collection area, the cleaning robot 100 may be driven by the moving component 120 to move away from the base station, so that the cleaning robot 100 is away from the collection area, thereby facilitating the identification of image information of the collection area using a visual recognition structure, so as to obtain the dirt status of the collection area.

[0106] In some embodiments, the returned base station trigger command includes: The cleaning robot 100 needs a trigger command to temporarily return to the base station during its cleaning task, or the cleaning robot 100 needs a trigger command to return to the base station after completing its cleaning task.

[0107] Understandably, after completing its cleaning task, the cleaning robot 100 needs to return to the base station for charging and self-cleaning of the cleaning component 130. Therefore, after completing its cleaning task, the cleaning robot 100 will receive a trigger command to return to the base station. Alternatively, when the cleaning robot 100 is in the middle of its cleaning task, it may need to temporarily return to the base station, in which case the cleaning robot 100 will also receive a trigger command from the base station.

[0108] It should be noted that the trigger commands for the cleaning robot 100 to temporarily return to the base station include: the trigger command for the cleaning robot 100 to return to the base station to recharge when its battery is low; the trigger command for the cleaning robot 100 to return to the base station to recharge when it switches cleaning tasks; the trigger command for the cleaning robot 100 to return to the base station when the water level in its built-in clean water tank is low; the trigger command for the cleaning robot 100 to return to the base station when its built-in wastewater tank is full; and the trigger command for the cleaning robot 100 to automatically return to the base station after a preset time period of cleaning abnormality.

[0109] The trigger command for the cleaning robot 100 to return to the base station for charging when its battery is low can be based on a battery threshold. For example, the battery threshold can be set to 10%. In this case, when the cleaning robot 100 is performing a cleaning task, if its current battery level is less than or equal to 10% of its total battery level, the controller will control the movement component 120 to move, causing the cleaning robot 100 to return to the base station. In some embodiments, the battery threshold can also be set to 20%, 30%, etc., and can be reasonably set based on the travel distance corresponding to the battery level, to ensure that the cleaning robot 100 can return to the base station when its current battery level corresponds to the threshold.

[0110] The trigger commands for the cleaning robot 100 to switch cleaning tasks and return to the base station for charging include: the trigger command for the cleaning robot 100 to switch from sweeping tasks to mopping tasks, the trigger command for the cleaning robot 100 to switch from mopping tasks to sweeping tasks, and the trigger command for the cleaning robot 100 to switch from mopping tasks to the task of cleaning the mop 133.

[0111] The trigger command for the cleaning robot 100 to return to the base station when the water level in its built-in water tank is insufficient can be based on a water level threshold in the tank. For example, the water level threshold can be set to 10%. In this case, when the cleaning robot 100 is performing a cleaning task, if the current water level in the tank is less than or equal to 10% of the total water level, the controller will control the movement component 120 to move, causing the cleaning robot 100 to return to the base station. In some embodiments, the water level threshold can also be set to 0%, 5%, 20%, 30%, etc.

[0112] The trigger command for the cleaning robot 100 to return to the base station when its built-in sewage tank is full can be based on a sewage level threshold in the tank. For example, the sewage level threshold can be set to 90%. In this case, when the cleaning robot 100 is performing a cleaning task, if the current sewage level in the tank is greater than or equal to 90% of the total sewage level, the controller will control the movement component 120 to move, causing the cleaning robot 100 to return to the base station. In some embodiments, the clean water level threshold can also be set to 95%, 100%, etc.

[0113] The trigger command for the cleaning robot 100 to automatically return to the base station after a preset time period due to cleaning malfunctions includes situations such as the cleaning robot 100 being trapped between multiple obstacles, for example, being trapped between multiple table legs, and returning to the base station. It also includes situations where the cleaning robot 100 is stuck on a step surface, for example, one end of the cleaning robot 100 is on the first step surface and the other end is on the second step surface, causing part of the moving component 120 to be suspended in mid-air. It also includes situations where the moving component 120 of the cleaning robot 100 is entangled in a floor mat, causing part of the moving component 120 to be stuck. It should be noted that after the preset time period, the cleaning robot 100 can be freed by reversing its movement along a track.

[0114] According to the second aspect of this disclosure, such as Figure 10 and Figure 11 As shown, a cleaning robot 100 is provided, comprising a body 110, a moving component 120, a cleaning component 130, and a controller. The moving component 120 is connected to the body 110 and is used to drive the body 110 to move. The cleaning component 130 is connected to the body 110 and is used to clean the surface to be cleaned. The controller is connected to the body 110 and is used to execute the steps of the self-cleaning method as described in the foregoing embodiments. This cleaning robot 100 has all the beneficial effects of the above-described self-cleaning method, which will not be repeated here.

[0115] In some embodiments, the moving component 120 is connected to the lower end of the body 110 to enable the moving component 120 to drive the body 110 to move. The cleaning component 130 is connected to the lower end of the body 110 to enable the cleaning component 130 to clean the surface to be cleaned. A controller is built into the body 110. The controller is used to perform the steps of the self-cleaning method in the foregoing embodiments to enable the cleaning robot 100 to perform self-cleaning before returning to the base station, thereby preventing dirt adhering to the moving component 120 and / or the cleaning component 130 of the cleaning robot 100 from adhering to the guide plate.

[0116] According to a third aspect of this disclosure, a cleaning system is provided, comprising a base station, a cleaning component 140, and the aforementioned cleaning robot 100. The base station is connected to a guide plate, and the cleaning component 140 is connected to the end of the guide plate away from the base station. The cleaning component 140 is used to self-clean the cleaning robot 100. This cleaning system has all the beneficial effects of the aforementioned cleaning robot 100, which will not be elaborated further in this disclosure.

[0117] It is understood that the cleaning component 140 is positioned at the end of the guide plate away from the base station, and the cleaning component 140 is used to perform self-cleaning on the cleaning robot 100, so that the cleaning robot 100 cleans the dirt attached to the moving component 120 and / or the cleaning component 130 before returning to the base station, thereby preventing the dirt attached to the moving component 120 and / or the cleaning component 130 of the cleaning robot 100 from adhering to the guide plate.

[0118] In some embodiments, the upper surface of the guide plate is set as an inclined surface, and baffles are provided on opposite sides of the guide plate to restrict the direction in which the cleaning robot 100 returns to the base station.

[0119] In some embodiments, a drive mechanism may be connected to the guide plate, which can drive the cleaning component 140 to move, thereby changing the position of the cleaning component 140. Exemplarily, the cleaning component 140 has a first position and a second position. When the cleaning component 140 is in the first position, it can perform self-cleaning on the moving component 120 of the cleaning robot 100. When the cleaning component 140 is in the second position, it can avoid the path of the cleaning robot 100 directly returning to the base station, thus preventing the cleaning component 140 from interfering with the cleaning robot 100's return to the base station.

[0120] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores a computer program, which, when executed by a computer's processor, causes the computer to perform the steps of the self-cleaning method as described in the foregoing embodiments. This computer-readable storage medium possesses all the beneficial effects of the aforementioned self-cleaning method, which will not be elaborated further herein.

[0121] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0122] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0123] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0124] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A self-cleaning method, characterized in that, A controller for a cleaning robot (100), the cleaning robot (100) including a body (110) and a moving component (120) connected to the body (110), the moving component (120) being configured to drive the body (110) to move, the method comprising: In response to the return to base station trigger command, the status of the cleaning robot (100) is checked, and it is determined whether the check result meets the preset conditions; Based on the test results meeting the preset conditions, the cleaning robot (100) is controlled to perform a self-cleaning task; the self-cleaning task includes the self-cleaning task of the moving component (120); In response to the completion of the self-cleaning task, the cleaning robot (100) is controlled to return to the base station; The base station is connected to a guide plate, and the moving component (120) is configured to perform self-cleaning via a cleaning component (140), which is connected to the end of the guide plate away from the base station. Controlling the cleaning robot (100) to perform a self-cleaning task includes: After the cleaning robot (100) is moved to the vicinity of the cleaning component (140), it performs the self-cleaning task.

2. The self-cleaning method according to claim 1, characterized in that, The step of checking the status of the cleaning robot (100) and determining whether the check result meets the preset conditions includes: Inspect the current cleaning area of ​​the cleaning robot (100); If the current cleaning area is one of the following: heavily soiled area, large particulate area, hairy area, full-area cleaning area, or area cleaned by sweeping and mopping, then the test result is determined to meet the preset conditions.

3. The self-cleaning method according to claim 1, characterized in that, The control of the cleaning robot (100) to perform the self-cleaning task includes: Determine the required degree of self-cleaning for the cleaning robot (100); The cleaning robot (100) is controlled to perform a self-cleaning task at a corresponding degree of self-cleaning.

4. The self-cleaning method according to claim 3, characterized in that, Determining the self-cleaning degree of the cleaning robot (100) includes: Based on the fact that the current cleaning area of ​​the cleaning robot (100) includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, it is determined that the cleaning robot (100) needs to perform N self-cleaning cycles. Based on the fact that the current cleaning area of ​​the cleaning robot (100) does not have heavily soiled areas, large particulate areas, hairy areas, full-area cleaning areas, or sweeping and mopping cleaning areas, it is determined that the cleaning robot (100) needs to perform M self-cleaning operations. Where N and M are both natural numbers, and N > M.

5. The self-cleaning method according to claim 1, characterized in that, Cleaning the moving assembly (120) using the cleaning component (140) includes: The moving component (120) is controlled to contact the cleaning component (140), and the position of the cleaning robot (100) relative to the cleaning component (140) is fixed. The moving component (120) is controlled to move relative to the cleaning component (140) so that dirt attached to the moving component (120) falls into the collection area.

6. The self-cleaning method according to claim 5, characterized in that, Before the step of controlling the moving component (120) to contact the cleaning component (140) and fixing the position of the cleaning robot (100) relative to the cleaning component (140), the method further includes: Based on the shape of the cleaning component (140), the movement pattern of the cleaning robot (100) is determined so that the moving component (120) contacts the cleaning component (140).

7. The self-cleaning method according to claim 5, characterized in that, The moving component (120) includes at least two drive wheels (121). After the step of controlling the moving component (120) to contact the cleaning component (140) and fixing the position of the cleaning robot (100) relative to the cleaning component (140), the method further includes: The degree of dirtiness of each drive wheel (121) is determined based on the degree of dirtiness of the current cleaning area of ​​the cleaning robot (100) and the walking path of each drive wheel (121). The rotational speed of each drive wheel (121) is controlled based on the degree of dirtiness of each drive wheel (121); The rotational speed of the drive wheel (121) is positively correlated with the degree of dirtiness of the drive wheel (121).

8. The self-cleaning method according to claim 7, characterized in that, The determination of the degree of dirtiness of each drive wheel (121) based on the current cleaning area of ​​the cleaning robot (100) and the walking path of each drive wheel (121), and the control of the rotational speed of each drive wheel (121) based on the degree of dirtiness of each drive wheel (121), includes: Based on the fact that the current cleaning area of ​​the cleaning robot (100) includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, and the walking path of the drive wheel (121) covers at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel (121) is determined to be level P. Based on the degree of dirtiness of the drive wheel (121) being P level, it is determined that the drive wheel (121) rotates at a speed of X revolutions per minute; Alternatively, based on the fact that the current cleaning area of ​​the cleaning robot (100) includes at least one of the following areas: heavily soiled area, large particulate area, hairy area, full-area cleaning area, and sweeping and mopping cleaning area, but the walking path of the drive wheel (121) does not cover the heavily soiled area, large particulate area, hairy area, full-area cleaning area, or sweeping and mopping cleaning area, the degree of dirtiness of the drive wheel (121) is determined to be level Q. Based on the degree of dirtiness of the drive wheel (121) being Q level, it is determined that the drive wheel (121) rotates at a speed of Y revolutions per minute; Alternatively, based on the fact that the current cleaning area of ​​the cleaning robot (100) does not have heavily soiled areas, large particle areas, hairy areas, full-area cleaning areas, or sweeping and mopping cleaning areas, the degree of dirtiness of the drive wheel (121) is determined to be level S. Based on the degree of dirtiness of the drive wheel (121) being S level, it is determined that the drive wheel (121) rotates at a speed of Z revolutions per minute; Among them, P > Q > S, X > Y > Z.

9. The self-cleaning method according to claim 1, characterized in that, The cleaning robot (100) also includes a cleaning component (130) connected to the body (110), and the self-cleaning task also includes a self-cleaning task of the cleaning component (130).

10. The self-cleaning method according to any one of claims 1 to 9, characterized in that, The return-to-base-base-trigger instruction includes: The cleaning robot (100) may be triggered to temporarily return to the base station during its cleaning task, or the cleaning robot (100) may be triggered to return to the base station after completing its cleaning task.

11. A cleaning robot (100), characterized in that, include: Fuselage (110); A moving component (120) is connected to the body (110) and is used to drive the body (110) to move; A cleaning component (130), connected to the body (110), is used to clean the surface to be cleaned; A controller, connected to the body (110), is used to perform the steps of the self-cleaning method as described in any one of claims 1 to 10.

12. A cleaning system, characterized in that, include: The cleaning robot (100) as described in claim 11; The base station is connected to a guide plate; A cleaning component (140) is connected to the end of the guide plate away from the base station, and the cleaning component (140) is used to perform self-cleaning on the cleaning robot (100).

13. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the steps of the self-cleaning method as described in any one of claims 1 to 10.

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