Control method and apparatus for cleaning robot, and cleaning robot

Abstract

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

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202610237394.5 (22) Application Date 2026.02.28 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Du Shuai, Xiong Chenggang, Chai Yishi, Jia Guangqi (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Tian Jing (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) (54) Invention Title: Control Method, Device, and Cleaning Robot for Cleaning Robot (57) Abstract: This application provides a control method, device, and cleaning robot for a cleaning robot, relating to the field of cleaning equipment technology. The mop of the cleaning robot has a first position, a second position, and a third position. The first and second positions are the two endpoints of the mop for a first reciprocating movement. The third position is the maximum limit position at which the mop can extend radially relative to the body when performing cleaning. The distance between the first and second positions is less than the distance between the first and third positions. During the cleaning process of the cleaning robot, if a heavily soiled area is detected, the cleaning robot is controlled to perform edge detection on the heavily soiled area according to the edge cleaning path. If it is determined that the dirt in the heavily soiled area is non-flowing dirt, the mop is controlled to perform a first reciprocating movement between the first and second positions to perform friction cleaning on the heavily soiled area, thereby improving cleaning efficiency while effectively preventing the spread of stains and reducing resource consumption. Claims 2 pages, Description 33 pages, Drawings 5 ​​pages, CN 121730690 A 2026.03.27 CN 1 21 73 06 90 A 1. A control method for a cleaning robot, characterized in that the cleaning robot includes a mop assembly, the mop assembly includes a mop, the mop has a first position, a second position and a third position, the first position and the second position are two endpoint positions of the mop during a first reciprocating movement, the third position is the maximum radially extendable position of the mop relative to the body of the cleaning robot when performing cleaning, and the distance between the first position and the second position is less than the distance between the first position and the third position; the method includes: during the cleaning process of the cleaning robot cleaning an area to be cleaned, if a heavily soiled area is detected, then controlling the cleaning robot to perform edge detection on the heavily soiled area according to an edge cleaning path;1. If the dirt in the heavily soiled area is detected to be non-flowing dynamic dirt, the mop is controlled to move back and forth between a first position and a second position to perform friction cleaning on at least a portion of the heavily soiled area. 2. The method according to claim 1, further comprising: if the dirt in the heavily soiled area is detected to be flowing dynamic dirt, controlling the cleaning robot to clean other areas within the area to be cleaned, excluding the heavily soiled area; after a first time duration or a first distance, controlling the cleaning robot to return to the heavily soiled area for friction cleaning, or, again controlling the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dynamic dirt. 3. The method according to claim 1, characterized in that the method further comprises: when it is detected that the dirt in the heavily soiled area is dynamic dirt, controlling the cleaning robot to be in a stopped state; after a second time period, controlling the cleaning robot to perform friction cleaning on the heavily soiled area, or, controlling the cleaning robot again to perform edge detection on the heavily soiled area according to the edge cleaning path, to determine whether the dirt in the heavily soiled area is non-dynamic dirt. 4. The method according to claim 1, characterized in that detecting that the dirt in the heavily soiled area is non-dynamic dirt includes: analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection to determine that non-dynamic dirt exists in the heavily soiled area. 5. The method according to claim 1, wherein the mop further comprises a fourth position, the distance between the first position and the fourth position being less than the distance between the first position and the third position; the method further comprises: when it is detected that the dirt in the heavily soiled area is non-flowing dynamic dirt and the position and / or size of the heavily soiled area meets a target preset condition, controlling the mop to perform a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least a portion of the heavily soiled area; the third position and the fourth position are two endpoint positions of the mop during the second reciprocating movement. 6. The method according to claim 1, wherein the mop assembly further comprises a rotation drive for driving the mop to rotate, and controlling the mop to perform a first reciprocating movement between the first position and the second position comprises: during the process of controlling the mop to perform a first reciprocating movement between the first position and the second position, controlling the rotation drive to drive the mop to rotate. 7. The method according to claim 1, wherein the cleaning robot further comprises a spraying device, and the method further comprises: upon detecting that the dirt in the heavily soiled area is non-flowing dynamic dirt, and before cleaning the heavily soiled area, controlling the spraying device... (The rest of the text appears to be a separate, unrelated section about a cleaning robot and a claim.)121730690 A The spraying device is controlled to be in the open state to spray the target fluid onto the heavily soiled area. 8. The method according to claim 7, wherein the spraying device is used to spray a hot fluid; controlling the spraying device to be in the open state to spray the target fluid onto the heavily soiled area includes: after controlling the spraying device to be in the open state, controlling the cleaning robot to be in a stopped state; after a third time period, controlling the spraying device to spray the hot fluid onto the heavily soiled area. 9. The method according to claim 7, wherein the method further includes: after spraying the target fluid onto the heavily soiled area, controlling the cleaning robot to be in a stopped state; after a fourth time period, controlling the cleaning robot to return to the heavily soiled area for friction cleaning. 10. The method according to claim 7, characterized in that the method further comprises: after spraying the target fluid into the heavily polluted area, controlling the cleaning robot again to perform edge detection on the heavily polluted area according to the edge cleaning path; after performing edge detection on the heavily polluted area, controlling the cleaning robot to travel to the target position, and at the target position, controlling the cleaning robot to enter the heavily polluted area to perform friction cleaning. 11. A control device for a cleaning robot, characterized in that the cleaning robot includes a mop assembly, the mop assembly includes a mop, the mop has a first position, a second position, and a third position, the first position and the second position are two endpoint positions of the mop during a first reciprocating movement, the third position is the maximum radially extendable position of the mop relative to the body of the cleaning robot during cleaning, and the distance between the first position and the second position is less than the distance between the first position and the third position; the device includes: a first control module, configured to, during the cleaning process of the cleaning robot cleaning an area to be cleaned, detect the presence of a heavily soiled area and control the cleaning robot to perform edge detection of the heavily soiled area according to an edge cleaning path; a second control module, configured to, when detecting that the dirt in the heavily soiled area is non-flowing dynamic dirt, control the mop to perform a first reciprocating movement between the first position and the second position to perform friction cleaning on at least a portion of the heavily soiled area. 12. A cleaning robot, characterized in that the cleaning robot includes a mop assembly, the mop assembly includes a mop, the mop having a first position, a second position and a third position, the first position and the second position being two endpoint positions of the mop during a first reciprocating movement, the third position being the maximum radially extendable position of the mop relative to the body of the cleaning robot when performing cleaning, and the distance between the first position and the second position being less than the distance between the first position and the third position;The cleaning robot is used to perform the method as described in any one of claims 1-10. Claims 2 / 2 Page 3 CN 121730690 A Control method, apparatus and cleaning robot of cleaning robot Technical field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, apparatus and cleaning robot of cleaning robot. Background Art

[0002] With the popularization of smart homes, sweeping robots have become an important tool for household cleaning. However, when faced with heavily soiled areas common in daily life, such as beverage stains and oil stains, the cleaning ability of existing robots is still insufficient.

[0003] In the prior art, for heavily soiled areas, sweeping robots usually clean by multiple, intensive back-and-forth cleaning or by increasing the downward pressure and water output of the mop.

[0004] However, the above methods are not only inefficient, but also, when using intensive back-and-forth cleaning or increased downward pressure and water output for liquid stains, it is easy to cause the stains to be pushed and spread, which will expand the pollution area and cause unnecessary waste of water resources and mop.

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

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

[0007] During the cleaning process of the cleaning robot cleaning an area to be cleaned, if a heavily soiled area is detected, the cleaning robot is controlled to perform edge detection on the heavily soiled area according to an edge cleaning path;

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

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

[0010] Furthermore, this application, through its control logic of first detecting heavily soiled areas along the edge, determining the type of dirt in the heavily soiled areas, and executing targeted cleaning modes, can automatically select differentiated cleaning modes based on the type of dirt (dynamic or non-dynamic). In particular, for non-dynamic dirt, a targeted mechanical friction method is used to achieve adaptive cleaning of stain characteristics. This improves the cleaning efficiency of heavily soiled areas while avoiding stain diffusion and resource waste, achieving a more efficient, precise, and energy-saving cleaning effect.

[0011] Optionally, the method further includes:

[0012] When it is detected that the dirt in the heavily soiled area is dynamic, the cleaning robot is controlled to clean other areas in the area to be cleaned, excluding the heavily soiled area;

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

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

[0015] Furthermore, this application also sets a strategy of re-detection after returning to heavily soiled areas, enabling the cleaning robot to...The cleaning strategy can be dynamically adjusted according to the actual changes in dirt, enhancing the adaptability to complex stain scenarios and the reliability of cleaning effect.

[0016] Optionally, the method further includes:

[0017] When it is detected that the dirt in the heavily soiled area is dynamic dirt, the cleaning robot is controlled to be in a stopped state;

[0018] After a second period of time, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again to perform edge detection on the heavily soiled area according to the edge cleaning path, so as to determine whether the dirt in the heavily soiled area is non-dynamic dirt.

[0019] Therefore, when it is detected that the dirt in the heavily soiled area is dynamic dirt, controlling the cleaning robot to be in a stopped state can eliminate any disturbance caused by the movement of the cleaning robot or the mop to the dynamic dirt, and prevent the risk that the stain may be accidentally pushed or smeared due to the continued operation of the cleaning robot. Furthermore, the cleaning robot being in a stopped state provides an undisturbed time and environment for the dynamic dirt to evaporate, penetrate, or dry locally, promoting its transformation into a more manageable and less prone-to-spread state (such as semi-dry or adhesive), laying the foundation for subsequent possible friction cleaning. In addition, this method of stopping immediately upon detecting a heavily soiled area, compared to the scheme of leaving and then returning to the heavily soiled area, eliminates the need to plan the departure and return paths, making the control logic simpler, and also ensuring that the cleaning robot is near the soiled area, resulting in a more direct and rapid response.

[0020] It should be noted that in this optional scheme, the cleaning robot can also dynamically adjust the cleaning strategy according to the actual changes in dirt, enhancing its adaptability to complex soiled scenarios and the reliability of the cleaning effect. Specification 2 / 33 pages 5 CN 121730690 A

[0021] Optionally, detecting that the dirt in the heavily soiled area is non-dynamic dirt includes:

[0022] By analyzing the dirt status information collected by the cleaning robot during the edge detection process from multiple sensors, it is determined that there is non-dynamic dirt in the heavily soiled area.

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

[0024] In addition, since the above analysis process is performed simultaneously with edge detection, the dirt type judgment is completed while defining the contamination range of heavily soiled areas, without interrupting the cleaning process or performing specialized detection steps, thereby improving overall cleaning efficiency.

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

[0026] when it is detected that the dirt in the heavily soiled area is non-flowing dynamic dirt and the position and / or size of the heavily soiled area meets the target preset conditions, controlling the mop to perform a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

[0027] Thus, when it is detected that the dirt in the heavily soiled area is non-flowing dynamic dirt and the position and / or size of the heavily soiled area meets the target preset conditions, by switching the endpoint positions of the second reciprocating movement, making it perform a second reciprocating movement between the third position and the fourth position, the coverage width of the mop for lateral cleaning can be flexibly adjusted, thereby adapting to heavily soiled areas of different sizes or positions. Due to the use of a larger lateral amplitude reciprocating movement, the coverage ability and cleaning efficiency of stains can also be improved. Therefore, this application can match different cleaning modes according to the characteristics of heavily soiled areas, such as a cleaning mode that performs a first reciprocating movement between a first position and a second position, and a cleaning mode that performs a second reciprocating movement between a third position and a fourth position, avoiding insufficient cleaning or excessive consumption in a single cleaning mode.

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

[0029] During the process of controlling the mop to perform a first reciprocating movement between the first position and the second position, controlling the rotation drive to drive the mop to rotate.

[0030] In this way, by combining the lateral reciprocating motion of the mop and the rotational motion of the mop, a more complex mechanical force can be generated, which helps to more effectively break down and remove strongly adhering stains, improve the cleaning effect and stain removal efficiency. In addition, the rotational motion of the mop can also make different parts of the mop surface continuously contact the stain area, increasing the diversity and coverage of friction, and improving the cleaning ability of stubborn stains. In addition, the rotational motion of the mop can make the force distribution on the mop surface more uniform, avoid excessive wear in some areas, and extend the service life of the mop.

[0031] Optionally, the cleaning robot also includes a spraying device, and the method further includes:

[0032] When the dirt in the heavily soiled area is detected to be non-flowing dynamic dirt, and before cleaning the heavily soiled area, the spraying device is controlled to be turned on to spray the target fluid onto the heavily soiled area.

[0033] In this way, by spraying the target fluid onto the heavily soiled area in advance by the spraying device, the non-flowing dynamic dirt in the heavily soiled area is moistened or softened, reducing the adhesion strength between the non-flowing dynamic dirt and the surface to be cleaned, making it easier to remove stains during subsequent friction cleaning, shortening the cleaning time, and improving cleaning efficiency. And since the target fluid can dissolve or disperse some of the stain components, the target fluid can be sprayed onto the heavily soiled area in advance to moisten or soften the non-flowing dynamic dirt in the heavily soiled area, reduce the adhesion strength between the non-flowing dynamic dirt and the surface to be cleaned, make it easier to remove stains during subsequent friction cleaning, shorten the cleaning time, and improve the cleaning efficiency.121730690 A After spraying the target fluid onto the soiled area, combined with friction cleaning, more effective stain removal can be achieved, especially suitable for dried or sticky stains. In addition, after the stains are pretreated with the target fluid, the frictional resistance of the mop is reduced, which helps to reduce the load on the mop and drive components, and also helps to extend the service life of the components.

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

[0035] After controlling the spraying device to be in the on state, controlling the cleaning robot to be in a stopped state;

[0036] After a third time period, controlling the spraying device to spray hot fluid onto the heavily soiled area.

[0037] Thus, after the spraying device is turned on, by controlling the cleaning robot to first stop moving, and after a third period of hot fluid preparation, the hot fluid is sprayed onto the heavily soiled area. This avoids the need to adjust the robot's position due to the movement of the cleaning robot, ensuring that the subsequent hot fluid accurately covers the heavily soiled area, and also ensures that the hot fluid reaches a suitable temperature or pressure, thereby enhancing the softening, dissolving, or sterilizing effect on the stains.

[0038] Optionally, the method further includes:

[0039] After spraying the target fluid onto the heavily soiled area, controlling the cleaning robot to stop moving;

[0040] After a fourth period of time, controlling the cleaning robot to return to the heavily soiled area for friction cleaning.

[0041] Thus, after spraying the target fluid onto the heavily soiled area, by waiting for a fourth period of time, the target fluid is ensured to fully contact the stains in the heavily soiled area, achieving a softening, dissolving, or chemical reaction state, thereby improving the efficiency of subsequent friction cleaning. Furthermore, by controlling the cleaning robot to remain stationary and wait in place, path redundancy and time waste caused by movement and return can be prevented, achieving synergy between cleaning efficiency and effect.

[0042] Optionally, the method further includes:

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

[0044] After performing edge detection on the heavily soiled area, the cleaning robot is controlled to travel to the target position, and at the target position, the cleaning robot is controlled to enter the heavily soiled area for friction cleaning.

[0045] In this way, by clarifying the outline of the heavily soiled area through edge detection, and combined with the selection of the target position, an effective cleaning path to enter the heavily soiled area can be planned, avoiding ineffective movement. In addition, during the edge detection process, sufficient immersion time can be given to the target fluid at the same time, and the position preparation for the cleaning robot to enter the cleaning area can be made, improving the continuity of the process. Furthermore, entering from the target position based on the determined boundary detection results can ensure that the friction cleaning effectively covers the heavily soiled area, reduce cleaning omissions, and improve the cleaning effect.

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

[0047] a first control module, used to control the cleaning robot to perform edge detection of the heavily soiled area according to the edge cleaning path when a heavily soiled area is detected during the cleaning process of the cleaning robot;

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

[0049] In a third aspect, this application provides a cleaning robot, which includes a mop assembly. The mop assembly includes a mop, which has a first position, a second position, and a third position. The first and second positions are the two endpoint positions of the mop during a first reciprocating movement. The third position is the maximum radially extendable position of the mop relative to the body of the cleaning robot when performing cleaning. The distance between the first and second positions is less than the distance between the first and third positions.

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

[0051] It should be noted that the second and third aspects of this application correspond to the technical solutions of the first aspect of this application. The beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0052] The cleaning robot control method, device, and cleaning robot provided in this application are configured with three lateral positions for the cleaning robot's mop: a first position, a second position, and a third position. The first and second positions are the two endpoints of the first reciprocating movement, with a small distance between them, while the third position is the maximum lateral extension position. The first and second positions are used for local reciprocating cleaning, and their interval is smaller than the interval between the first and third positions, ensuring rapid friction within the reciprocating movement range. Specifically, after the cleaning robot detects a heavily soiled area, it first performs edge detection along the edge cleaning path to determine the type of dirt. If the dirt is non-fluid, such as adhesive dirt, it triggers a local reciprocating movement mode of the mop, i.e., controls the first lateral reciprocating movement (similar to vibration cleaning) between the two endpoints (the first and second positions) of the mop. This is different from the existing method of using traditional "multiple, intensive reciprocating cleaning or high-pressure water output." In this way, after detecting a heavily soiled area, this application controls the cleaning robot to first move along its edge path...The mop is controlled to move back and forth between the first and second positions only after the detection is performed and it is determined that the dirt in the heavily soiled area is non-flowing. This allows the mop to repeatedly rub the heavily soiled area in a small area at a high frequency, using mechanical friction to accelerate the dissolution and removal of stains, reduce ineffective movement, and improve cleaning efficiency. It also avoids the problem of stains being pushed away and the pollution area expanding due to repeated back and forth movements or strong water pressure, while reducing unnecessary waste of water resources and mop.

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

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

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

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

[0057] Figure 4 is a bottom structural schematic diagram of another cleaning robot provided in an embodiment of this application;

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

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

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

[0061] Figure 8 is a schematic diagram of a cleaning robot performing a cleaning path provided in an embodiment of this application;

[0062] Figure 9 is a schematic diagram of another cleaning robot performing a cleaning path provided in an embodiment of this application;

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

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

[0065] The above-described embodiments have been shown in detail in the accompanying drawings, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept of this application in any way, but rather to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Specification 5 / 33 pages 8 CN 121730690 A Detailed Description

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

[0067] In order to facilitate a clear description of the technical solutions of the embodiments of this application, the term "first" is used in the embodiments of this application.The words "first" and "second" are used to distinguish between identical or similar items with essentially the same function and effect. For example, the first reciprocating movement and the second reciprocating movement are only used to distinguish different reciprocating movements and do not limit their order. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily mean that they are different.

[0068] It should be noted that in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or more advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific way.

[0069] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships, for example, A and / or B, which can mean: A exists alone, The simultaneous existence of A and B, with B existing alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0070] In the prior art, for heavily soiled areas, sweeping robots usually clean by repeatedly and intensively cleaning back and forth or by increasing the downward pressure and water output of the mop.

[0071] However, the above methods are not only inefficient in cleaning, but also, when using intensive back and forth cleaning or increased downward pressure and water output for liquid stains, it is easy to cause the stains to be pushed and spread, thus expanding the polluted area and causing unnecessary waste of water resources and mop.

[0072] To address the aforementioned problems, this application provides a control method for a cleaning robot. The cleaning robot's mop has three lateral positions: a first position, a second position, and a third position. The first and second positions are the two endpoints of a first reciprocating movement, with a small distance between them, while the third position is the maximum lateral extension limit. The first and second positions are used for localized reciprocating cleaning, and their interval is smaller than the interval between the first and third positions, ensuring rapid friction within the reciprocating movement range. Specifically, after the cleaning robot detects a heavily soiled area, it first performs edge detection along the edge cleaning path to determine the type of dirt. If the dirt is non-fluid, such as adhesive dirt, then a localized reciprocating movement mode of the mop is triggered, i.e., controlling the mop between the two lateral endpoints (the first and second positions).The first reciprocating movement in the lateral direction (similar to vibration cleaning). In this way, compared with the existing traditional method of "multiple, dense back-and-forth cleaning or high-pressure water output", this application, after detecting a heavily soiled area, controls the cleaning robot to first detect along its edge path, and only when it is determined that the dirt in the heavily soiled area is non-flowing dynamic dirt, controls the mop to make a first reciprocating movement between the first position and the second position. This allows the mop to repeatedly rub the heavily soiled area in a small range at a higher frequency, using mechanical friction to accelerate the dissolution and peeling of stains, reduce ineffective movement, improve cleaning efficiency, and avoid the problem of stains being pushed away and the pollution area expanding due to multiple back-and-forth movements or high-pressure water output, while reducing unnecessary waste of water resources and mop. Specification 6 / 33 pages 9 CN 121730690 A

[0073] It should be noted that non-flowing dynamic dirt can refer to attached dirt that does not have autonomous flow, whose physical state is relatively stable and will not easily spread or flow due to external forces. This type of dirt is typically a solid or semi-solid stain adhering to the surface to be cleaned, requiring mechanical friction for removal. Conversely, dirt in the opposite state to non-flowing dirt is considered flowing dirt. For example, non-flowing dirt can be dried coffee stains, adhered mud or dust clumps, dried beverage stains or sauce residue, etc., while flowing dirt can be undried liquid beverages, spilled soup or oil stains, stagnant water or undried water stains, etc. This application does not limit the specific types of stains corresponding to non-flowing and flowing dirt in its embodiments.

[0074] Optionally, the control method for the cleaning robot provided in this application is applied to the cleaning robot. For example, FIG1 is a partial structural schematic diagram of a cleaning robot provided in an embodiment of this application. As shown in FIG1, the cleaning robot 100 includes a mop assembly 101, the mop assembly 101 includes a mop 11, the mop 11 has a first position, a second position and a third position. The first position and the second position are the two end positions of the mop 11 during the first reciprocating movement. With the direction of travel of the cleaning robot 100 as the longitudinal direction, the first position and the second and third positions are set at a lateral interval perpendicular to the longitudinal direction. The third position is the maximum limit position of the body 102 of the cleaning robot 100 in the lateral direction. The distance between the first position and the second position is less than the distance between the first position and the third position.

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

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

[0077] Figure 2 is a schematic diagram of the bottom structure of a cleaning robot provided in this application embodiment. As shown in Figure 2, from the cleaning...Looking at the bottom of the cleaning robot, the corresponding positions from left to right are the first position, the second position, and the third position. The first position can refer to one end position of the mop 11 in the first reciprocating movement in the lateral direction. Optionally, the first position can be the position of the cleaning robot 100 in the normal cleaning mode. The first position can be understood as the default initial position of the cleaning robot 100 for cleaning, as shown in position A in Figure 2.

[0078] The second position can refer to the other end position of the mop 11 in the first reciprocating movement in the lateral direction. It is opposite to the first position, and the two together define the range of reciprocating movement. For example, the second position is position B in Figure 2.

[0079] The third position can refer to the farthest position that the mop 11 can extend in the lateral direction relative to the body 102, that is, the physical limit of the range of movement. For example, the third position is position C in Figure 2.

[0080] Wherein, the interval between the first position and the second position is smaller than the interval between the first position and the third position, indicating that the amplitude of the reciprocating cleaning is smaller than the maximum lateral range of movement of the mop 11, and the reciprocating cleaning is only carried out in a local range, rather than using all the lateral movement capabilities. The distance between the first position and the second position can refer to the lateral distance between the two endpoints of the mop 11 during reciprocating motion, which determines the coverage width of local friction cleaning.

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

[0082] For example, FIG3 is a schematic diagram of a mop performing a first reciprocating movement according to an embodiment of the present application. As shown in FIG3A, the mop 11 is in the first position, and as shown in FIG3B, the mop 11 is in the second position. The mop 11 can perform a first reciprocating movement between the first position and the second position to clean the surface to be cleaned.

[0083] It can be understood that the process of the mop 11 performing a first reciprocating movement between the first position and the second position can be regarded as a left-right lateral movement with a small amplitude, similar to vibration cleaning.

[0084] Optionally, the mop assembly 101 also includes a rotation drive (not shown in the figure) for driving the mop 11 to rotate. Instruction manual, page 7 / 33, CN 121730690 A

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

[0086] Optionally, the mop assembly 101 also includes a moving drive (not shown in the figure) for driving the mop 11 to move.

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

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

[0089] Optionally, Figure 4 is a schematic diagram of the bottom structure of another cleaning robot provided in this application embodiment. As shown in Figure 4, in addition to the position shown in Figure 2, the mop 11 also includes a fourth position in the transverse direction, as shown in position D in Figure 4. The distance between the first position and the fourth position is less than the distance between the first position and the third position; the third position and the fourth position are the two end positions of the mop 11 during the second reciprocating movement.

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

[0091] It can be understood that the third position and the fourth position together constitute another end combination for the mop 11 to perform the second reciprocating movement, and the interval between the first position and the fourth position is smaller than the interval between the first position and the third position. This indicates that the mop 11 can reasonably adjust the position of the mop 11 according to cleaning needs and control the mop 11 to perform the second reciprocating movement.

[0092] For example, FIG5 is a schematic diagram of the structure of a mop performing the second reciprocating movement provided in the embodiment of this application. As shown in FIG5 C, the mop 11 is in the third position. As shown in FIG5 D, the mop 11 is in the fourth position. The mop 11 can perform the second reciprocating movement between the third position and the fourth position to clean the surface to be cleaned, especially the edges of walls, the edges of obstacles, the bottom edges of sofas, and the surfaces to be cleaned in large areas of heavy dirt.

[0093] Optionally, the cleaning robot 100 further includes a spraying device (not shown in the figure).

[0094] The spraying device may consist of a liquid storage unit (such as a water tank), a delivery pipeline, and a control valve or pump. It is used to spray a target fluid onto the surface to be cleaned during the cleaning process. The target fluid refers to the liquid sprayed onto the heavily soiled area through the spraying device. Its components may be clean water, cleaning liquid, or other fluid media with stain wetting, softening, or dissolving effects. For example, the target fluid may be water, cleaning liquid, or steam.

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

[0096] Optionally, the spraying device includes a steam generating device, which sprays steam through a nozzle; the steam generating device...The device can convert liquid (usually water) into steam and spray the steam out through a nozzle. The steam preparation device is usually composed of a heating module, a vaporization chamber and a pressure control component.

[0097] Optionally, the spraying device includes a liquid spraying device, which sprays the target liquid through a nozzle; the liquid spraying device can directly spray the stored target liquid (e.g., water, cleaning liquid, disinfectant or a mixture thereof) in liquid form through the nozzle. The liquid spraying device is usually composed of a liquid storage container, a pumping unit, a flow control valve and a nozzle.

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

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

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

[0101] Optionally, the cleaning robot 100 also includes a second light emitting device (not shown in the figure), which is used to emit detection light towards heavily soiled areas.

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

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

[0104] Optionally, as shown in Figures 2-5, the cleaning robot 100 also includes a drive wheel 103, located in front of the mop 11. The drive wheel 103 is typically an active wheel, providing power to the cleaning robot 100, usually driven by a motor, and responsible for cleaning.Movement and turning of robot 100.

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

[0106] Wherein, the suction chamber forms a ventilation channel with the surface to be cleaned, which is used to suck the dirt into the suction chamber by airflow when the roller brush agitates the dirt.

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

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

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

[0110] If the analysis shows that the dirt in the heavily soiled area 200 is non-fluid dirt, the mop will make a small first reciprocating movement between the first and second positions to perform local friction cleaning on the heavily soiled area 200. Further, after completing the targeted cleaning of the heavily soiled area 200, the sweeping robot will return to the original zigzag path and resume the normal cleaning mode to continue the normal cleaning of the surface to be cleaned.

[0111] Optionally, if the dirt in the heavily soiled area 200 is analyzed to be dynamic dirt, the cleaning mode can be selected according to the preset strategy. For example, other areas can be cleaned first, and the dynamic dirt can be returned to the heavily soiled area 200 for cleaning or re-inspection after it dries; or, the robot vacuum can be controlled to stay still and wait for the dynamic dirt to dry before returning to the heavily soiled area 200 for cleaning or re-inspection. The present application embodiment does not limit the cleaning mode selected for dynamic dirt, and it can be set based on the application scenario requirements or user requirements.

[0112] It should be noted that the cleaning robot 100 can be a robot vacuum, a mopping robot, a floor washing robot, a pool robot, etc. The present application embodiment does not specifically limit the type of cleaning robot 100, and it can be any intelligent mobile device with cleaning function.

[0113] It should also be noted that the present application embodiment does not specify the scenario of the cleaning robot 100 cleaning the heavily soiled area.Limited to, it can be applied to any scenario with heavily soiled areas for cleaning, such as kitchen areas, bedroom areas, bathroom areas, etc.

[0114] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0115] For example, FIG7 is a flowchart of a control method for a cleaning robot provided by an embodiment of this application. The control method for the cleaning robot is applied to the cleaning robot with the structure shown in FIG1-FIG5. As shown in FIG7, the control method for the cleaning robot includes the following steps:

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

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

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

[0119] The edge cleaning path can refer to the trajectory of the cleaning robot moving along the edge contour of the heavily soiled area. This edge cleaning path enables the cleaning robot to detect the degree and extent of soiling along its outer edge without directly penetrating the heavily soiled area.

[0120] The edge cleaning path can completely surround the heavily soiled area or partially surround it. This embodiment does not limit the specific path corresponding to the edge cleaning path; it only needs to achieve the edge detection function.

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

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

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

[0124] S702, when it is detected that the dirt in the heavily soiled area is non-flowing dynamic dirt, the mop is controlled to move back and forth between the first position and the second position to perform friction cleaning on at least part of the heavily soiled area. Specification 10 / 33 pages 13 CN 121730690 A

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

[0126] For example, when it is confirmed by edge detection that the dirt in the heavily soiled area is non-flowing dynamic dirt, the cleaning robot starts a targeted cleaning mode. The cleaning mode is to control the mop to move back and forth between two preset endpoint positions in the lateral direction at a high frequency and a small amplitude, as shown in Figure 3, switching between the first position and the second position, so that the mop performs local repeated friction on at least part of the heavily soiled area surface in a high frequency vibration manner.

[0127] Optionally, if the heavily soiled area contains both non-flowing and flowing dirt, only the area containing the non-flowing dirt can be cleaned by reciprocating friction between the first and second positions. The area containing the flowing dirt can be cleaned by waiting until the flowing dirt dries or becomes wet enough to meet a preset state before reciprocating friction between the first and second positions. The preset state can refer to a state where the dirt's fluidity is reduced to below a critical threshold, so that during reciprocating friction cleaning, the dirt mainly peels off from the attachment surface, is captured or rolled up by the cleaning robot, and does not flow laterally or spread over a large area.

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

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

[0130] Compared to existing methods that directly control the cleaning robot to perform multiple round trips and repeated coverage after detecting a heavily soiled area, or increase the pressure and water output of the mop, this application first controls the cleaning robot to detect along the edge of the heavily soiled area to quickly define the pollution range. Only when it is determined that the dirt in the heavily soiled area is non-flowing dirt is the cleaning performed.The cleaning robot is controlled to clean heavily soiled areas using a cleaning mode that involves controlling the mop to move back and forth frequently between two positions with a small lateral distance. This small-area, high-frequency localized friction method not only achieves targeted high-frequency friction cleaning of heavily soiled areas but also significantly reduces the robot's movement and dwell time in ineffective areas, avoiding the ineffective movement and repeated coverage inherent in traditional large-area back-and-forth cleaning, thus greatly improving the effective cleaning efficiency per unit time. Furthermore, this small-amplitude, high-frequency friction method primarily uses small lateral vibrations for cleaning, greatly weakening the force of the mop pushing away stains in the horizontal direction, effectively preventing the problem of stains being scattered and the contaminated area expanding due to mop movement during cleaning. In addition, this small-area, reciprocating friction method typically requires little or no auxiliary water output, reducing unnecessary wear on the mop and the overall energy consumption of the cleaning robot, thereby significantly saving water resources, reducing mop wear, and lowering overall energy consumption.

[0131] Furthermore, this application utilizes control logic to first detect heavily soiled areas along the edge, determine the type of dirt in the heavily soiled areas, and execute targeted cleaning modes. This allows for the automatic selection of differentiated cleaning modes based on the type of dirt (dynamic or non-dynamic). In particular, for non-dynamic dirt, a targeted mechanical friction method is employed, achieving adaptive cleaning based on the characteristics of the stains. This not only improves the cleaning efficiency of heavily soiled areas but also avoids the problems of stain diffusion and resource waste, resulting in a more efficient, precise, and energy-saving cleaning effect.

[0132] Optionally, the method further includes:

[0133] When it is detected that the dirt in the heavily soiled area is fluid-dynamic dirt, the cleaning robot is controlled to clean other areas in the area to be cleaned except for the heavily soiled area; Specification 11 / 33 pages 14 CN 121730690 A

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

[0135] In the embodiments of this application, fluid-dynamic dirt can refer to a state of dirt that has autonomous flow or is easy to deform, spread or move in position under the action of external forces (such as gravity, inertia). Its physical characteristics are low viscosity and weak cohesion, and it is usually a liquid or a mixture containing a large amount of liquid.

[0136] The first duration can refer to the preset time interval from the time the cleaning robot leaves the fluid-dynamic heavily soiled area to the time it returns to the heavily soiled area. The first duration is a pre-set adjustable parameter used to provide sufficient time for the state changes of the fluid dynamic dirt (such as liquid evaporation, drying).

[0137] The first distance may refer to the time from when the cleaning robot leaves the fluid dynamic heavily soiled area to when it returns to the heavily soiled area.The cumulative path length moved between domains. This first distance is also a preset adjustable parameter to ensure that the cleaning robot has completed a certain amount of cleaning work on other areas in the heavily soiled area before returning, and that the state of the dynamic dirt has changed to meet preset conditions, such as being in a non-dynamic state.

[0138] For example, Figure 8 is a schematic diagram of the path walking of a cleaning robot in an embodiment of this application. As shown in Figure 8, when the cleaning robot 100 performs cleaning according to the bow-shaped path, if a heavily soiled area 200 is detected and dynamic dirt is identified in the heavily soiled area 200, it does not wait in place or immediately perform reciprocating friction cleaning, but first controls the cleaning robot 100 to avoid the heavily soiled area 200, and then performs regular cleaning on other areas in the cleaning area except for the heavily soiled area 200 according to the bow-shaped path.

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

[0140] Since for flowing dirt, immediate reciprocating friction or pressurized water discharge can easily cause it to be pushed away and smeared, expanding the pollution area. This application provides a time window for the flowing dirt to evaporate naturally, dry locally or increase in viscosity by delaying treatment, so that it may change to a non-flowing state more suitable for friction cleaning, thereby creating conditions for subsequent effective cleaning. During the waiting period for the dynamic dirt to change state, the cleaning robot is not idle, but continues to clean other areas, making full use of the waiting time for the state change. This ensures the continuity of the overall cleaning task, avoids the overall process from stalling, and avoids the time wasted by the cleaning robot waiting ineffectively or performing inefficient cleaning in front of the dynamic dirt, thus improving the overall cleaning efficiency.

[0141] In addition, this application also sets a strategy of re-detecting after returning to the heavily soiled area, so that the cleaning robot can dynamically adjust the cleaning strategy according to the actual changes in dirt, enhancing its adaptability to complex stain scenarios and the reliability of the cleaning effect.

[0142] Optionally, the method further includes:

[0143] When the dirt in the heavily soiled area is detected to be dynamic dirt, the cleaning robot is controlled to be in a stopped state;

[0144] After a second period of time, the cleaning robot is controlled to perform friction cleaning on the heavily soiled area, or the cleaning robot is controlled again.The robot performs edge detection on heavily soiled areas according to the edge cleaning path to determine whether the dirt in the heavily soiled areas is non-flowing dirt (see page 12 / 33 of the manual, 15 CN 121730690 A).

[0145] In this embodiment, the stopped movement state can refer to the state in which the cleaning robot suspends all walking and movement of cleaning components, keeping the robot body stationary.

[0146] The second duration can refer to the preset time interval for the cleaning robot to maintain the stopped movement state after entering the stopped movement state. This second duration is a preset parameter used to provide a stable state change time window for flowing dirt without mechanical disturbance, allowing its physical properties (such as viscosity and volatility) to change until the preset state is met.

[0147] For example, Figure 9 is a schematic diagram of the path walking of another cleaning robot in an embodiment of this application. As shown in Figure 9, when the cleaning robot 100 performs cleaning according to the bow-shaped path, if a heavily soiled area 200 is detected and it is determined that the dirt in the heavily soiled area 200 is dynamic dirt, the cleaning robot 100 enters a stopped state, that is, it suspends all active translational or rotational movements, so that the mop is kept in the relative position when the dynamic dirt is detected (or lifted away from the surface to be cleaned to prevent the dynamic dirt from contaminating it).

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

[0149] Therefore, when the dirt in the heavily soiled area is detected to be fluid, controlling the cleaning robot to stop moving can eliminate any disturbance to the fluid dirt caused by the movement of the cleaning robot or the mop, preventing the risk of the stain being accidentally pushed or smeared due to the continued operation of the cleaning robot. Furthermore, the cleaning robot being stopped provides the fluid dirt with undisturbed time and environment for natural evaporation, penetration, or localized drying, promoting its transformation into a more manageable and less easily spreadable state (such as semi-dry or adhesive), laying the foundation for subsequent possible friction cleaning. In addition, this method of immediately stopping movement upon detecting a heavily soiled area, compared to the method of leaving and then returning to the heavily soiled area, eliminates the need to plan the departure and return paths, resulting in simpler control logic and ensuring that the cleaning robot remains near the soiled area, with a more direct and rapid response.

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

[0151] Optionally, detecting non-flowing dynamic dirt in heavily soiled areas includes:

[0152] Analyzing the dirt status of multiple sensor information collected by the cleaning robot during edge detection to determine the presence of non-flowing dynamic dirt in the heavily soiled area.

[0153] In this embodiment, sensor information refers to the raw data or pre-processed signals collected and output by various sensors mounted on the cleaning robot during task execution, reflecting the state of the cleaning environment or object.

[0154] Optionally, sensor information can come from one or more of optical sensors (such as cameras, infrared sensors), physical sensors (such as pressure sensors, humidity sensors, sound wave sensors), motion sensors, etc., which can provide data on the visual characteristics, humidity, viscosity, adhesion strength, and other physical properties of the stains.

[0155] For example, during the edge detection process of the cleaning robot in heavily soiled areas, one or more sensors mounted on it can continuously collect sensor information about the heavily soiled areas. This sensor information includes multi-dimensional data corresponding to multiple sensors or sensor data collected by one or more sensors at different time periods. Further, the cleaning robot analyzes the dirt status of the sensor information. Through analysis, characteristics corresponding to non-fluid dynamic dirt are identified, thus confirming the presence of non-fluid dynamic dirt on page 13 / 33 of the specification, CN 121730690 A.

[0156] Herein, dirt state analysis can refer to the process by which the cleaning robot uses preset algorithms, models, or logical rules to integrate, process, extract features, and identify types of sensor information collected. Characteristics corresponding to non-fluid dynamic dirt include stable morphology, strong adhesion, low fluidity, and sensor signals pointing to solid or semi-solid properties, etc. This application embodiment does not specifically limit the characteristics corresponding to non-fluid dynamic dirt.

[0157] Therefore, by integrating multiple sensor information for analysis, this application can overcome the possible misjudgment or limitations of judging dirt based on single sensor information. For example, a single optical image may not be able to distinguish between wet reflection and actual stains, thus more comprehensively and accurately identifying the physical state (fluid or non-fluid dynamic) of dirt, reducing the risk of accidental triggering of friction cleaning methods, and improving the accuracy and reliability of judgment. Furthermore, based on the comprehensive analysis of information from multiple sensors, the cleaning robot's understanding and adaptability to complex and varied stain scenarios can be enhanced.

[0158] In addition, since the above analysis process is carried out simultaneously with edge detection, the type of dirt is determined while defining the contamination range of heavily soiled areas, without interrupting the cleaning process or performing special detection steps, thereby improving the overall cleaning efficiency.

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

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

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

[0162] In this optional step, the moving drive component can drive the mop to perform a periodic first reciprocating movement between the first position and the second position at a preset frequency, so that the mop forms a regular vibration in the lateral range, and achieves continuous friction cleaning of heavily soiled areas.

[0163] In this way, the rhythm and intensity of the reciprocating movement of the mop can be precisely controlled by the preset frequency, ensuring that the corresponding friction frequency is adapted to heavily soiled areas with different degrees of stains, and improving the consistency of cleaning effect. In addition, the moving drive component works based on a fixed preset frequency, which can keep the reciprocating movement of the mop stable and avoid cleaning blind spots or efficiency fluctuations caused by irregular movement. In addition, the preset frequency can be set to a reasonable value according to cleaning needs to avoid unnecessary high-frequency movement and energy waste, thereby achieving energy consumption optimization.

[0164] Optionally, the method further includes:

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

[0166] The target preset conditions may refer to the distribution position of the heavily soiled area in the horizontal direction (such as near the outside of the cleaning robot) or the area size of the area reaching a preset threshold, triggering the mop to adopt the second reciprocating movement mode between the third position and the fourth position. For example, the target preset conditions may be that the heavily soiled area is located at the edge of an obstacle, the soiled area is greater than the preset threshold, etc. The specific content corresponding to the target preset conditions and the specific size corresponding to the preset threshold are not limited in the embodiments of this application.

[0167] For example, if the dirt in the heavily soiled area is non-flowing and the location of the heavily soiled area is at the edge of a wall, the edge of a large obstacle, the bottom of an obstacle into which the mop can reach, or if the soiled area of ​​the heavily soiled area is larger than the preset threshold specified on page 14 / 33 of the specification (CN 121730690 A), the mop can be controlled to make a second reciprocating movement between the third and fourth positions, as shown in positions C and D in FIG5, to expand the lateral cleaning range of the mop and perform friction cleaning on at least part of the heavily soiled area.

[0168] Thus, when it is detected that the dirt in the heavily soiled area is non-flowing and the location and / or area of ​​the heavily soiled area is large,When the target preset conditions are met, by switching the endpoint position of the second reciprocating movement, the mop can be moved between the third and fourth positions to flexibly adjust the coverage width of the lateral cleaning, thereby adapting to heavily soiled areas of different sizes or positions. Due to the use of a larger lateral reciprocating movement, the coverage of stains and cleaning efficiency can also be improved. Thus, this application can match different cleaning modes according to the characteristics of the heavily soiled area, such as a cleaning mode that moves between the first and second positions and a cleaning mode that moves between the third and fourth positions, avoiding insufficient cleaning or excessive consumption in a single cleaning mode.

[0169] Optionally, before controlling the mop to move between the third and fourth positions, the method further includes:

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

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

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

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

[0174] During the process of controlling the mop to perform the first reciprocating movement between the first position and the second position, controlling the rotation drive to drive the mop to rotate.

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

[0176] In this way, the combination of the lateral reciprocating motion and the rotational motion of the mop can generate more complex mechanical forces, which helps to more effectively break down and remove strongly adhering stains, improve the cleaning effect and stain removal efficiency. In addition, the rotational motion of the mop can also make different parts of the mop surface continuously contact the stain area, increasing the diversity and coverage of friction, and improving the cleaning ability of stubborn stains. In addition, the rotational motion of the mop can make the force distribution on the mop surface more even.Evenly distribute the fluid to avoid excessive wear in certain areas and extend the service life of the mop.

[0177] Optionally, the method further includes:

[0178] When the dirt in the heavily soiled area is detected to be non-flowing dynamic dirt, and before cleaning the heavily soiled area, the spraying device is controlled to be turned on to spray the target fluid onto the heavily soiled area.

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

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

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

[0182] In this way, by spraying the target fluid into the heavily soiled area in advance by the spraying device, the non-flowing dynamic dirt in the heavily soiled area is moistened or softened, reducing the adhesion strength between the non-flowing dynamic dirt and the surface to be cleaned, making it easier for subsequent friction cleaning to remove stains, shortening the cleaning time, and improving cleaning efficiency. Furthermore, since the target fluid can dissolve or disperse some of the stain components, after pre-spraying the target fluid into the heavily soiled area, combined with friction cleaning, more effective stain removal can be achieved, especially suitable for dried or sticky stains. In addition, after the stains are pre-treated by the target fluid, the friction resistance of the mop is reduced, which helps to reduce the load on the mop and drive components, and also helps to extend the service life of the components.

[0183] Optionally, the method further includes:

[0184] After spraying the target fluid into the heavily polluted area, controlling the cleaning robot to clean other areas within the area to be cleaned, excluding the heavily polluted area;

[0185] After a fifth duration or a second distance, controlling the cleaning robot to return to the heavily polluted area for friction cleaning.

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

[0187] The second distance may refer to the cumulative path length traveled by the cleaning robot when cleaning other areas before returning to the heavily polluted area after spraying the target fluid. The second distance can be preset based on the cleaning task planning. This embodiment does not limit the specific value corresponding to the second distance.

[0188] In this optional step, after the cleaning robot sprays the target fluid into the heavily polluted area, friction cleaning may not be performed immediately.Instead of wiping clean, the cleaning robot first cleans other areas, and then returns to the heavily soiled area to perform friction cleaning after a fifth time period or a second distance, allowing sufficient time for the sprayed target fluid to soak or soften the stains.

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

[0190] In this way, after spraying the target fluid to the heavily soiled area, by delaying the cleaning of the heavily soiled area, sufficient soaking, penetration, or reaction time is provided for the target fluid, enhancing the softening effect on non-flowing dirt in the heavily soiled area, thereby improving the efficiency of subsequent friction cleaning. Correspondingly, during the delay waiting period, other areas besides the heavily soiled area can be cleaned, which can avoid the cleaning robot being idle while waiting for the fluid to act. Using this time interval to clean other areas can improve the time utilization rate and path continuity of the overall cleaning operation. In addition, by combining fluid soaking of the heavily soiled area with delayed cleaning, the mechanical load and energy consumption of subsequent friction cleaning can also be reduced, achieving more efficient cleaning.

[0191] Optionally, controlling the spraying device to be in the on state to spray the target fluid onto the heavily soiled area includes:

[0192] After controlling the spraying device to be in the on state, controlling the cleaning robot to be in a stopped state;

[0193] After a third time period, controlling the spraying device to spray hot fluid onto the heavily soiled area.

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

[0195] In the embodiments of this application, the third time period can refer to the time interval between controlling the spraying device to be turned on and actually starting to spray hot fluid, which can be used to complete preparation processes such as hot fluid preheating, system stabilization or position calibration. Instruction manual, pages 16 / 33, 19 CN 121730690 A

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

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

[0198] In this way, after the spraying device is turned on, by controlling the cleaning robot to first be in a stopped state,After the third time of hot fluid preparation process, hot fluid is sprayed onto the heavily soiled area. This avoids the need to adjust the robot's position due to spray position deviation caused by the movement of the cleaning robot, ensuring that the hot fluid accurately covers the heavily soiled area. It also ensures that the hot fluid reaches a suitable temperature or pressure, thereby enhancing the softening, dissolving, or sterilizing effect on the stains.

[0199] Optionally, controlling the spraying device to be in the open state to spray the target fluid onto the heavily soiled area includes:

[0200] After controlling the spraying device to be in the open state, controlling the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path;

[0201] After the sixth time period, controlling the spraying device to spray hot fluid onto the heavily soiled area.

[0202] In this embodiment of the application, the sixth time period may refer to the time interval between controlling the spraying device to be turned on and actually starting to spray hot fluid. This sixth time period is used to complete the edge detection and / or the preheating preparation of the hot fluid.

[0203] In this optional step, after the cleaning robot turns on the spraying device, the cleaning robot can first be controlled to perform an edge detection path along the edge of the heavily soiled area, and the hot fluid can be sprayed after a sixth time interval, so as to accurately identify the outline and range of the heavily soiled area before spraying, and may simultaneously complete the preheating preparation of the hot fluid.

[0204] In this way, by combining edge detection and spraying preparation, the identification of the heavily soiled area can be completed simultaneously while waiting for the sixth time interval, which can improve the integration efficiency of the cleaning process. The delay of the sixth time interval can be used to ensure that the hot fluid reaches a suitable working temperature or pressure, thereby enhancing its cleaning effect on stains in the heavily soiled area. Moreover, the boundary of the heavily soiled area can be clearly defined by edge detection, so that the subsequent hot fluid spraying can more accurately cover the heavily soiled area, avoiding waste of hot fluid or cleaning omissions.

[0205] Optionally, the method further includes:

[0206] After controlling the spraying device to be in the on state, generating a first prompt message to remind the user that the cleaning robot is performing the preparation operation of the target fluid.

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

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

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

[0210] In this way, by clearly generating the first prompt message to indicate the current operation stage of the cleaning robot, the user's workload is reduced due to the lack of information.To address doubts or misjudgments arising from a lack of understanding of the cleaning robot's working status, this method enhances transparency and user experience. Furthermore, generating a first prompt message can help users anticipate subsequent cleaning processes (such as spraying about to begin), facilitating reasonable observation or coordination. Additionally, if the preparation process of the target fluid is abnormally prolonged or interrupted, the first prompt message can assist users in promptly identifying potential problems and taking appropriate measures.

[0211] Optionally, the method further includes:

[0212] After spraying the target fluid into the heavily soiled area, controlling the cleaning robot to be in a stopped state;

[0213] After a fourth time period, controlling the cleaning robot to return to the heavily soiled area for friction cleaning.

[0214] In this embodiment, the fourth time period can refer to the static waiting time between completing the spraying of the target fluid and starting to return to the heavily soiled area for friction cleaning. This fourth time period can be preset based on the time required for the target fluid to interact with non-fluid dynamic dirt. This embodiment does not limit the specific duration of the fourth time period.

[0215] In this optional step, after the cleaning robot sprays the target fluid onto the heavily soiled area, it can be controlled to remain stationary, i.e., remain still in place, and return to the heavily soiled area for friction cleaning after a fourth time interval. This allows the sprayed target fluid sufficient time to wet, penetrate, or act on the non-fluid, dirty surface.

[0216] Here, "stationary in place" can refer to the position where the sprayed target fluid covers all the heavily soiled areas, or it can be the position corresponding to the point where the spraying of the target fluid stops.

[0217] In this way, after spraying the target fluid onto the heavily soiled area, by remaining stationary for a fourth time interval, it is ensured that the target fluid and the stains in the heavily soiled area are in full contact, achieving a softening, dissolving, or chemical reaction state, thereby improving the efficiency of subsequent friction cleaning. Furthermore, by controlling the cleaning robot to remain stationary in place, path redundancy and time waste caused by moving back can be prevented, achieving a synergy between cleaning efficiency and effect.

[0218] Optionally, the method further includes:

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

[0220] After performing edge detection on the heavily polluted area, controlling the cleaning robot to travel to the target position, and at the target position, controlling the cleaning robot to enter the heavily polluted area for friction cleaning.

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

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

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

[0224] In this way, by clarifying the outline of the heavily soiled area through edge detection, combined with the selection of the target position, an effective cleaning path to enter the heavily soiled area can be planned to avoid ineffective movement. In addition, during the edge detection process, the target fluid can be given sufficient immersion time at the same time, and the position preparation for the cleaning robot to enter the cleaning area can be made, improving the continuity of the process. Furthermore, entering from the target position based on the determined boundary detection results can ensure that the friction cleaning effectively covers the heavily soiled area, reduce cleaning omissions, and improve the cleaning effect.

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

[0226] A first initial location for edge detection;

[0227] A first ending location for edge detection;

[0228] Contour information of the heavily soiled area;

[0229] Distribution information of the degree of soiling in the heavily soiled area. Specification 18 / 33 pages 21 CN 121730690 A

[0230] In the embodiments of this application, the first initial location may refer to the initial coordinate point where the cleaning robot starts to perform edge detection.

[0231] The first ending location may refer to the final coordinate point where the cleaning robot completes edge detection.

[0232] Contour information may refer to the shape and spatial range data of the outer boundary of the heavily soiled area obtained through edge detection.

[0233] Distribution information of the degree of soiling may refer to the difference and spatial distribution characteristics data of the degree of soiling (such as concentration and area) at different locations within the heavily soiled area.

[0234] In some embodiments, the heavily soiled area is scanned by a visual sensor or lidar to extract its contour information, i.e., the contour shape and geometric center; if the heavily soiled area is clustered in a clump (e.g., circular, elliptical), the centroid coordinates of the contour can be set as the target position; if the heavily soiled area is distributed in a long strip (e.g., spill marks), the center point of the middle section or the widest part of the contour can be set as the target position. In this way, the geometric features of the heavily soiled area can be adaptively positioned to ensure that the cleaning action covers the core area of ​​pollution.

[0235] Optionally, the contour area of ​​the heavily soiled area can also be combined. If the contour area exceeds the area threshold, multiple target position points can be generated for zoned cleaning.

[0236] In other embodiments, a heat map of the degree of dirt is generated by multi-sensor fusion, and the dirt intensity is divided into zones.The target location is determined by various methods, such as selecting the coordinate point with the highest sensor reading as the target location; calculating the weighted center coordinates of multiple points in a heavily polluted area as the target location, and locating the location of the most polluted sub-area along the direction of the pollution intensity gradient as the target location. This application does not specifically limit the method of determining the target location based on the distribution information of dirt levels in heavily polluted areas.

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

[0238] Optionally, the method further includes:

[0239] After friction cleaning of at least a portion of the heavily soiled area, controlling the cleaning robot to perform dirt detection on the heavily soiled area;

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

[0241] In this embodiment, the first preset condition may refer to the degree of residual dirt in the heavily soiled area after friction cleaning being lower than a first threshold and / or the area of ​​dirt being lower than a second threshold. The first preset condition is used to determine whether to start cleaning the heavily soiled area again.

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

[0243] After the cleaning robot completes friction cleaning of at least part of the heavily soiled area, the robot can be controlled to rotate its body direction. The cleaning effect of the heavily soiled area can be evaluated by a front sensor or directly by a rear sensor. This application embodiment does not specifically limit the method of evaluating the cleaning effect or the method of detecting the heavily soiled area (see page 19 / 33 of CN 121730690 A).

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

[0245] In this way, through detection and feedback after cleaning the heavily soiled area, it is ensured that the heavily soiled area is effectively cleaned, avoiding incomplete cleaning.A thorough solution. Furthermore, by repeatedly cleaning heavily soiled areas that do not meet the first preset condition, the energy and time wasted due to blindly repeating friction is avoided. This not only achieves precise utilization of cleaning resources but also improves the reliability and consistency of the cleaning process.

[0246] Optionally, the method further includes:

[0247] When the number of times the cleaning robot performs friction cleaning on at least some heavily soiled areas exceeds a preset number, the cleaning robot is controlled to continue cleaning areas other than the heavily soiled areas in the area to be cleaned.

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

[0249] In this optional step, after the cleaning robot has repeated the friction cleaning of the same at least part of the heavily soiled area a preset maximum number of times, the cleaning of the heavily soiled area can be stopped, and the cleaning robot can be controlled to resume the normal cleaning process for non-heavily soiled areas, so as to avoid getting stuck in ineffective repetitive work on local stubborn stains or misidentified heavily soiled areas. For example, a patterned surface to be cleaned is misidentified as a heavily soiled area.

[0250] It should be noted that in this application, at least part of the heavily soiled area includes all heavily soiled areas and some areas within the heavily soiled areas.

[0251] In this way, by setting an upper limit on the number of times friction cleaning is performed, the cleaning robot is prevented from staying in the same area for a long time due to extremely stubborn stains or misidentified heavily soiled areas, ensuring the overall cleaning task progress efficiency, reducing the sacrifice of overall cleaning progress due to local over-cleaning, thereby reducing unnecessary consumption of energy and time, and improving the overall economy of cleaning operations.

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

[0253] performing dirt detection on the heavily soiled area;

[0254] controlling the spraying device to be in the on state when the degree of dirt and / or the dirt area of ​​the heavily soiled area does not meet the second preset condition.

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

[0256] In this optional step, before the cleaning robot controls the spraying device to be turned on, dirt detection can be performed on the non-fluid dynamic dirt in the heavily soiled area, and the spraying device will only be turned on when the degree of dirt and / or the dirt area does not meet the second preset condition.The spraying device is activated only under certain conditions. This achieves condition-triggered spraying based on the severity of dirt, avoiding unnecessary fluid spraying on minor stains.

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

[0258] In this way, by spraying the target fluid only on heavily soiled areas where the degree of dirt and / or the soiled area reaches a certain dirt standard, unnecessary consumption of cleaning fluid or water is reduced, and the cost of use is lowered. It can also avoid over-treatment of minor stains, allowing cleaning resources to be concentrated on the heavily soiled areas that truly need the assistance of the target fluid, thereby improving the overall cleaning efficiency. In addition, through the above dynamic detection of heavily soiled areas and condition judgment, the cleaning robot can make autonomous decisions based on the actual soiling situation, improving the level of intelligence.

[0259] Optionally, the method further includes:

[0260] After friction cleaning of at least part of the heavily soiled area, if the degree of soiling and / or the area of ​​soiling in the heavily soiled area is detected as not meeting the third preset condition, then the spraying device is controlled to be turned on to spray the target fluid onto the heavily soiled area.

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

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

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

[0264] Optionally, controlling the spraying device to be in the open state to spray the target fluid onto the heavily soiled area includes:

[0265] Controlling the steam preparation device to be in the open state to spray steam onto the heavily soiled area through the nozzle.

[0266] In this optional step, by controlling the steam preparation device to be open, the nozzle directly sprays steam onto the heavily soiled area.The high temperature, humidification, and impact characteristics of steam are used to act on the non-fluid, dirty surface of heavily soiled areas.

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

[0268] Optionally, controlling the spraying device to be in the open state to spray the target fluid into the heavily soiled area includes:

[0269] Controlling the liquid spraying device to be in the open state to spray the target liquid into the heavily soiled area through the nozzle.

[0270] In this optional step, by controlling the spraying device to open, the nozzle directly sprays the target liquid (such as cleaning liquid, water, or a mixed solution) onto the heavily soiled area, utilizing the wetting, dissolving, or chemical reaction properties of the target liquid to act on the stain surface.

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

[0272] Since the target liquid can penetrate and dissolve stain components, or disperse stains through surface activity, spraying the target liquid onto the heavily soiled area can create favorable conditions for subsequent friction cleaning, allowing the stains in the heavily soiled area to dissolve and disperse quickly. Furthermore, this application can select target liquids with different functions according to the type of stain to achieve targeted cleaning and improve the treatment effect.

[0273] Optionally, the method further includes:

[0274] During the process of the spraying device spraying the target fluid into the heavily polluted area, controlling the first light emitting device to be in an open state, so as to visualize the spraying process of the target fluid.

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

[0276] In this way, by emitting detection light to the target fluid, the spraying process is visualized, allowing users to intuitively observe the coverage, uniformity and movement state of the sprayed target fluid, which is convenient for timely evaluation of the spraying effect. Furthermore, visualizing the spraying process of the target fluid can also enhance the user's perception and understanding of the working process of the cleaning robot, and improve the user experience and trust.

[0277] Optionally, the method further includes:

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

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

[0280] In this way, by emitting detection light towards the heavily soiled area, the heavily soiled area is visualized, making it easier for users or cleaning robots to clearly identify the specific location and boundary of the heavily soiled area, facilitating accurate positioning for subsequent cleaning operations. Furthermore, visualizing the heavily soiled area also allows users to directly observe the type of dirt in the heavily soiled area before cleaning, improving the transparency of the cleaning process and user participation. In addition, changes in the color, texture, or reflective properties of stains can be revealed under the illumination of the detection light. Therefore, by emitting detection light towards the heavily soiled area, the degree of dirt can also be assessed, providing an optical basis for the qualitative or quantitative evaluation of the degree of dirt.

[0281] Optionally, the method further includes:

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

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

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

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

[0286] A second initial position for edge detection;

[0287] A second ending position for edge detection;

[0288] The contour information of the heavily soiled area;

[0289] The distribution information of the degree of dirt in the heavily soiled area.

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

[0291] In this way, this application determines the entry cleaning position by defining multiple determination methods, and can select the appropriate entry point according to different scenario requirements to adapt to diverse heavily soiled area shapes and dirt distribution characteristics. Among them, using the initial or ending position of edge detection as the entry point can simplify the position determination logic, reduce additional calculations, and improve response speed. Selecting the entry point based on contour information or dirt distribution information can enable the robot cleaner to start working from a heavily soiled or easily cleaned position, improving the targeting and efficiency of the cleaning process.

[0292] During the process of the cleaning robot performing edge detection on the heavily soiled area according to the edge cleaning path, it can obtain the detailed specification pages 22 / 33 25 CN121730690 A This method ensures accurate boundary information, thereby planning a reasonable entry point for cleaning and avoiding path redundancy or incomplete coverage caused by blindly entering heavily polluted areas. Furthermore, this structured entry ensures that the cleaning robot starts subsequent cleaning operations from a predetermined location, making the cleaning operation orderly. In addition, the boundary data obtained from edge detection can be directly used for subsequent cleaning path planning, thereby improving overall operational efficiency.

[0293] Optionally, the method further includes:

[0294] After the cleaning robot performs edge detection on the heavily polluted area, generating map marker information;

[0295] Sending the map marker information to a terminal device for visualization and controlling the cleaning robot to clean other areas within the cleaning area except for the heavily polluted area according to a preset path;

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

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

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

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

[0300] Optionally, the operation includes a confirm operation, a cancel operation, a target area cleaning operation, a return to the base station operation, etc. Among them, the confirm operation can refer to the operation of confirming the cleaning of the heavily soiled area, and the cancel operation can refer to the operation of canceling the cleaning of the heavily soiled area. This application embodiment does not specifically limit the user's operation on the terminal device; the above is only an example.

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

[0302] In this way, by visually displaying the heavily soiled area markers on the terminal device, users can intuitively understand the distribution of dirt in the heavily soiled area and can remotely intervene in the control, realizing flexible cleaning management through human-machine collaboration. Furthermore, the map marker information is...Visualization also allows users to clearly grasp the cleaning progress and key areas, while remote control gives users the ability to intervene in real time, greatly improving the user experience. In addition, the cleaning robot can continue to clean other non-heavily soiled areas. During this process, users can also plan or instruct special treatment of heavily soiled areas based on map marking information, thereby improving the overall cleaning efficiency.

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

[0304] After cleaning other areas in the area to be cleaned except for the heavily soiled areas, controlling the cleaning robot to return to the heavily soiled area, and controlling the mop to make a first reciprocating movement between the first position and the second position to perform friction cleaning on at least some of the heavily soiled areas.

[0305] In this optional step, after the cleaning robot completes cleaning of areas other than heavily soiled areas within the cleaning area (see page 23 / 33 of the instruction manual, 26 CN 121730690 A), the cleaning robot can be controlled to return to the heavily soiled area, and the mop can be controlled to make a first reciprocating movement between the first and second positions to perform friction cleaning on at least part of the heavily soiled area. The above process can be control logic automatically executed by the cleaning robot, or control logic executed in response to user operation.

[0306] Optionally, during the process of the cleaning robot returning to the heavily soiled area, the entry cleaning position can be determined again, and the heavily soiled area can be cleaned repeatedly from the entry cleaning position.

[0307] In this way, by prioritizing the cleaning of other large, regular areas besides the heavily soiled areas, and then focusing on the heavily soiled areas, the cleaning tasks are executed in a hierarchical and phased manner, making the cleaning process more orderly and improving the work efficiency. It can also avoid contaminating the mop or consuming too much time during the treatment of heavily soiled areas, thus ensuring that the cleaning efficiency of regular areas is not disturbed. And after cleaning other areas in the cleaning area except for the heavily soiled area, the robot returns to the heavily soiled area to focus on reciprocating friction cleaning, which can apply a more continuous and concentrated mechanical action to the heavily soiled area and improve the removal effect of stubborn stains.

[0308] Optionally, the method further includes:

[0309] During the friction cleaning of at least part of the heavily soiled area, controlling the drive wheel to be in a stopped state or controlling the drive wheel to run based on a first speed;

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

[0311] In the embodiments of this application, the first speed may refer to the lower speed at which the drive wheel is controlled to run during the friction cleaning of the heavily soiled area. The second speed may refer to the standard speed when the drive wheel performs the cleaning task of non-heavily soiled area in the normal cleaning mode.

[0312] The normal cleaning mode may refer to the cleaning robot performing standard cleaning on non-heavily soiled areas in the cleaning area.The working mode of the operation, in which the drive wheel operates based on the second speed and the mop operates based on the fourth speed.

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

[0314] In this way, the low speed or stop operation of the drive wheel can reduce the overall movement of the cleaning robot, allowing the mop to act on the same heavily soiled area for a longer time, improving the continuity and intensity of friction cleaning. In addition, the low speed operation of the drive wheel also facilitates precise control of the cleaning robot's fine-tuning movement in the heavily soiled area, avoiding cleaning omissions or deviations due to excessive speed, and improving cleaning accuracy. Furthermore, low speed or stationary cleaning for heavily soiled areas can also reduce ineffective movement of the drive wheel, reducing energy consumption and mechanical wear.

[0315] Optionally, the method further includes:

[0316] When the drive wheel is in a stopped state or the drive wheel is operating based on the first speed, the second drive component is controlled to drive the mop to rotate.

[0317] In this optional step, while the drive wheels are stopped or running at a low speed (first rotation speed), the cleaning robot controls the second drive component to drive the mop to rotate actively. This allows the mop to apply continuous friction cleaning to heavily soiled areas even when the cleaning robot is stationary or moving slowly.

[0318] In this way, the mop rotation can still provide active friction when the cleaning robot is stopped or running at a low speed, avoiding a decrease in cleaning effect due to the cleaning robot stopping, and ensuring continuous and effective treatment of heavily soiled areas. Furthermore, the combination of mop rotation and the low-speed movement of the cleaning robot can form a composite cleaning trajectory in local heavily soiled areas, improving the cleaning coverage and intensity per unit area. In addition, the low speed or stop of the drive wheels can reduce movement energy consumption, while the mop rotation focuses on local cleaning, achieving optimized division of labor in the power system, thereby extending the service life of components. Instruction manual, pages 24 / 33, 27 CN 121730690 A

[0319] Optionally, the method further includes:

[0320] When the drive wheel is in a stopped state or the drive wheel is running at a first speed, controlling the mop to run at a third speed;

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

[0322] In the embodiments of this application, the third speed may refer to the higher speed at which the mop is controlled to run during the friction cleaning process of heavily soiled areas. The fourth speed may refer to the standard speed at which the mop performs cleaning tasks in non-heavily soiled areas in the normal cleaning mode.

[0323] In this optional step, when the drive wheel is in a stopped state or running at a low speed of the first speed, the cleaning robot may control the mop to run at a third speed higher than the normal cleaning mode, so that the mop is restricted or slowed in the movement of the cleaning robot.When the speed is slow, the friction cleaning intensity on heavily soiled areas is enhanced by increasing the speed of the mop itself.

[0324] In this way, the high-speed rotation of the mop can increase the number of frictions with heavily soiled areas per unit time, thereby improving the ability to remove stubborn stains in heavily soiled areas. And when the overall moving speed of the cleaning robot decreases, the increase in the speed of the mop can compensate for the loss of cleaning efficiency caused by slow movement, ensuring the cleaning effect. In addition, for the high-intensity cleaning needs of heavily soiled areas, adjusting the speed of the mop to a higher level can achieve the matching of cleaning parameters and the degree of dirt, enhancing the flexibility of the cleaning strategy.

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

[0326] Controlling the cleaning robot to move a third distance or a seventh duration in the first direction and then stopping, and controlling the mop to perform a first reciprocating movement between the first position and the second position;

[0327] Controlling the cleaning robot to move a fourth distance or an eighth duration in the second direction and then stopping, and controlling the mop to perform a first reciprocating movement between the first position and the second position;

[0328] Wherein, the first direction is opposite to the second direction.

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

[0330] The second direction may refer to the direction of movement opposite to the first direction. The fourth distance may refer to the travel length of the cleaning robot along the second direction. The eighth duration may refer to the duration of the cleaning robot's movement along the second direction.

[0331] Optionally, the first direction is usually a forward direction, and the second direction is usually a backward direction. This embodiment does not limit the specific directions corresponding to the first and second directions. For example, the first and second directions may also be left and right directions.

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

[0333] Wherein, the third distance can be equal to the length of the fourth distance, and the seventh duration and the eighth duration can also be equal. In this embodiment of the application, the specific values ​​corresponding to the third distance, the fourth distance, the seventh duration and the eighth duration are not limited, and they can be set based on application scenario requirements or user requirements.

[0334] Optionally, during the process of the drive wheel running based on the first speed, and / or during the process of the mop running based on the third speed, the cleaning robot can also be controlled to move in the first direction for a third distance or a seventh duration and then stop, and the mop can be controlled to move in the third direction for a third duration and then stop.The mop moves back and forth between the first and second positions for the first time; the cleaning robot is then controlled to move in the second direction again. After a fourth distance or an eighth duration, the mop stops and moves back and forth between the first and second positions for the first time.

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

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

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

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

[0339] Optionally, the method further includes:

[0340] Before performing friction cleaning on at least part of the heavily soiled area, controlling the cleaning robot to perform at least one of the following operations:

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

[0342] Controlling the spraying device to spray the target fluid onto the heavily soiled area;

[0343] Controlling the cleaning robot to return to the cleaning base station to clean the mop.

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

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

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

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

[0348] In this embodiment, the target area may refer to an area that needs to be cleaned intensively or an area in the area that usually has relatively serious dirt, for example, the target area is a kitchen area.

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

[0350] The fifth distance may refer to the distance traveled by the cleaning robot between each two stops of reciprocating friction cleaning in the heavily soiled area. Instruction manual, pages 26 / 33, 29, CN 121730690 A

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

[0352] It should be noted that the embodiments of this application do not limit the specific area type corresponding to the target area or the specific material type corresponding to the target material, nor do they limit the specific values ​​corresponding to the fifth distance and the ninth duration. They can be set based on application scenario requirements or user requirements.

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

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

[0355] In this way, for the target area or the surface of a special target material, intermittent reciprocating friction can avoid insufficient cleaning or surface damage that may be caused by continuous movement, thereby improving cleaning safety and effectiveness. Furthermore, by frequently stopping and performing reciprocating friction, the cleaning force can be concentrated in a local area, which is especially suitable for materials or key areas with high cleaning intensity requirements. In addition, using a fixed fifth distance or a ninth duration as the intermittent trigger condition makes the cleaning process predictable and consistent, which helps to optimize cleaning parameters and energy consumption management.

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

[0357] Controlling the cleaning robot to move backward to clean at least a portion of the heavily soiled areas with the mop;

[0358] Wherein, during the process of controlling the cleaning robot to move backward to clean at least a portion of the heavily soiled areas with the mop, the mop is controlled to perform a first reciprocating movement between the first position and the second position.

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

[0360] In this optional step, by controlling the cleaning robot to move backward, the mop is located behind the direction of movement of the cleaning robot, and during the backward movement, the mop is simultaneously controlled to perform a first reciprocating movement between the first position and the second position, thereby performing friction cleaning on the heavily soiled areas when the cleaning robot moves backward.

[0361] In this way, by controlling the cleaning robot to move backwards to clean heavily soiled areas, the mop can contact and cover the heavily soiled areas earlier, avoiding the crushing or spreading of stains when the drive wheels or other dry cleaning components pass by first, and avoiding the dry cleaning components from touching the dirt first and causing contamination of the dry cleaning components, thereby reducing cross-contamination and improving the overall cleaning effect. In addition, the backward movement combined with the reciprocating friction of the mop can also form a denser cleaning path in heavily soiled areas, which is especially suitable for the concentrated treatment of stubborn stains. Furthermore, by providing two cleaning directions, forward and backward, this application allows the cleaning robot to adjust its cleaning strategy according to the location, shape, or environmental constraints of the heavily soiled area, enhancing the adaptability of the cleaning robot.

[0362] Optionally, during the process of the cleaning robot moving backwards to clean at least part of the heavily soiled area with the mop, the rotation direction of the mop is opposite to the rotation direction of the drive wheels.

[0363] When the drive wheel rotates backward to make the cleaning robot move backward, if the mop rotates in the opposite direction, it will generate a reverse relative motion with the surface to be cleaned. This reverse relative motion forms a combination of shearing and tensile forces at the contact point between the mop and the stain, which can produce a stronger peeling effect on adhesive stains (such as dried oil stains and glue), thereby improving the cleaning effect. Specification 27 / 33 pages 30 CN 121730690 A

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

[0365] Optionally, friction cleaning is performed on at least part of the heavily soiled areas, including:

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

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

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

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

[0370] Optionally, the method further includes:

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

[0372] Wherein, the first plane is higher than the second plane.

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

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

[0375] Thus, at the boundary location where there is a height difference, if the special cleaning mode of reciprocating friction is used, the cleaning robot's posture may become uncontrollable due to frequent vibration or unstable movement of the mop, resulting in an accidental fall and damage, lacking safety assurance.The conventional cleaning mode operates more smoothly, which can reduce the operational risk in complex terrain and improve the safety of operation. In addition, by automatically switching the cleaning mode according to different terrain features, the conventional cleaning module with higher reliability is selected first at the plane intersection, which improves the robustness of the overall cleaning process.

[0376] Optionally, the method further includes:

[0377] When the dirt in the heavily soiled area is detected to be non-flowing dynamic dirt, the attribute information of the heavily soiled area is determined; The attribute information includes at least one of the following: cleaning mode recommendation information generated based on historical cleaning records, and user-specified cleaning mode information; Specification 28 / 33 pages 31 CN 121730690 A

[0378] Control the cleaning robot to be in the target cleaning mode according to the attribute information; The target cleaning mode includes at least: controlling the mop to perform a first reciprocating movement between a first position and a second position to perform friction cleaning on at least part of the heavily soiled area.

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

[0380] Cleaning mode recommendation information may refer to cleaning mode parameters or cleaning mode types recommended for the current heavily soiled area, generated based on the analysis of historical cleaning records.

[0381] Cleaning mode information may refer to the cleaning mode that the user explicitly specifies through instructions or settings, expecting the cleaning robot to use for the heavily soiled area.

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

[0383] In this way, by combining historical cleaning effect data or user habits, a proven and effective cleaning mode can be matched for a specific heavily soiled area, improving the reliability of the cleaning effect and user satisfaction. Furthermore, using historical cleaning records for cleaning mode recommendation enables the cleaning process to have self-learning capabilities, gradually optimizing the response strategy for different types of heavily soiled areas. It supports users actively specifying cleaning modes to meet personalized needs and achieves a balance between automatic recommendations from the cleaning robot and manual intervention, enhancing operational flexibility.

[0384] Optionally, the method further includes:

[0385] When a heavily soiled area is detected, controlling the cleaning robot to avoid the heavily soiled area and generating a second prompt message;

[0386] Controlling the cleaning robot to continue cleaning the area within the cleaning area except for the heavily soiled area according to a preset path.

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

[0388] In this optional step, after the cleaning robot detects a heavily soiled area, it can be controlled to actively avoid that area, refrain from immediate cleaning, generate a second prompt message, and continue to complete the routine cleaning of other areas according to the preset path.

[0389] It should be noted that the display format and content of the second prompt message and the first prompt message are different, and they are used to provide prompts for different scenarios.

[0390] In this way, for heavily soiled areas that may exceed the cleaning capabilities of the cleaning robot or pose operational risks (such as large areas of liquid or near fragile items), active avoidance can prevent cleaning failure or equipment damage. By generating the second prompt message, the location or status record of the heavily soiled area can be provided to the user, facilitating subsequent manual inspection or special handling. In addition, by avoiding the heavily soiled area and continuing to clean the areas outside the heavily soiled area within the area to be cleaned according to the preset path, the overall cleaning task can be avoided due to the handling of the heavily soiled area, ensuring the complete execution of the preset path and improving the overall cleaning efficiency.

[0391] In the foregoing embodiments, the control method for the cleaning robot provided in the embodiments of this application has been described. In order to realize the functions of the methods provided in the embodiments of this application, the electronic device as the execution subject may include hardware structure and / or software module, and implement the above functions in the form of hardware structure, software module, or hardware structure plus software module. Whether a certain function is executed in the form of hardware structure, software module, or hardware structure plus software module depends on the specific application and design constraints of the technical solution. Specification page 29 / 33 32 CN 121730690 A

[0392] For example, FIG10 is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application. The cleaning robot includes a mop assembly, the mop assembly includes a mop, the mop has a first position, a second position and a third position. The first position and the second position are two endpoint positions of the mop during a first reciprocating movement. With the direction of the cleaning robot's movement as the longitudinal direction, the first position and the second and third positions are set at a lateral interval perpendicular to the longitudinal direction. The third position is the maximum limit position of the cleaning robot body in the lateral direction. The distance between the first position and the second position is less than the distance between the first position and the third position. As shown in FIG10, the control device 1000 for the cleaning robot includes:

[0393] a first control module 1001, used to control the cleaning robot to perform edge detection on the heavily soiled area according to the edge cleaning path when a heavily soiled area is detected during the cleaning process of the cleaning robot on the area to be cleaned;

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

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

[0396] when the dirt in the heavily soiled area is detected to be flowing dirt, control the cleaning robot to clean other areas in the area to be cleaned except for the heavily soiled area;

[0397] after a first time period or a first distance, control the cleaning robot to return to the heavily soiled area for friction cleaning, or control the cleaning robot again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dirt.

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

[0399] when the dirt in the heavily soiled area is detected to be flowing dirt, control the cleaning robot to be in a stopped state;

[0400] after a second time period, control the cleaning robot to perform friction cleaning on the heavily soiled area, or control the cleaning robot again to perform edge detection on the heavily soiled area according to the edge cleaning path to determine whether the dirt in the heavily soiled area is non-flowing dirt.

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

[0402] analyze the dirt status of multiple sensor information collected by the cleaning robot during edge detection to determine that there is non-flowing dynamic dirt in the heavily soiled area.

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

[0404] when it is detected that the dirt in the heavily soiled area is non-flowing dynamic dirt and the position and / or size of the heavily soiled area meets the target preset conditions, control the mop to perform a second reciprocating movement between the third position and the fourth position to perform friction cleaning on at least part of the heavily soiled area; the third position and the fourth position are the two endpoint positions of the mop during the second reciprocating movement.

[0405] Optionally, the mop assembly further includes a rotation drive for driving the mop to rotate. The second control module 1002 includes a control unit, which is configured to:

[0406] control the rotation drive to drive the mop to rotate during the process of controlling the mop to perform a first reciprocating movement between a first position and a second position.

[0407] Optionally, the cleaning robot further includes a spraying device. The control device 1000 of the cleaning robot further includes a sixth control module, which is configured to:

[0408] control the spraying device to be turned on before cleaning the heavily soiled area, in order to spray the target fluid onto the heavily soiled area, upon detecting that the dirt in the heavily soiled area is non-fluid dynamic dirt.

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

[0410] controlling the cleaning robot to stop moving after the spraying device is turned on;

[0411] controlling the spraying device to spray hot fluid onto the heavily soiled area after a third time period.

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

[0413] controlling the cleaning robot to stop moving after spraying the target fluid onto the heavily soiled area;

[0414] controlling the cleaning robot to return to the heavily soiled area for friction cleaning after a fourth time period.

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

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

[0417] After performing edge detection of the heavily soiled area, controlling the cleaning robot to travel to the target position, and at the target position, controlling the cleaning robot to enter the heavily soiled area for friction cleaning.

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

[0419] This application embodiment also provides an electronic device. FIG11 is a schematic diagram of the structure of an electronic device provided in this application embodiment. As shown in FIG11, the electronic device may include: a processor 1101 and a memory 1102 communicatively connected to the processor 1101; the memory 1102 stores a computer program; the processor 1101 executes the computer program stored in the memory 1102, so that the processor 1101 executes the method described in any of the above embodiments.

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

[0421] This application embodiment also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0422] This application embodiment also provides a chip for executing instructions, which is used to execute the methods described in any of the foregoing embodiments of this application executed by an electronic device.

[0423] This application embodiment also provides a computer program product, which includes a computer program, which, when executed by a processor, can implement the methods described in any of the foregoing embodiments of this application executed by an electronic device.

[0424] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented through their...Its implementation method. For example, the device embodiments described above are merely illustrative. For example, the division of modules is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be electrical, mechanical or other forms. Specification 31 / 33 pages 34 CN 121730690 A

[0425] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the modules can be selected to implement the scheme of this embodiment according to actual needs.

[0426] In addition, the functional modules in the various embodiments of this application may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned modules can be implemented in hardware or in the form of hardware plus software functional units.

[0427] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above-mentioned software functional modules stored in a storage medium include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0428] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the application can be directly embodied in the execution of hardware processors, or the execution of hardware and software modules in the processor.

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

[0430] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses in the accompanying drawings of this application are not limited to only one bus or one type of bus.

[0431] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0432] An exemplary storage medium is coupled to a processor, thereby enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0433] It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should know that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application. Specification 32 / 33 pages 35 CN 121730690 A

[0434] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0435] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, they should be considered to be within the scope of this specification.

[0436] Other embodiments of this application will be readily apparent to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the art that are not disclosed in this application. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0437] The above are only specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims. Instruction manual 33 / 33 pages 36 CN 121730690 A Figure 1 Figure 2 Instruction manual Appendix 1 / 5 pages 37 CN 121730690 A Figure 3 Figure 4 Instruction manual Appendix 2 / 5 pages 38 CN 121730690 A Figure 5 Figure 6 Instruction manual Appendix 3 / 5 pages 39 CN 121730690 A Figure 7 Figure 8 Instruction manual Appendix 4 / 5 pages 40 CN 121730690 A Figure 9 Figure 10 Figure 11 Instruction manual Appendix 5 / 5 pages 41 CN 121730690 A Abstract The present application provides a control method and apparatus for acleaning robot, as well as a cleaning robot, relating to the technical field of cleaning equipment. A mop of the cleaning robot is provided with a first position, a second position, and a third position. The first position and the second position are two end positions of the mop during a first reciprocating movement. The third position is a maximum limit position to which the mop can radially extend relative to the machine body when performing cleaning. The distance between the first position and the second position is smaller than the distance between the first position and the third position. During the process of the cleaning robot cleaning an area to be cleaned, if a heavily soiled area is detected, the cleaning robot is controlled to perform edge detection on the heavily soiled area along an edge cleaning path. If it is determined that the dirt in the heavily soiled area is non-flowable dirt, the mop is controlled to perform a first reciprocating movement between the firstposition and the second position to perform frictional cleaning on the heavily soiled area. This not only improves cleaning efficiency but also effectively prevents dirt diffusion and reduces resource loss. During the process of the cleaning robot cleaning the area to be cleaned, if a heavily soiled area is detected, controlling the cleaning robot to perform edge detection on the heavily soiled area along an edge cleaning path. If it is detected that the dirt in the heavily soiled area is non-flowable dirt, controlling the mop to perform a first reciprocating movement between the first position and the second position so as to perform frictional cleaning on at least part of the heavily soiled area. S701 S702

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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