Cleaning method, cleaning robot, and computer-readable recording medium

Abstract

To provide a cleaning method, a cleaning robot, and a computer-readable recording medium.SOLUTION: There are provided a cleaning method, a cleaning robot, and a computer-readable recording medium. In the cleaning method, a dead space for an obstacle for the cleaning robot is cleaned by driving the rear end of the cleaning robot, causing the cleaning robot to be deflected toward the obstacle over a plurality of times or to be returned from the deflection position while the cleaning robot is travelling along the edge. Since cleaning is performed by deflecting a cleaning member to a dead space by the deflection of the rear end of the cleaning robot over a plurality of times, the task of cleaning a dead space existing when performing cleaning along the edge is remedied, and a cleaning effect of the cleaning robot can be improved.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a cleaning method, a cleaning robot, and a computer-readable recording medium. [Background technology]

[0002] 1 and 2, in the prior art, a cleaning robot includes a floor cleaning module 11 and a floor mopping module 12, where the floor cleaning module 11 is installed at the front end of the bottom of the cleaning robot, and the floor mopping module 12 is installed at the rear end of the bottom of the cleaning robot. During the process of the cleaning robot performing edge cleaning in the normal edge-following traveling direction, a dead space for floor mopping exists between the cleaning member of the floor mopping module 12 and an obstacle, which affects the cleaning effect of the cleaning robot. Summary of the Invention [Problem to be solved by the invention]

[0003] The technical problem that the present invention is intended to solve is that when performing edge cleaning, a dead space exists between a cleaning member at the rear end of the cleaning robot and an obstacle, which affects the cleaning effect of the cleaning robot. [Means for solving the problem]

[0004] In order to solve the above technical problems, a first aspect of the present invention provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning member installed at a rear end of the cleaning robot, in which the cleaning robot cleans a dead space around the obstacle by driving the rear end of the cleaning robot to deflect the cleaning robot toward the obstacle or move away from the obstacle and return multiple times during the process of the cleaning robot traveling along the obstacle.

[0005] In an exemplary embodiment, the cleaning method further includes making a cleaning area from each deflection of the cleaning member partially overlap or be adjacent to a cleaning area from a previous deflection.

[0006] In an exemplary embodiment, the cleaning method further includes driving a rear end of the cleaning robot to deflect the cleaning robot toward the obstacle when a constraint condition for the cleaning robot to travel along the obstacle is satisfied.

[0007] In one exemplary embodiment, the constraint condition for traveling along the obstacle includes that the distance between the cleaning robot and the obstacle satisfies a preset distance condition, where the preset distance condition is that the distance between the cleaning robot and the obstacle detected in real time is equal to a preset distance threshold or falls within a preset distance interval.

[0008] In an exemplary embodiment, the cleaning method further includes deflecting a rear end of the cleaning robot toward the obstacle while the cleaning robot is stopped from traveling.

[0009] In one exemplary embodiment, the cleaning area at the end of each deflection of the cleaning member partially overlaps or abuts the cleaning area at the end of each return.

[0010] In one exemplary embodiment, the cleaning robot drives its rear end in a travel direction along an obstacle to start deflecting toward the obstacle, and the cleaning robot drives its rear end back to a position in the travel direction along the obstacle or at the start of deflection.

[0011] In one exemplary embodiment, the cleaning method further includes completing deflection of a rear end of the cleaning robot toward the obstacle and deflection of a rear end of the cleaning robot away from the obstacle multiple times during continuous travel of the cleaning robot.

[0012] In an exemplary embodiment, the cleaning method further includes moving the cleaning robot in a wavy or broken line.

[0013] A second aspect of the present invention provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning member installed at a rear end of the cleaning robot, the cleaning method including stopping the cleaning robot in a running direction along an obstacle and driving its rear end to deflect it toward the obstacle, driving its rear end by the cleaning robot to return it from the deflected position, and traveling the cleaning robot a first distance in the running direction along the obstacle.

[0014] In one exemplary embodiment, the cleaning method further includes making a cleaning area from each deflection of the cleaning member overlap or be adjacent to a cleaning area from a previous deflection.

[0015] In an exemplary embodiment, the cleaning method further includes adjusting a first distance traveled by the cleaning robot and a number of deflections according to a turning radius of the cleaning robot along the obstacle when the cleaning robot turns along the obstacle.

[0016] In one exemplary embodiment, when the turning radius of the cleaning robot around an obstacle is small, the first distance traveled by the cleaning robot is large and the number of deflections is small.

[0017] In one exemplary embodiment, when the turning radius of the cleaning robot around an obstacle is small, the first distance traveled by the cleaning robot is small and the number of deflections is large.

[0018] A third aspect of the present invention provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning member installed at a rear end of the cleaning robot, the cleaning method including: deflecting a rear end of the cleaning robot toward the obstacle and returning away from the obstacle a plurality of times while the cleaning robot continuously travels along an obstacle; making a cleaning area by each deflection and return of the cleaning member partially overlap or be adjacent to a cleaning area by a previous deflection and return; and traveling the cleaning robot a second distance in a traveling direction along the obstacle each time one deflection cleaning cycle is completed.

[0019] In an exemplary embodiment, the cleaning method further includes adjusting a second distance traveled by the cleaning robot and a number of deflections according to a turning radius of the cleaning robot along the obstacle when the cleaning robot turns along the obstacle.

[0020] In one exemplary embodiment, when the turning radius of the cleaning robot around an obstacle is small, the second distance traveled by the cleaning robot is large and the number of deflections is small.

[0021] In one exemplary embodiment, when the turning radius of the cleaning robot around an obstacle is small, the second distance traveled by the cleaning robot is small and the number of deflections is large.

[0022] A fourth aspect of the present invention further provides a cleaning robot, comprising a processor and a memory, the processor being communicatively connected to the memory, the memory storing a plurality of commands, and the processor, when executing the plurality of commands, realizing the above-mentioned cleaning method.

[0023] A fifth aspect of the present invention further provides a computer-readable recording medium for use in a cleaning robot, the computer-readable recording medium storing a plurality of commands, and the cleaning robot realizing the above-mentioned cleaning method when it executes the plurality of commands. Effect of the Invention

[0024] In the present invention, while the cleaning robot is moving along an edge, the rear end of the cleaning robot is deflected toward and back from an obstacle multiple times, and the multiple deflections of the rear end of the cleaning robot deflect the cleaning member to a dead space position to clean the dead space of the cleaning robot against the obstacle, thereby improving the problem of cleaning the dead space that exists when cleaning along an edge and improving the cleaning effect of the cleaning robot. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is a diagram showing a conventional cleaning robot moving linearly along an obstacle; [Diagram 2] FIG. 1 is a diagram showing a conventional cleaning robot moving along an obstacle in a curved line. [Diagram 3] 4A and 4B are diagrams illustrating a case where the cleaning robot according to the embodiment of the present invention linearly follows an obstacle; [Figure 4] 11 is a diagram showing a case where another type of cleaning robot according to an embodiment of the present invention moves linearly along an obstacle. FIG. [Diagram 5] 11A and 11B are diagrams illustrating a case where another type of cleaning robot according to an embodiment of the present invention moves linearly along an obstacle. [Figure 6] 11A and 11B are diagrams illustrating a case where the cleaning robot according to the embodiment of the present invention curves along an obstacle. [Figure 7] 11 is another diagram showing the cleaning robot according to the embodiment of the present invention moving along an obstacle in a curved line. FIG. [Figure 8] 4 is a flowchart illustrating a cleaning method according to an embodiment of the present invention. [Figure 9] 5 is a flowchart illustrating a cleaning method according to another embodiment of the present invention. [Figure 10] 1 is a block diagram showing a cleaning robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, the technical solutions in the embodiments of the present invention will be described clearly and completely in accordance with the drawings of the embodiments of the present invention. It is clear that the described embodiments are only some of the embodiments of the present invention, not all of the embodiments of the present invention. The following description of at least one exemplary embodiment is essentially explanatory and does not limit the present invention and its application or use in any way. All other embodiments obtained by those skilled in the art without making inventive efforts based on the embodiments of the present invention should be included in the scope of the claims of the present invention.

[0027] First Example: 3 to 7 are diagrams showing a case where the cleaning robot moves along an obstacle in a straight line and a case where the cleaning robot moves along the obstacle in a curved line, respectively. In the process of the cleaning robot moving along the obstacle, cleaning along the obstacle can be performed by the cleaning method according to the embodiment of the present invention.

[0028] As shown in Figures 3 to 7, the present invention discloses a cleaning method for a cleaning robot, the cleaning robot includes a cleaning member 21 installed at the rear end of the cleaning robot, and the cleaning method cleans the dead space around the obstacle by driving the rear end of the cleaning robot to deflect it toward the obstacle multiple times (as shown in Figures 3 and 5) or move it away from the obstacle and return it while the cleaning robot travels along the obstacle. In the present invention, the rear end of the cleaning robot when traveling is defined as the rear end of the cleaning robot.

[0029] In the present invention, the cleaning member 21 is deflected into the dead space by multiple deflections of the rear end of the cleaning robot to clean the dead space around an obstacle, thereby solving the problem of cleaning the dead space that exists when cleaning along an obstacle and improving the cleaning effect of the cleaning robot.

[0030] The dead space is a gap or area that cannot be cleaned by the cleaning member 21, which is formed between the cleaning member 21 and an obstacle when cleaning is performed in the travel direction along the obstacle.

[0031] Specifically, the cleaning robot controls its drive device to drive the rear end of the cleaning robot to deflect or return. For example, in some embodiments, two drive wheels 22 (shown in Figs. 3 to 5) are provided at a position near the rear of the bottom of the cleaning robot, and the two drive wheels 22 can be controlled to drive the rear end of the cleaning robot to deflect or return.

[0032] The "cleaning member" of the present invention may be in various forms as long as it has a cleaning function, for example, but is not limited to, a mop, a wiper, a roller brush, etc. The cleaning member 21 may be stationary relative to the cleaning robot, or may rotate or move relative to the chassis of the cleaning robot, but is not limited to these in the present invention. In the examples shown in Figs. 3, 6, and 7, the cleaning member 21 is a wiper that can rotate relative to the chassis of the cleaning robot, and in the examples shown in Figs. 4 and 5, the cleaning member is a mop attached to the chassis of the cleaning robot.

[0033] Besides the "cleaning member", other modules of the cleaning robot according to the present invention may be in various forms, for example, the cleaning robot may not be provided with other cleaning members other than the above-mentioned cleaning members, or other cleaning members may be provided together with the above-mentioned cleaning members. In the example shown in FIG. 3, a floor cleaning member 23 is provided at the front end of the cleaning robot. Furthermore, for example, the cleaning robot may be in various overall forms, and in the examples shown in FIG. 3 and FIG. 5, both have different overall forms, but both can achieve cleaning of dead spaces by the cleaning method according to the present invention. In summary, the cleaning robot may be in various forms, and as long as the cleaning method according to the present invention improves the problem of cleaning dead spaces existing in the cleaning members at the rear end of the cleaning robot, all of them should be included in the protection scope of the present invention.

[0034] The term "deflection" in the present invention means that the rear end of the cleaning robot is deflected toward the obstacle in the running direction of the cleaning robot along the obstacle, and the cleaning member 21 installed at the rear end of the cleaning robot can cover the dead space that cannot be covered by cleaning in the running direction along the obstacle. It should be noted that the "deflection" in the present invention does not necessarily mean deflection from the running direction of the cleaning robot along the obstacle, but only means that the area (dead space) that cannot be cleaned in the running direction along the obstacle can be covered by the cleaning member 21 at the rear end of the cleaning robot as a result of the "deflection". For example, when the deflection starts, the rear end of the cleaning robot may be deflected to one side away from the obstacle in the running direction along the obstacle.

[0035] The "traveling direction along the obstacle" of the present invention means the direction in which the cleaning robot normally travels along the obstacle, and means that the cleaning robot travels with an appropriate gap between the cleaning robot and the obstacle. When the cleaning robot cleans in the traveling direction along the obstacle, the gap or area formed between the cleaning member 21 and the obstacle is formed as a cleaning dead space.

[0036] The term "return" in the present invention refers to returning the rear end of the cleaning robot from the deflected position (the position at the end of deflection). It should be noted that the present invention does not strictly limit the degree of "return" and may return to a normal position (i.e., a position in the traveling direction along the obstacle) or may return to a non-normal position, for example, a position that does not return to the normal position or a position that exceeds the normal position.

[0037] In some embodiments of the cleaning method according to the present invention, the cleaning method further comprises making the cleaning area of ​​each deflection of the cleaning member 21 overlap or be adjacent to the cleaning area of ​​the previous deflection.

[0038] The "cleaning area by deflection" of the present invention refers to the corresponding area of ​​the dead space that the cleaning member 21 covers by deflection.

[0039] Optionally, "adjacent" may refer to being located immediately adjacent or with a gap therebetween.

[0040] In some embodiments of the cleaning method of the present invention, when the cleaning robot satisfies a constraint condition for moving along an obstacle, the cleaning method drives the rear end of the cleaning robot to deflect it toward the obstacle, thereby contributing to the effect of cleaning the dead space by the cleaning member 21.

[0041] The "constraint condition for traveling along an obstacle" in the present invention refers to a condition that is set so that the cleaning robot can smoothly perform cleaning along the obstacle and the cleaning robot does not deviate from the normal traveling direction along the obstacle. If the cleaning robot does not satisfy the constraint condition for traveling along an obstacle, the position of the cleaning robot is adjusted by changing direction, etc., to facilitate returning the cleaning robot to the traveling direction along the obstacle. Of course, the constraint condition for traveling along an obstacle may be one or may not be only one. If there is more than one constraint condition for traveling along an obstacle, at least one of the constraint conditions for traveling along an obstacle may be required to drive the rear end of the cleaning robot to deflect it toward the obstacle. It is not excluded that other constraint conditions are also required to drive the rear end of the cleaning robot to deflect it toward the obstacle.

[0042] In one exemplary embodiment, the constraint condition for traveling along the obstacle includes that the distance between the cleaning robot and the obstacle satisfies a preset distance condition. When the distance between the cleaning robot and the obstacle satisfies the preset distance condition, the rear end of the cleaning robot is driven to deflect toward the obstacle, thereby contributing to ensuring the cleaning effect of the dead space by deflection cleaning. Of course, the present invention is not limited to the premise that the distance between the cleaning robot and the obstacle satisfies the preset distance condition when the rear end of the cleaning robot is driven to deflect toward the obstacle.

[0043] Specifically, in the process of some cleaning robots traveling along an obstacle, it is detected in real time whether the distance between the cleaning robot and the obstacle satisfies a preset distance condition. If the distance value detected in real time does not satisfy the preset distance condition, the position of the cleaning robot is adjusted by turning around, etc., to facilitate returning the cleaning robot to the traveling direction along the obstacle, and ensure that the cleaning robot travels along the obstacle reliably. For example, when the cleaning robot travels along the obstacle in a straight line (along a straight edge), setting the preset distance condition contributes to the cleaning robot traveling approximately straight along the obstacle. The preset distance condition is, in other words, a preset distance condition that must be satisfied every time the rear end of the cleaning robot of the present invention is deflected.

[0044] In one exemplary embodiment, the preset distance condition is that the distance between the cleaning robot and an obstacle detected in real time is equal to a preset distance threshold, and this setting contributes to ensuring the cleaning effect of dead spaces by deflecting the rear end of the cleaning robot.

[0045] Of course, this preset distance condition is not limited to the above exemplary embodiment, and may be, for example, that the distance between the cleaning robot and an obstacle detected in real time is relatively small within the range of the preset distance interval.

[0046] In the present invention, the "distance between the cleaning robot and the obstacle" is not specifically defined, and may be, for example, the distance between a set reference point and a point on the obstacle edge corresponding to the normal to the obstacle edge, or the distance between two or more position points of the cleaning robot and a point on the obstacle edge corresponding to the normal to the obstacle edge.

[0047] The manner of acquiring the distance between the cleaning robot and the obstacle varies depending on the cleaning robot. Optionally, specific examples of the method for acquiring the distance between the cleaning robot and the obstacle are disclosed in Chinese patent applications with application numbers CN201910008516.3 and CN201910008517.8.

[0048] In some embodiments of the cleaning method of the present invention, the cleaning method further includes deflecting the rear end of the cleaning robot toward the obstacle at a preset angle value, which helps the cleaning robot to perform stable deflection cleaning and further helps improve the cleaning effect of the cleaning member 21 in the dead space.

[0049] In some embodiments of the cleaning method according to the present invention, the cleaning method further includes deflecting the rear end of the cleaning robot toward the obstacle while the robot is stopped. That is, when a condition required for deflection is satisfied, the robot stops moving, and then the rear end of the cleaning robot is driven to deflect the rear end toward the obstacle. Since the rear end of the cleaning robot is deflected toward the obstacle while the robot is stopped, this contributes to improving the cleaning effect of the cleaning member 21 in cleaning the dead space.

[0050] In one exemplary embodiment, the cleaning area when the cleaning member 21 finishes each deflection and the cleaning area when the cleaning member 21 finishes returning are made to partially overlap or adjoin each other. In the present invention, the "cleaning area when the deflection is finished" refers to the area covered by the cleaning member 21 when the deflection is finished, and the "cleaning area when the return is finished" refers to the area covered by the cleaning member 21 when the return is finished. Specifically, the rear end of the cleaning robot is returned from the deflection position (the position when the deflection is finished) when the traveling is stopped. The deflection and return of the rear end of the cleaning robot are performed to the same position when the traveling is stopped, which contributes to reliable progress of deflection cleaning.

[0051] After the rear end of the cleaning robot has finished returning, the cleaning robot may continue traveling and perform the next deflection and return operation to the next stopping position before the cleaning along the current obstacle is completed.

[0052] Of course, when the rear end of the cleaning robot is deflected toward an obstacle while the cleaning robot is stopped, the return of the rear end of the cleaning robot is not limited to being performed while the cleaning robot is stopped, but may be performed while the cleaning robot is moving, i.e., the rear end of the cleaning robot may be returned while the cleaning robot is moving. The movement of the cleaning robot at this stage involves the movement of the cleaning robot in the moving direction along the obstacle and the return direction.

[0053] In addition, the deflection of the rear end of the cleaning robot toward the obstacle is not limited to being performed when the cleaning robot is stopped, but may be performed while the cleaning robot is moving, i.e., the rear end of the cleaning robot may be deflected while moving. The movement of the cleaning robot at this stage includes the movement of the cleaning robot in the traveling direction along the obstacle and the deflection direction. In this case, the return manner of the rear end of the cleaning robot is not particularly limited.

[0054] In an exemplary embodiment of the cleaning method according to the present invention, the cleaning robot starts deflecting toward the obstacle by driving its rear end in a running direction along the obstacle, and then drives its rear end to return to the running direction along the obstacle or to the position at the start of the deflection. This operation allows the cleaning robot to deflect, return, and travel quickly, which contributes to shortening the overall time required for cleaning along the obstacle.

[0055] In an exemplary embodiment of the cleaning method according to the present invention, the cleaning method further includes completing the deflection of the rear end of the cleaning robot toward the obstacle and returning back multiple times during the continuous running of the cleaning robot, which is advantageous to improve the cleaning effect of the dead space and to improve the overall cleaning efficiency.

[0056] Optionally, the cleaning method further comprises causing the cleaning robot to travel in a wavy or broken line.

[0057] Second Example 3 to 8, the present invention discloses a cleaning method for a cleaning robot, where the cleaning robot includes a cleaning member 21 installed at a rear end of the cleaning robot, and the cleaning method includes the following steps shown in FIG.

[0058] 101: The cleaning robot is stopped in the running direction along the obstacle, and the rear end of the cleaning robot is driven to deflect toward the obstacle. When the deflection of the rear end of the cleaning robot stops, i.e., when the cleaning robot is in the deflected position, a part of the cleaning member 21 is deflected to the dead space between the cleaning member 21 and the obstacle when not deflected, thereby cleaning the corresponding area of ​​the dead space. Since the deflection of the rear end of the cleaning robot toward the obstacle is performed while the robot is stopped running, this contributes to improving the cleaning effect of the cleaning member 21 in the dead space.

[0059] 102: The rear end of the cleaning robot is driven to return it from the deflection position. That is, when the cleaning robot is returned from the deflection position, the movement is stopped, and when interference is eliminated, the cleaning robot is returned normally to the position at the start of the deflection. The position at the start of the deflection and the position at the end of the return are the same position in the traveling direction along the obstacle, so that the cleaning effect of the dead space is ensured and the cleaning efficiency of the cleaning robot is improved.

[0060] 103: The cleaning robot is caused to travel a first distance in a travel direction along the obstacle.

[0061] In some embodiments, the first distance is equal to or less than the cleaning width of the cleaning member 21 in the running direction along the obstacle when the cleaning robot stops. The interpretation of the cleaning width may differ depending on the cleaning member 32. For example, in an example as shown in FIG. 3, the cleaning width may be the range that the cleaning member 21 rotates to cover in the running direction along the obstacle when the cleaning robot stops, and in an example as shown in FIG. 4, the cleaning width may be the width of the cleaning member 21 itself, or, if the cleaning member is a roll brush, the cleaning width may be the diameter of the roller brush.

[0062] Optionally, the direction of travel along the obstacle may or may not be parallel to the outer contour of the obstacle.

[0063] Next, the cleaning robot repeatedly executes the above steps 101 to 103 until the cleaning task along the obstacle in the current stage is completed or the current cleaning policy is changed.

[0064] The present invention improves the cleaning problem of the dead space that exists when cleaning along an obstacle by deflecting the rear end of the cleaning robot multiple times to deflect the cleaning member 21 into the dead space and perform cleaning, thereby improving the cleaning effect of the cleaning robot.

[0065] In some embodiments of the cleaning method according to the present invention, the cleaning method further includes making the cleaning area from each deflection of the cleaning member 21 partially overlap or be adjacent to the cleaning area from the previous deflection, thereby contributing to cleaning of the dead space.

[0066] In the present invention, the cleaning area resulting from each deflection of the cleaning member 21 being adjacent to the cleaning area resulting from the previous deflection means being located immediately adjacent to the cleaning area resulting from the previous deflection. Naturally, the cleaning area resulting from each deflection of the cleaning member 21 may be set to partially overlap or be adjacent to the cleaning area resulting from the previous deflection, or may be set with a gap therebetween.

[0067] Third Example As shown in FIGS. 3 to 7 and 9, the present invention discloses a cleaning method for a cleaning robot, where the cleaning robot includes a cleaning member 21 installed at a rear end of the cleaning robot, and the cleaning method includes the following steps.

[0068] 201: When the cleaning robot turns along an obstacle (along a curved edge), adjust a first distance traveled by the cleaning robot and a number of deflections according to a turning radius of the cleaning robot along the obstacle. In this embodiment, the cleaning robot realizes turning when curvilinearly following the obstacle by setting different turning radii.

[0069] Taking FIG. 6 as an example, when the cleaning robot is positioned outside an obstacle (travels around the obstacle), the smaller the turning radius of the cleaning robot when it turns around the obstacle, the larger the allowable overlap area between the cleaning area when the cleaning robot stops for each deflection and the cleaning area when it stops for the return becomes, and the larger the allowable travel distance of the cleaning robot for each deflection becomes, and the fewer the number of deflections and returns becomes correspondingly.

[0070] In the example of turning along an obstacle shown in FIG. 7, when the cleaning robot is positioned inside the obstacle (the inner area surrounded by the obstacle) and turns along the obstacle, the smaller the turning radius, the smaller the allowable overlap area between the cleaning area at the end of each deflection and the cleaning area at the end of each return of the cleaning robot becomes, and the smaller the allowable travel distance of the cleaning robot each time becomes, and the corresponding number of deflections and returns becomes greater.

[0071] 202: The cleaning robot is stopped in the travel direction along the obstacle, and the rear end of the cleaning robot is driven to deflect the cleaning robot toward the obstacle.

[0072] 203: The rear end of the cleaning robot is driven to return from the deflected position.

[0073] 204: The cleaning robot is caused to travel a first distance in a travel direction along the obstacle.

[0074] Next, the cleaning robot repeatedly executes the above steps 202 to 204 until the cleaning task along the obstacle in the current stage is completed (a preset number of deflections is completed) or the current cleaning policy is changed.

[0075] Optionally, the direction of travel along the obstacle may or may not be parallel to the outer contour of the obstacle.

[0076] The present invention improves the cleaning problem of the dead space that exists when cleaning along an obstacle by deflecting the rear end of the cleaning robot multiple times to deflect the cleaning member 21 into the dead space and perform cleaning, thereby improving the cleaning effect of the cleaning robot.

[0077] Fourth embodiment The present invention discloses a cleaning method for a cleaning robot, where the cleaning robot includes a cleaning member 21 installed at a rear end of the cleaning robot, and the cleaning method includes the following steps: While the cleaning robot travels continuously along the obstacle, the rear end of the cleaning robot is deflected toward the obstacle and back away from the obstacle multiple times. The cleaning area by each deflection and return of the cleaning member is made to partially overlap or be adjacent to the cleaning area by the previous deflection and return. Each time one deflection cleaning cycle is completed, the cleaning robot is caused to travel a second distance in the travel direction along the obstacle.

[0078] In some embodiments, the cleaning method further includes adjusting a second distance traveled by the cleaning robot and a number of deflections according to a turning radius of the cleaning robot along the obstacle when the cleaning robot turns along the obstacle.

[0079] In some embodiments, the second distance is equal to or less than twice the cleaning width in the running direction along the obstacle of the cleaning robot 21. Note that the second distance is the displacement of the robot in the direction along the obstacle when one deflection and return cycle is completed in the course of the cleaning robot's continuous running.

[0080] The cleaning width may be interpreted differently depending on the cleaning member 21. For example, in the example shown in Fig. 3, the cleaning width may be the range that the cleaning member 21 rotates on its axis to cover in the running direction along the obstacle when the cleaning robot stops, and in the example shown in Fig. 4, the cleaning width may be the width of the cleaning member 21 itself, or, if the cleaning member is a roll brush, the cleaning width may be the diameter of the roller brush.

[0081] In some examples, the cleaning robot is positioned outside the obstacle (travels around the obstacle), and the smaller the turning radius of the cleaning robot when it turns around the obstacle, the larger the allowable overlap area between the cleaning area at each deflection stop of the cleaning robot and the cleaning area at each return stop of the cleaning robot, and the larger the allowable travel distance of the cleaning robot at each time, and correspondingly the fewer the number of deflections and returns.

[0082] In some examples, the smaller the turning radius when the cleaning robot is positioned inside an obstacle (the inner area surrounded by the obstacle) and turns around the obstacle, the smaller the allowable overlap area between the cleaning area at the end of each deflection and the cleaning area at the end of each return of the cleaning robot, and the smaller the allowable travel distance of the cleaning robot each time, and correspondingly the more times it deflects and returns.

[0083] Of course, the above embodiments are merely examples for explaining the cleaning method of the present invention, and are not intended to limit the present invention. In addition, any technical solution for driving the rear end of the cleaning robot to deflect toward and return from the obstacle multiple times during cleaning along the obstacle, thereby allowing the cleaning member of the cleaning robot to clean the dead space, is within the scope of protection of the present invention.

[0084] Fifth Example As shown in FIG. 10, the present invention discloses a cleaning robot, which includes a processor 300 and a memory 100, the processor 300 is communicatively connected to the memory 400, and a plurality of commands are stored in the memory 400, and the processor 300 executes the plurality of commands to realize the cleaning method of the above-mentioned embodiment.

[0085] Sixth embodiment The present invention discloses a computer-readable recording medium, which is used in a cleaning robot, and the computer-readable recording medium stores a plurality of commands, and the cleaning robot executes the plurality of commands to realize the cleaning method of the above-mentioned embodiment.

[0086] It should be noted that what is specifically described in each embodiment of the present invention has a different configuration from other embodiments, and the same or similar parts of each embodiment can be referred to each other.

[0087] The above are only illustrative examples of the present invention, and do not limit the present invention. Any amendments, equivalent replacements and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning method for a cleaning robot, comprising: The cleaning robot includes a cleaning member installed at a rear end of the cleaning robot, when a front end of the cleaning robot faces a traveling direction and an obstacle appears on the left or right side of the cleaning robot, and a minimum distance between an outer contour of a cleaning member and the obstacle on the left or right side is greater than a minimum distance between an outer contour of a chassis below the cleaning robot and the obstacle on the left or right side, so that when the cleaning robot cleans in the traveling direction along the obstacle on the left or right side, a gap or area that cannot be covered by the cleaning member formed between the cleaning member and the obstacle on the left or right side constitutes a dead space; In the process of the cleaning robot moving along the edge, (1) driving a rear end of the cleaning robot to deflect the rear end toward an obstacle on the left side or the right side; (2) driving a rear end of the cleaning robot to move the rear end away from the obstacle on the left side or the right side and return, the deflection and the return being used for cleaning the dead space; The cleaning member includes a mop or a wiper, and the cleaning method further includes sequentially repeating steps (1) and (2) multiple times; deflecting a rear end of the cleaning robot toward the obstacle on the left side or the right side while the cleaning robot is stopped; The cleaning robot drives a rear end in a travel direction along the obstacle on the left side or the right side to start deflecting toward the obstacle on the left side or the right side; A cleaning method comprising the steps of: driving the rear end of the cleaning robot to return in a travel direction along the obstacle on the left side or the right side by the cleaning robot.

2. The cleaning method according to claim 1 , further comprising: making a cleaning area by each deflection of the cleaning member overlap or be adjacent to a cleaning area by a previous deflection.

3. 2. The cleaning method of claim 1, further comprising: driving a rear end of the cleaning robot to deflect the cleaning robot toward the obstacle on the left or right side when a constraint condition that the cleaning robot travels along the obstacle on the left or right side is satisfied.

4. the constraint condition for traveling along the obstacle on the left side or the obstacle on the right side includes that a distance between the cleaning robot and the obstacle on the left side or the obstacle on the right side satisfies a preset distance condition; The cleaning method according to claim 3, wherein the preset distance condition is that a distance between the cleaning robot and an obstacle on the left or right side detected in real time is equal to a preset distance threshold or falls within a preset distance range.

5. 2. The cleaning method of claim 1, further comprising driving a rear end of the cleaning robot to deflect the rear end of the cleaning robot toward the obstacle on the left or right side a plurality of times, or to deflect the rear end of the cleaning robot away from the obstacle on the left or right side a plurality of times, while the cleaning robot is continuously traveling.

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