Carpet cleaning method and cleaning robot

Abstract

The present application relates to a carpet cleaning method and a cleaning robot. The method comprises: recognizing a moving scenario of a cleaning robot, and in an on-carpet moving scenario, acquiring the type of a carpet on which the cleaning robot moves; determining a carpet cleaning mode on the basis of the type of the carpet; and cleaning said carpet on the basis of the carpet cleaning mode. In the method, a corresponding carpet cleaning mode is determined on the basis of the type of a carpet, such that the adaptation degree between the type of the carpet and the carpet cleaning mode is improved, and targeted cleaning of the carpet on which a cleaning robot moves is achieved, thereby improving the carpet cleaning effect.

Description

Method and cleaning robot for cleaning carpet

[0001] Related applications

[0002] The present application claims priority to the Chinese patent application No. 2024106431688, filed on May 22, 2024, and entitled "Method and cleaning robot for cleaning carpet", the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of robots, and in particular, to a method and cleaning robot for cleaning carpet. BACKGROUND

[0004] With the development of technology, cleaning robots are increasingly widely used.

[0005] In the related art, a cleaning robot can identify whether a travel scene is a ground scene or a carpet scene, and thus adopt a corresponding cleaning mode to perform a cleaning task.

[0006] However, the cleaning effect on carpet is poor in the related art. SUMMARY

[0007] Therefore, it is necessary to provide a method and cleaning robot for cleaning carpet to solve the above technical problems.

[0008] In a first aspect, the present application provides a method for cleaning carpet, comprising:

[0009] identifying a travel scene of a cleaning robot, and in a carpet travel scene, obtaining a carpet type of a carpet traveled by the cleaning robot;

[0010] determining a carpet cleaning mode according to the carpet type;

[0011] performing a cleaning operation on the traveled carpet according to the carpet cleaning mode.

[0012] In one embodiment, identifying the travel scene of the cleaning robot comprises:

[0013] capturing a ground image by a camera arranged on a body of the cleaning robot;

[0014] inputting the ground image into a scene recognition model to determine the travel scene.

[0015] In one embodiment, identifying the travel scene of the cleaning robot comprises:

[0016] an ultrasonic sensor arranged at a bottom of the body of the cleaning robot acquires a return signal generated on the ground;

[0017] In a case where the intensity of the echo signal is greater than or equal to a preset intensity, the driving scene is determined as a ground driving scene.

[0018] In a case where the intensity of the echo signal is less than the preset intensity, the driving scene is determined as a carpet driving scene.

[0019] In one of the embodiments, the carpet type of the carpet on which the cleaning robot drives is acquired, comprising:

[0020] The detection distance of the cleaning robot to the carpet in the carpet driving scene is acquired.

[0021] The carpet type is determined according to the detection distance and a reference distance; the reference distance is equal to the distance of the cleaning robot to the hard ground.

[0022] In one of the embodiments, the carpet type is determined according to the detection distance and the reference distance, comprising:

[0023] The pile length of the driven carpet is determined according to the detection distance and the reference distance.

[0024] The carpet type is determined according to the pile length.

[0025] In one of the embodiments, the pile length of the driven carpet is determined according to the detection distance and the reference distance, comprising:

[0026] The difference between the detection distance and the reference distance is acquired as the reference pile length of the driven carpet.

[0027] The compensation pile length is determined according to the detection distance.

[0028] The sum of the reference pile length and the compensation pile length is acquired as the pile length of the driven carpet.

[0029] In one of the embodiments, the carpet cleaning mode is determined according to the carpet type, comprising:

[0030] The control gear of the dry cleaning assembly in the cleaning robot is determined according to the carpet type.

[0031] The corresponding carpet cleaning mode is formed according to the control gear of the dry cleaning assembly; the carpet type comprises short-pile carpet, medium-pile carpet and long-pile carpet, and the carpet cleaning mode comprises at least two.

[0032] In one of the embodiments, the control gear of the dry cleaning assembly in the cleaning robot is determined according to the carpet type, comprising:

[0033] In a case where the carpet type is short-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the first gear.

[0034] In a case where the carpet type is a medium-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the second gear;

[0035] In a case where the carpet type is a long-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the third gear; the first gear, the second gear and the third gear are sequentially increased.

[0036] In one of the embodiments, the dry cleaning assembly comprises a roller brush and a fan; the cleaning robot is configured to adjust at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the fan according to the carpet type.

[0037] In one of the embodiments, the adjustment of at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the fan according to the carpet type comprises:

[0038] In a case where the carpet type is a short-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the fan is increased according to the first gear;

[0039] In a case where the carpet type is a medium-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the fan is increased according to the second gear;

[0040] In a case where the carpet type is a long-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the fan is increased according to the third gear; the first gear, the second gear and the third gear are sequentially increased.

[0041] In one of the embodiments, the above method further comprises:

[0042] In a case where the carpet is the driving scene, the wet cleaning assembly in the cleaning robot is lifted so that the wet cleaning assembly is not in contact with the carpet.

[0043] In a second aspect, the application further provides a cleaning robot, comprising:

[0044] a robot body;

[0045] a cleaning assembly arranged on the robot body and configured to clean a surface to be cleaned;

[0046] a moving assembly connected to the robot body and configured to drive the robot body to move on the surface to be cleaned;

[0047] an identification sensor arranged on the robot body;

[0048] a processor connected to the identification sensor, the processor being configured to determine the carpet type according to the detection result of the identification sensor and control the cleaning assembly to perform a cleaning operation on the driven carpet in a carpet cleaning mode corresponding to the carpet type.

[0049] In one of the embodiments, the identification sensor comprises an ultrasonic sensor and a distance sensor; the ultrasonic sensor is used to identify the carpet, and the distance sensor is used to measure the distance between the cleaning robot and the surface to be cleaned.

[0050] In one of the embodiments, the ultrasonic sensor is arranged at the bottom of the robot body.

[0051] In one of the embodiments, the moving assembly comprises a universal wheel, and the distance sensor is arranged at the bottom of the robot body and within a preset range of the universal wheel.

[0052] In one of the embodiments, the moving assembly comprises a universal wheel, and the distance sensor is a 3D TOF sensor.

[0053] In one of the embodiments, the cleaning assembly comprises at least a dry cleaning assembly, and the dry cleaning assembly comprises a rolling brush and a fan; the rolling brush is rotatably connected to the robot body, and the fan is arranged in the robot body; the processor is configured to control at least one of the lifting height of the rolling brush, the rotating speed of the rolling brush, and the suction force of the fan according to the material of the surface to be cleaned and the type of the carpet.

[0054] The details of one or more embodiments of the present application are presented in the following drawings and description. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on the disclosed drawings.

[0056] FIG. 1 is a schematic diagram of the internal structure of a cleaning robot in one embodiment;

[0057] FIG. 2 is a schematic diagram of the flow of a carpet cleaning method in one embodiment;

[0058] FIG. 3 is a schematic diagram of the flow of determining the type of a carpet in one embodiment;

[0059] FIG. 4 is a schematic diagram of the flow of determining the type of a carpet in another embodiment;

[0060] FIG. 5 is a schematic diagram of the flow of determining the carpet cleaning mode in one embodiment;

[0061] FIG. 6 is a schematic diagram of the flow of determining the length of pile in one embodiment;

[0062] Fig. 7 is a schematic diagram of the relationship between the detection distance and the reference distance in an embodiment;

[0063] Fig. 8 is a schematic diagram of the flow of determining the control gear in an embodiment;

[0064] Fig. 9 is a schematic diagram of the flow of the carpet cleaning method in another embodiment;

[0065] Fig. 10 is a schematic diagram of the bottom of the cleaning robot in an embodiment;

[0066] Fig. 11 is a structural block diagram of the carpet cleaning device in an embodiment. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0068] The carpet cleaning method provided by the embodiments of the present application can be applied to the cleaning robot as shown in Fig. 1. The cleaning robot includes a processor, a memory, a communication interface, a display screen, an input device, a cleaning assembly, a moving assembly and an identification sensor connected through a system bus. The processor of the cleaning robot is used to provide computing and control capabilities. The memory of the cleaning robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the cleaning robot is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The display screen of the cleaning robot can be a liquid crystal display screen or an electronic ink display screen. The input device of the cleaning robot can be a touch layer overlaid on the display screen, or a button, trackball or touchpad provided on the shell of the cleaning robot. The cleaning assembly of the cleaning robot is provided on the robot body of the cleaning robot and is used to perform a cleaning task. The moving assembly of the cleaning robot is provided at the bottom of the robot body and is used to drive the robot body to move when driven. The identification sensor of the cleaning robot is used to obtain sensing data to realize ranging and / or determine a travel scene for the processor. The computer program in the memory is used to implement a carpet cleaning method when executed by the processor.

[0069] Those skilled in the art can understand that the structure shown in FIG. 1 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the cleaning robot to which the scheme of the present application is applied. A specific cleaning robot can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0070] In one embodiment, as shown in FIG. 2, a carpet cleaning method is provided, which is taken as an example to illustrate the cleaning robot in FIG. 1, and includes the following steps:

[0071] S210, identifying a travel scenario of the cleaning robot, and in a carpet travel scenario, obtaining a carpet type of a carpet on which the cleaning robot travels.

[0072] The travel scenario is used to represent whether there is a carpet on the ground on which the cleaning robot travels. Exemplarily, the travel scenario includes a ground travel scenario without a carpet and a carpet travel scenario with a carpet. The carpet type can be classified in various ways. Exemplarily, the carpet type can be classified based on material, including a leather carpet, a wool carpet and a plastic carpet, can be classified based on color, including a light-colored carpet and a dark-colored carpet, or can be classified based on thickness, including a thick carpet and a thin carpet.

[0073] Optionally, the cleaning robot can detect the travel scenario through an identification sensor carried by itself to identify the travel scenario. The detection can be performed multiple times within a preset time period, and if the same detection result is obtained for multiple times, the corresponding travel scenario is determined.

[0074] Exemplarily, the cleaning robot can obtain an echo signal generated on the ground through an ultrasonic sensor arranged at the bottom of the body, determine the travel scenario according to the echo signal, and in the case that the identification result is all the carpet travel scenario when the trigger is stable for 5s, determine the travel scenario as the carpet travel scenario. The travel scenario can also be determined by collecting a ground image through a camera arranged on the body and inputting the ground image into a scene identification model.

[0075] Generally, the echo signal generated by the ultrasonic sensor on a hard ground is strong and multiple, while the echo signal generated on a relatively soft carpet is weak, and in some cases, there is no echo signal. Based on this, the cleaning robot can identify the travel scenario based on the strength of the echo signal of the ultrasonic sensor. For example, in the case that the strength of the echo signal is greater than or equal to a preset strength, the travel scenario is determined as the ground travel scenario; in the case that the strength of the echo signal is less than the preset strength, the travel scenario is determined as the carpet travel scenario.

[0076] Optionally, the cleaning robot adopts a ground cleaning mode to clean the ground when the driving scene is identified as the ground driving scene. The ground cleaning mode can include controlling the mop and / or the roller brush to sink to the maximum to mop and / or dust the ground. The cleaning robot can also lift the non-carpet cleaning component when the driving scene is identified as the carpet driving scene.

[0077] The non-carpet cleaning component is a cleaning component that is not used for carpet cleaning. For example, the carpet used in daily life is usually a pile carpet, and the cleaning robot usually uses a dry cleaning component to clean the pile carpet, and generally does not need to use a wet cleaning component. Therefore, the non-carpet cleaning component can include a wet cleaning component, such as a mop. When the driving scene is a carpet driving scene, the cleaning robot can lift the mop so that the mop does not contact the carpet, thereby avoiding wetting the carpet.

[0078] Optionally, in the carpet driving scene, the cleaning robot can identify the type of the carpet being driven by the identification sensor carried by the cleaning robot to obtain the carpet type of the carpet being driven. For example, the cleaning robot can capture a carpet image by a camera installed at the bottom of the body, and determine the carpet type according to the carpet image. For example, the cleaning robot can input the carpet image into a carpet type identification model to determine the carpet type.

[0079] S220, determining a carpet cleaning mode according to the carpet type.

[0080] The carpet cleaning mode is used to represent the control mode of the cleaning robot for different cleaning components when performing a carpet cleaning task. The required task content, cleaning component, and control parameter of the cleaning component can be different for different types of carpets, and therefore different carpet types can correspond to different carpet cleaning modes.

[0081] Optionally, after the cleaning robot determines the carpet type of the carpet being driven, the cleaning robot can determine the carpet cleaning mode corresponding to the carpet type of the carpet being driven based on the correspondence between the carpet type and the carpet cleaning mode. For example, when the carpet type is divided according to the material, when the carpet type is determined to be a leather carpet, the carpet cleaning mode includes performing a mopping, dusting, and drying task; when the carpet type is determined to be a pile carpet, the carpet cleaning mode includes performing a dusting task; and when the carpet type is determined to be a plastic carpet, the carpet cleaning mode includes performing a mopping and dusting task. When the carpet type is divided according to the thickness, when the carpet type is determined to be a thin carpet, the carpet cleaning mode includes controlling the fan to perform a dusting task at a smaller first output power; and when the carpet type is determined to be a thick carpet, the carpet cleaning mode includes controlling the fan to perform a dusting task at a larger second output power.

[0082] S230, performing a cleaning operation on the traveled carpet according to the carpet cleaning mode.

[0083] Optionally, after obtaining the carpet cleaning mode, the cleaning robot can perform a cleaning operation on the traveled carpet according to the carpet cleaning mode. For example, continuing the above example, in the case where the carpet cleaning mode includes mopping, vacuuming and drying tasks, the cleaning robot can perform a cleaning operation on the traveled carpet according to the carpet cleaning mode according to the preset order and working parameters to control the corresponding cleaning components to work, so as to perform a cleaning operation on the traveled carpet. For example, control the mop to sink to perform the mopping task, control the roller brush and the air blower to work to perform the cleaning and vacuuming tasks, and control the electric heating cylinder and the air blower to work to perform the drying task.

[0084] In the embodiments of the present application, by identifying the traveling scene of the cleaning robot, the carpet type of the carpet traveled by the cleaning robot is obtained in the carpet traveling scene, and the carpet cleaning mode is determined according to the carpet type, so that the cleaning operation is performed on the traveled carpet according to the carpet cleaning mode. In the above method, the corresponding carpet cleaning mode is determined according to the carpet type, which improves the adaptation degree between the carpet type and the carpet cleaning mode, realizes the targeted cleaning of the traveled carpet, and improves the carpet cleaning effect.

[0085] The carpet type can be determined based on the reference distance from the cleaning robot to the hard floor and the detection distance from the cleaning robot to the carpet. Therefore, in one of the embodiments, as shown in FIG. 3, the carpet type of the carpet traveled by the cleaning robot in S210 is obtained, including:

[0086] S310, obtaining the detection distance from the cleaning robot to the carpet in the carpet traveling scene.

[0087] The detection distance from the cleaning robot to the carpet is the distance from the bottom of the cleaning robot body to the carpet.

[0088] Optionally, in the carpet traveling scene, the cleaning robot can obtain the detection distance from the cleaning robot to the carpet through the distance sensor installed at the bottom of the cleaning robot. The cleaning robot can perform multiple distance measurements within a preset time period through the distance sensor. If the multiple distance measurement results are the same, the distance obtained by the distance measurement is determined as the detection distance from the cleaning robot to the carpet.

[0089] Exemplarily, the distance sensor can be a pulse sensor, which measures the time length required for a light pulse to be emitted to the ground and reflected back, and calculates the detection distance of the cleaning robot to the carpet according to the time length and the propagation rate of the light pulse. When the stable trigger 5s measurement result is the same distance (or meets the error range), it is determined that the measured distance is the detection distance of the cleaning robot to the carpet. The time length required for the light pulse to be emitted to the ground and reflected back is also called direct time-of-flight (Dtof). In the embodiment, the distance sensor can be a 3D TOF sensor.

[0090] The light pulse generated by the pulse sensor is not affected by the color, reflectivity and texture of the object, so the pulse light emitted to the carpet will not be absorbed or greatly deflected by the pile, and can be returned to the pulse sensor in the original state to the greatest extent, so that the pulse sensor can accurately measure the distance. Therefore, whether in a ground driving scene or a carpet driving scene, a reliable distance measurement result can be obtained based on a single pulse sensor to determine the carpet type, without introducing other devices for carpet type identification, and the hardware cost can be correspondingly saved. The fast distance measurement frequency of the pulse sensor can reach 90Hz, and the accuracy can reach millimeter level.

[0091] S320, determining the carpet type according to the detection distance and the reference distance; the reference distance is equal to the distance from the bottom of the cleaning robot to the hard ground.

[0092] The reference distance is the distance from the bottom of the cleaning robot to the hard ground. The carpet type can be represented by the carpet thickness. Exemplarily, the carpet type can include thick carpet and thin carpet.

[0093] Alternatively, after obtaining the detection distance in the carpet driving scene, the cleaning robot can directly read the pre-stored reference distance of the cleaning robot to the hard ground, to determine the carpet thickness according to the detection distance and the reference distance, and then determine the carpet type according to the carpet thickness. The reference distance can be directly stored in the cleaning robot before the cleaning robot is shipped, or can be the distance from the cleaning robot to the hard ground measured by the distance sensor in the ground driving scene during use of the cleaning robot.

[0094] Exemplarily, the cleaning robot can obtain the difference between the detection distance and the reference distance as the carpet thickness, and compare the carpet thickness with a preset thickness, and then determine the carpet type according to the comparison result. When the carpet thickness is greater than or equal to the preset thickness, the carpet type is determined as thick carpet; when the carpet thickness is less than the preset thickness, the carpet type is determined as thin carpet.

[0095] In the embodiments of the present application, the detection distance of the cleaning robot to the carpet in the carpet driving scene is obtained, and the carpet type is determined according to the detection distance and the reference distance of the cleaning robot to the hard ground. In the above method, the carpet type is quantitatively determined based on the detection distance in the carpet driving scene and the reference distance of the cleaning robot to the hard ground, thereby improving the accuracy of the determined carpet type.

[0096] For the commonly used pile carpet, the pile length directly affects the thickness of the carpet. Based on this, in one of the embodiments, as shown in FIG. 4, the S320 of determining the carpet type according to the detection distance and the reference distance includes:

[0097] S410, determining the pile length of the driven carpet according to the detection distance and the reference distance.

[0098] Optionally, the cleaning robot can directly obtain the difference between the detection distance and the reference distance as the pile length of the driven carpet.

[0099] S420, determining the carpet type according to the pile length.

[0100] Optionally, after obtaining the pile length, the cleaning robot can determine the carpet type of the driven carpet according to the preset correspondence between the carpet type and the pile length range. For example, the preset correspondence between the carpet type and the pile length range includes: the short pile carpet when the pile length < 10 mm; the medium pile carpet when 10 mm ≤ pile length ≤ 25 mm; and the long pile carpet when the pile length > 25 mm. For example, in the case where the pile length of the driven carpet is 20 mm, the cleaning robot can determine that the carpet type of the driven carpet is the medium pile carpet.

[0101] In order to improve the accuracy of the pile length, in one of the embodiments, as shown in FIG. 5, the S410 of determining the pile length of the driven carpet according to the detection distance and the reference distance includes:

[0102] S510, obtaining the difference between the detection distance and the reference distance as the reference pile length of the driven carpet.

[0103] Optionally, the cleaning robot obtains the detection distance and the reference distance, and can first obtain the difference between the detection distance and the reference distance as the reference pile length of the driven carpet. For example, as shown in FIG. 6, the height Dd of the roller installed at the bottom of the cleaning robot represents the reference distance of the bottom of the cleaning robot to the hard ground, Df is the detection distance of the bottom of the cleaning robot to the carpet in the carpet driving scene, and the reference pile length Dsc of the driven carpet is Dd-Df.

[0104] S520, determining the compensation pile length according to the detection distance.

[0105] It should be noted that the above reference pile length cannot reflect the true pile length of the traveled carpet. As shown in FIG. 6, the robot travels on the carpet and presses on the pile, and the pressed pile lifts the robot to make Df smaller, and accordingly Dsc is smaller than the true pile length of the carpet. Therefore, Dsc needs to be compensated to obtain the pile length that can be used to reflect the true pile length of the carpet. The smaller Df is, the greater the length that needs to be compensated.

[0106] Alternatively, the robot can read a preset compensation coefficient, and determine the compensation pile length according to the compensation coefficient and the detection distance. Exemplarily, e is the compensation coefficient, and the compensation pile length Do = e / Df.

[0107] S530, obtaining the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet.

[0108] Alternatively, after obtaining the compensation pile length, the robot can obtain the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet. Exemplarily, the pile length Dsof the traveled carpet is Dsc+Do = Dsc+e / Df.

[0109] In the embodiments of the present application, the difference between the detection distance and the reference distance is obtained as the reference pile length of the traveled carpet, and the compensation pile length is determined according to the detection distance, so as to obtain the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet. In the above method, considering the part of the pile on the carpet that is pressed by the cleaning robot, the reference pile length roughly calculated is compensated by estimating the compensation pile length, so as to obtain the compensated pile length, thereby improving the accuracy of the determined pile length.

[0110] The carpet cleaning mode includes a control gear for the dry cleaning assembly in the cleaning robot. Based on this, in one of the embodiments, as shown in FIG. 7, the determination of the carpet cleaning mode according to the carpet type in S220 includes:

[0111] S710, determining a control gear for the dry cleaning assembly in the cleaning robot according to the carpet type.

[0112] The cleaning robot can include various types of cleaning assemblies. The dry cleaning assembly is a cleaning assembly for carpet cleaning. Exemplarily, for the pile carpet commonly used in daily life, the dry cleaning assembly can include at least one of the side brush, the roller brush, and the air blower. The control gear is used to represent the adjustment range of the working parameter of the dry cleaning assembly. The higher the control gear is, the greater the change of the working parameter is.

[0113] Optionally, the cleaning robot can determine a control gear corresponding to the type of the traveled carpet according to a preset correspondence between the type of the carpet and the control gear, and take the control gear as the control gear of the dry cleaning assembly in the cleaning robot. For example, when the type of the carpet includes short-pile carpet and long-pile carpet, and the dry cleaning assembly includes a fan, the preset correspondence between the type of the carpet and the control gear includes that the short-pile carpet corresponds to a first-level fan control gear, and the long-pile carpet corresponds to a second-level fan control gear. The second-level fan control gear is greater than the first-level fan control gear.

[0114] S720, forming a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly.

[0115] Optionally, the cleaning robot can determine a control gear corresponding to the type of the traveled carpet according to a preset correspondence between the type of the carpet and the control gear, and take the control gear as the control gear of the dry cleaning assembly in the cleaning robot. For example, when the type of the carpet includes short-pile carpet and long-pile carpet, and the dry cleaning assembly includes a fan, the preset correspondence between the type of the carpet and the control gear includes that the short-pile carpet corresponds to a first-level fan control gear, and the long-pile carpet corresponds to a second-level fan control gear. The second-level fan control gear is greater than the first-level fan control gear.

[0116] Optionally, the cleaning robot can determine a control gear corresponding to the type of the traveled carpet according to a preset correspondence between the type of the carpet and the control gear, and take the control gear as the control gear of the dry cleaning assembly in the cleaning robot. For example, when the type of the carpet includes short-pile carpet and long-pile carpet, and the dry cleaning assembly includes a fan, the preset correspondence between the type of the carpet and the control gear includes that the short-pile carpet corresponds to a first-level fan control gear, and the long-pile carpet corresponds to a second-level fan control gear. The second-level fan control gear is greater than the first-level fan control gear.

[0117] In the embodiments of the present application, the control gear of the dry cleaning assembly in the cleaning robot is determined according to the type of the carpet, and a corresponding carpet cleaning mode is formed according to the control gear of the dry cleaning assembly. The type of the carpet includes short-pile carpet, medium-pile carpet and long-pile carpet, and the carpet cleaning mode includes at least two types. In the above method, the control gear of the dry cleaning assembly is determined based on the type of the carpet, and a carpet cleaning mode corresponding to the control gear of the dry cleaning assembly is formed, so that the adjustment control of the dry cleaning assembly for different types of carpets is realized, the adaptation between the type of the carpet and the carpet cleaning mode is improved, and the cleaning effect of the carpet is improved.

[0118] When the type of the carpet includes short-pile carpet, medium-pile carpet and long-pile carpet, in one of the embodiments, as shown in FIG. 8, S710, determining the control gear of the dry cleaning assembly in the cleaning robot according to the type of the carpet, includes:

[0119] S810, when the type of the carpet is short-pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a first gear.

[0120] The control gear of the dry cleaning assembly can represent the cleaning ability that the dry cleaning assembly can achieve. The higher the control gear, the stronger the cleaning ability that the dry cleaning assembly can achieve, and the greater the energy consumption; on the contrary, the lower the control gear, the weaker the cleaning ability that the dry cleaning assembly can achieve, and the smaller the energy consumption.

[0121] The short-pile carpet has a weak ability to hide dirt, and general cleaning can be performed. Alternatively, the cleaning robot determines that the control gear of the dry cleaning assembly in the cleaning robot is a first gear with a small value, to achieve general cleaning for the short-pile carpet, when it is determined that the carpet type of the traveled carpet is a short-pile carpet.

[0122] S820, when the carpet type is a medium-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined to be a second gear.

[0123] The medium-pile carpet has a strong ability to hide dirt, and enhanced cleaning can be performed. Alternatively, the cleaning robot determines that the control gear of the dry cleaning assembly in the cleaning robot is a second gear with a medium value, to achieve enhanced cleaning for the medium-pile carpet, when it is determined that the carpet type of the traveled carpet is a medium-pile carpet.

[0124] S830, when the carpet type is a long-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined to be a third gear; the first gear, the second gear, and the third gear are sequentially increased.

[0125] The long-pile carpet has the strongest ability to hide dirt, and deep cleaning needs to be performed. Alternatively, the cleaning robot determines that the control gear of the dry cleaning assembly in the cleaning robot is a third gear with a large value, to achieve deep cleaning for the long-pile carpet, when it is determined that the carpet type of the traveled carpet is a long-pile carpet.

[0126] In actual applications, the dry cleaning assembly includes a roller brush and a fan, and the cleaning robot can be used to adjust at least one of the lifting height of the roller brush, the rotating speed of the roller brush, and the suction force of the fan according to the carpet type.

[0127] Alternatively, the first gear corresponding to the short-pile carpet includes a small increase in the lifting height and the rotating speed of the roller brush, and a small increase in the suction force of the fan. Illustratively, the first gear includes a roller brush lifting gear +1, a roller brush rotating speed gear +1, and a fan gear +1. The second gear corresponding to the medium-pile carpet includes a medium increase in the lifting height and the rotating speed of the roller brush, and a medium increase in the suction force of the fan. Illustratively, the second gear includes a roller brush lifting gear +2, a roller brush rotating speed gear +2, and a fan gear +2. The third gear corresponding to the long-pile carpet includes a large increase in the lifting height and the rotating speed of the roller brush, and a large increase in the suction force of the fan. Illustratively, the third gear includes a roller brush lifting gear +3, a roller brush rotating speed gear +3, and a fan gear +3.

[0128] It can be concluded that the longer the pile of the carpet, the higher the lifting height / rotation speed / fan suction of the roller brush, and vice versa. That is, the lifting height / rotation speed / fan suction of the roller brush of the long-pile carpet > the lifting height / rotation speed / fan suction of the roller brush of the medium-pile carpet > the lifting height / rotation speed / fan suction of the roller brush of the short-pile carpet.

[0129] Wherein, the longer the pile of the carpet, the higher the lifting height of the roller brush, that is, the greater the lifting amplitude of the roller brush, which can effectively prevent the pile on the carpet from being excessively rolled into the roller brush, thereby avoiding the pile winding and blocking, and further causing cleaning failure or damage to the carpet. Therefore, the working stability and safety of the cleaning robot can be improved. For example, the lifting height of the roller brush is greater than 1 / 2 of the length of the pile of the carpet on which the cleaning robot travels, and less than the length of the pile of the carpet on which the cleaning robot travels.

[0130] In the embodiment of the present application, when the carpet type is a short-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the first gear; when the carpet type is a medium-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the second gear; and when the carpet type is a long-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the third gear. The first gear, the second gear, and the third gear are sequentially increased. In the above method, the first gear, the second gear, and the third gear, which are sequentially increased, are used as the control gears of the dry cleaning assembly for short-pile carpets, medium-pile carpets, and long-pile carpets, respectively, to adapt to the dust hiding ability of carpets with different pile lengths. Compared with using a uniform control gear, the above method can save energy while ensuring cleaning effect, and accordingly improve the endurance of the cleaning robot. It is not difficult to understand that in some embodiments, the same carpet cleaning mode can also be used for short-pile carpets and medium-pile carpets, or the same carpet cleaning mode can also be used for medium-pile carpets and long-pile carpets.

[0131] For the convenience of those skilled in the art, the carpet cleaning method provided by the present application is described in detail below. As shown in FIG. 9, the method can include:

[0132] S901, identifying the travel scene of the cleaning robot, and obtaining the detection distance of the cleaning robot to the carpet in the ground travel scene;

[0133] S902, obtaining the difference between the detection distance and the reference distance as the reference pile length of the carpet traveled; the reference distance is the distance from the cleaning robot to the hard ground;

[0134] S903, determining the compensation pile length according to the detection distance;

[0135] S904, obtaining the sum of the reference pile length and the compensation pile length as the pile length of the traveled carpet;

[0136] S905, determining the carpet type according to the pile length;

[0137] S906, in the case that the carpet type is a short-pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a first gear;

[0138] S907, in the case that the carpet type is a medium-pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a second gear;

[0139] S908, in the case that the carpet type is a long-pile carpet, determining the control gear of the dry cleaning assembly in the cleaning robot as a third gear; the first gear, the second gear and the third gear are sequentially increased;

[0140] S909, forming a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly; the dry cleaning assembly includes a roller brush and a fan; the carpet type includes a short-pile carpet, a medium-pile carpet and a long-pile carpet; the carpet cleaning mode includes at least two;

[0141] S910, performing a cleaning operation on the traveled carpet according to the carpet cleaning mode.

[0142] It should be noted that the description in S901-S910 above can refer to the description of the related description in the above embodiments, and the effects are similar, and the present embodiment will not be repeated here.

[0143] It should be understood that, although each step in the flowchart involved in each of the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise stated herein, the execution of these steps has no strict order limitation, and these steps can be executed in other orders. Moreover, as described above, at least part of the steps in the flowchart involved in each of the above embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately executed with other steps or steps or stages in other steps.

[0144] In one embodiment, a cleaning robot is provided, comprising:

[0145] a robot body;

[0146] a cleaning assembly arranged on the robot body, configured to clean a surface to be cleaned;

[0147] The moving assembly is connected with the robot body and is used to drive the robot body to move on the surface to be cleaned.

[0148] The identification sensor is arranged on the robot body.

[0149] The processor is connected with the identification sensor, and is used to determine the carpet type according to the detection result of the identification sensor, and control the cleaning assembly to perform the cleaning operation on the traveled carpet in a carpet cleaning mode corresponding to the carpet type.

[0150] In one of the embodiments, the identification sensor comprises an ultrasonic sensor and a distance sensor. The ultrasonic sensor is used to identify the carpet, and the distance sensor is used to measure the distance from the cleaning robot to the surface to be cleaned.

[0151] For example, the distance sensor can be a pulse sensor. As shown in FIG. 10, the ultrasonic sensor U and the pulse sensor P are both arranged on the bottom of the cleaning robot. The ultrasonic sensor U is used to emit ultrasonic signals to the ground and receive echo signals of the ultrasonic signals, so as to identify whether the ground has a carpet. The pulse sensor P is used to emit light pulses to the ground and receive echo signals of the light pulses, so as to measure the distance from the cleaning robot to the surface to be cleaned.

[0152] The processor in the cleaning robot can identify the travel scene based on the strength of the echo signals of the ultrasonic sensor. For example, in the case that the strength of the echo signals is greater than or equal to a preset strength, it is determined that the travel scene is a ground travel scene; in the case that the strength of the echo signals is less than the preset strength, it is determined that the travel scene is a carpet travel scene.

[0153] The processor in the cleaning robot can calculate, based on the time length required for the light pulses to be emitted to the ground and reflected back and the propagation rate of the light pulses, a reference distance from the cleaning robot to the ground in the ground travel scene, and / or a detection distance from the cleaning robot to the carpet in the carpet travel scene.

[0154] In one of the embodiments, the moving assembly in the cleaning robot comprises a universal wheel. The distance sensor is arranged on the bottom of the robot body and within a preset range of the universal wheel.

[0155] For example, as shown in FIG. 10, the distance sensor is the pulse sensor P, which is arranged within a preset range of the universal wheel W. The universal wheel W is used to control the advancing direction of the cleaning robot under the indication of the processor, and guide the movement of other auxiliary moving assemblies (such as side wheels), so as to drive the cleaning robot as a whole to move in the advancing direction. For example, the universal wheel is arranged on the bottom of the body of the cleaning robot, and specifically at the foremost end of the cleaning robot in the forward advancing direction F. The pulse sensor P is arranged close to the universal wheel W, and the distance therebetween is within a preset range formed by the universal wheel W at a preset distance.

[0156] Optionally, in order to enable the ultrasonic sensor to identify the driving scene in time, the ultrasonic sensor can be arranged at the front end of the cleaning robot in the forward direction. For example, as shown in FIG. 10, two ultrasonic sensors U on the cleaning robot are arranged at the two sides of the universal wheel W.

[0157] It should be noted that, the distance sensor can be arranged near the universal wheel by taking advantage of the characteristics of the universal wheel, such as small volume, large weight, and easy to sink into the carpet, so as to improve the ranging accuracy and thus improve the accuracy of the obtained pile length.

[0158] In one of the embodiments, the cleaning assembly at least includes a dry cleaning assembly.

[0159] The dry cleaning assembly includes a rolling brush and a fan, the rolling brush is rotationally connected to the robot body, and the fan is arranged in the robot body. The processor is configured to control at least one of the lifting height of the rolling brush, the rotating speed of the rolling brush, and the suction force of the fan according to the material of the surface to be cleaned and the type of the carpet.

[0160] The processor can be configured to implement the steps of the carpet cleaning method in any of the above embodiments. For details, refer to the foregoing embodiments, which will not be repeated here.

[0161] Based on the same inventive concept, the embodiments of the present application also provide a carpet cleaning device for implementing the above-mentioned carpet cleaning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method. Therefore, the specific limitations in one or more carpet cleaning device embodiments provided below can refer to the limitations of the carpet cleaning method described above, which will not be repeated here.

[0162] In one embodiment, as shown in FIG. 11, a carpet cleaning device is provided, which includes a type acquisition module 1101, a mode determination module 1102, and a cleaning operation module 1103, wherein:

[0163] The type acquisition module 1101 is configured to identify the driving scene of the cleaning robot, and in the carpet driving scene, acquire the type of the carpet on which the cleaning robot drives.

[0164] The mode determination module 1102 is configured to determine the carpet cleaning mode according to the type of the carpet.

[0165] The cleaning operation module 1103 is configured to perform cleaning operation on the carpet on which the cleaning robot drives according to the carpet cleaning mode.

[0166] In one of the embodiments, the type acquisition module 1101 includes:

[0167] a distance obtaining sub-module, configured to obtain a detection distance from the cleaning robot to the carpet in the carpet driving scenario;

[0168] a type determining sub-module, configured to determine the carpet type according to the detection distance and a reference distance; the reference distance is equal to a distance from the cleaning robot to a hard ground.

[0169] In one of the embodiments, the type determining sub-module includes:

[0170] a length unit, configured to determine a pile length of the driven carpet according to the detection distance and the reference distance;

[0171] a type unit, configured to determine the carpet type according to the pile length.

[0172] In one of the embodiments, the length unit includes:

[0173] a reference sub-unit, configured to obtain a difference between the detection distance and the reference distance as a reference pile length of the driven carpet;

[0174] a compensation sub-unit, configured to determine a compensation pile length according to the detection distance;

[0175] a length sub-unit, configured to obtain a sum of the reference pile length and the compensation pile length as the pile length of the driven carpet.

[0176] In one of the embodiments, the mode determining module 1102 includes:

[0177] a gear sub-module, configured to determine a control gear of a dry cleaning assembly in the cleaning robot according to the carpet type;

[0178] a mode sub-unit, configured to form a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly; the carpet type includes a short pile carpet, a medium pile carpet and a long pile carpet, and the carpet cleaning mode includes at least two.

[0179] In one of the embodiments, the gear sub-module includes:

[0180] a first gear unit, configured to determine the control gear of the dry cleaning assembly in the cleaning robot as a first gear when the carpet type is the short pile carpet;

[0181] a second gear unit, configured to determine the control gear of the dry cleaning assembly in the cleaning robot as a second gear when the carpet type is the medium pile carpet;

[0182] a third gear unit, configured to determine the control gear of the dry cleaning assembly in the cleaning robot as a third gear when the carpet type is the long pile carpet; the first gear, the second gear and the third gear are sequentially increased.

[0183] In one of the embodiments, the dry cleaning assembly includes a rolling brush and an air blower; the cleaning robot is configured to adjust at least one of a height of the rolling brush, a rotating speed of the rolling brush, and a suction force of the air blower according to the carpet type.

[0184] The above modules of the carpet cleaning device can be implemented in whole or in part by software, hardware, or a combination thereof. The above modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0185] In one of the embodiments, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the following steps:

[0186] Identify a driving scene of the cleaning robot, and obtain a carpet type of a carpet on which the cleaning robot drives in a carpet driving scene; determine a carpet cleaning mode according to the carpet type; and perform a cleaning operation on the carpet according to the carpet cleaning mode.

[0187] In one of the embodiments, the computer program is executed by the processor to further implement the following steps:

[0188] Obtain a detection distance of the cleaning robot to the carpet in the carpet driving scene;

[0189] Determine the carpet type according to the detection distance and a reference distance; the reference distance is equal to a distance of the cleaning robot to a hard ground.

[0190] In one of the embodiments, the computer program is executed by the processor to further implement the following steps:

[0191] Determine a pile length of the carpet according to the detection distance and the reference distance; and determine the carpet type according to the pile length.

[0192] In one of the embodiments, the computer program is executed by the processor to further implement the following steps:

[0193] Obtain a difference between the detection distance and the reference distance as a reference pile length of the carpet; determine a compensation pile length according to the detection distance; and obtain a sum of the reference pile length and the compensation pile length as the pile length of the carpet. In one of the embodiments, the computer program is executed by the processor to further implement the following steps:

[0194] Determine a control gear of a dry cleaning assembly in the cleaning robot according to the carpet type; form a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly; the carpet type includes a short-pile carpet, a medium-pile carpet, and a long-pile carpet; and the carpet cleaning mode includes at least two modes.

[0195] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0196] In the case of the carpet type being a short-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the first gear; in the case of the carpet type being a medium-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the second gear; in the case of the carpet type being a long-pile carpet, the control gear of the dry cleaning assembly in the cleaning robot is determined as the third gear; the first gear, the second gear and the third gear are sequentially increased.

[0197] In one of the embodiments, the dry cleaning assembly comprises a rolling brush and a fan; the cleaning robot is configured to adjust at least one of the lifting height of the rolling brush, the rotating speed of the rolling brush and the suction force of the fan according to the carpet type.

[0198] In one of the embodiments, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0199] The driving scene of the cleaning robot is identified, and in the carpet driving scene, the carpet type of the carpet on which the cleaning robot drives is acquired; the carpet cleaning mode is determined according to the carpet type; and the carpet driving scene is cleaned according to the carpet cleaning mode.

[0200] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0201] The detection distance of the cleaning robot to the carpet in the carpet driving scene is acquired;

[0202] The carpet type is determined according to the detection distance and a reference distance; the reference distance is equal to the distance of the cleaning robot to the hard ground.

[0203] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0204] The pile length of the carpet driven is determined according to the detection distance and the reference distance; and the carpet type is determined according to the pile length.

[0205] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0206] The difference between the detection distance and the reference distance is acquired as the reference pile length of the carpet driven; the compensation pile length is determined according to the detection distance; and the sum of the reference pile length and the compensation pile length is acquired as the pile length of the carpet driven.

[0207] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0208] Determine a control gear of a dry cleaning assembly in a cleaning robot according to a carpet type; form a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly; the carpet type includes a short-pile carpet, a medium-pile carpet and a long-pile carpet, and the carpet cleaning mode includes at least two modes.

[0209] In one of the embodiments, the computer program, when executed by the processor, further implements the following steps:

[0210] When the carpet type is the short-pile carpet, determine the control gear of the dry cleaning assembly in the cleaning robot as a first gear; when the carpet type is the medium-pile carpet, determine the control gear of the dry cleaning assembly in the cleaning robot as a second gear; when the carpet type is the long-pile carpet, determine the control gear of the dry cleaning assembly in the cleaning robot as a third gear; the first gear, the second gear and the third gear are in ascending order.

[0211] In one of the embodiments, the dry cleaning assembly includes a rolling brush and a fan; the cleaning robot is configured to adjust at least one of a lifting height of the rolling brush, a rotating speed of the rolling brush and a suction force of the fan according to the carpet type.

[0212] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0213] Any combination of the technical features of the above-mentioned embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0214] The above-mentioned embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of the patent protection of the present application should be subject to the appended claims.

Claims

1. A method of cleaning a carpet, wherein, The method comprises: Identifying a driving scene of a cleaning robot, and in a carpet driving scene, acquiring a carpet type of a carpet on which the cleaning robot drives; Determining a carpet cleaning mode according to the carpet type; Performing a cleaning operation on the driven carpet according to the carpet cleaning mode.

2. The method of claim 1, wherein, The identification of the driving scene of the cleaning robot comprises: Collecting a ground image through a camera arranged on a body of the cleaning robot; Inputting the ground image into a scene recognition model to determine the driving scene.

3. The method of claim 1, wherein, The identification of the driving scene of the cleaning robot comprises: An ultrasonic sensor arranged at a bottom of the body of the cleaning robot acquires a return signal generated on the ground; In a case where the intensity of the return signal is greater than or equal to a preset intensity, it is determined that the driving scene is a ground driving scene; In a case where the intensity of the return signal is less than the preset intensity, it is determined that the driving scene is a carpet driving scene.

4. The method of any one of claims 1 to 3, wherein, The acquisition of the carpet type of the carpet on which the cleaning robot drives comprises: Acquiring a detection distance of the cleaning robot to the carpet in the carpet driving scene; Determining the carpet type according to the detection distance and a reference distance; the reference distance is equal to a distance of the cleaning robot to a hard ground.

5. The method of claim 4, wherein, The determination of the carpet type according to the detection distance and the reference distance comprises: Determining a pile length of the driven carpet according to the detection distance and the reference distance; Determining the carpet type according to the pile length.

6. The method of claim 5, wherein, The determination of the pile length of the driven carpet according to the detection distance and the reference distance comprises: Acquiring a difference between the detection distance and the reference distance as a reference pile length of the driven carpet; Determining a compensation pile length according to the detection distance; Acquiring a sum of the reference pile length and the compensation pile length as the pile length of the driven carpet.

7. The method of any one of claims 1 to 3, wherein, The determination of the carpet cleaning mode according to the carpet type comprises: Determining a control gear of a dry cleaning assembly in the cleaning robot according to the carpet type; Forming a corresponding carpet cleaning mode according to the control gear of the dry cleaning assembly; the carpet type comprises short-pile carpet, medium-pile carpet and long-pile carpet, and the carpet cleaning mode comprises at least two.

8. The method of claim 7, wherein, The determination of the control gear of the dry cleaning assembly in the cleaning robot according to the carpet type comprises: In a case where the carpet type is short-pile carpet, determining that the control gear of the dry cleaning assembly in the cleaning robot is a first gear; In a case where the carpet type is medium-pile carpet, determining that the control gear of the dry cleaning assembly in the cleaning robot is a second gear; In a case where the carpet type is long-pile carpet, determining that the control gear of the dry cleaning assembly in the cleaning robot is a third gear; the first gear, the second gear and the third gear are sequentially increased.

9. The method of claim 7, wherein, The dry cleaning assembly comprises a roller brush and an air blower; the cleaning robot is configured to adjust at least one of a lifting height of the roller brush, a rotating speed of the roller brush and a suction force of the air blower according to the carpet type.

10. The method of claim 9, wherein, The adjusting at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the air blower according to the carpet type comprises: In the case of the carpet type being short-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the air blower is increased according to a first gear; In the case of the carpet type being medium-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the air blower is increased according to a second gear; In the case of the carpet type being long-pile carpet, at least one of the lifting height of the roller brush, the rotating speed of the roller brush and the suction force of the air blower is increased according to a third gear; the first gear, the second gear and the third gear are sequentially increased.

11. The method of any one of claims 1 to 3, wherein, The method further comprises: In the carpet driving scene, a wet cleaning assembly in the cleaning robot is lifted so that the wet cleaning assembly is not in contact with the carpet.

12. A cleaning robot, wherein, Comprise: A robot body; A cleaning assembly arranged on the robot body and used for cleaning a surface to be cleaned; A moving assembly connected with the robot body and used for driving the robot body to move on the surface to be cleaned; An identification sensor arranged on the robot body; A processor connected with the identification sensor, the processor being used for determining a carpet type according to a detection result of the identification sensor and controlling the cleaning assembly to perform a cleaning operation on a driven carpet in a carpet cleaning mode corresponding to the carpet type. 13.The cleaning robot according to claim 12, wherein, The identification sensor comprises an ultrasonic sensor and a distance sensor; the ultrasonic sensor is used for identifying a carpet, and the distance sensor is used for measuring a distance from the cleaning robot to the surface to be cleaned. 14.The cleaning robot according to claim 13, wherein, The ultrasonic sensor is arranged at a bottom of the robot body. 15.The cleaning robot according to claim 13 or 14, wherein, The moving assembly comprises a universal wheel, and the distance sensor is arranged at the bottom of the robot body and within a preset range of the universal wheel. 16.The cleaning robot according to claim 13 or 14, wherein The moving assembly comprises a universal wheel, and the distance sensor is a 3D TOF sensor.

17. The cleaning robot of claim 12, wherein, The cleaning assembly at least comprises a dry cleaning assembly, the dry cleaning assembly comprising a roller brush and an air blower; the roller brush is rotationally connected with the robot body; the air blower is arranged in the robot body; and the processor is used for controlling at least one of a lifting height of the roller brush, a rotating speed of the roller brush and a suction force of the air blower according to a material of the surface to be cleaned and the carpet type.

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