Control method for cleaning robot, cleaning robot, and computer storage medium

Abstract

The present application provides a control method for a cleaning robot, a cleaning robot, and a computer storage medium. The method comprises: after receiving a docking signal of a cleaning robot, controlling, on the basis of the docking signal, the cleaning robot to move to a side wall of an area to be cleaned; then detecting whether the cleaning robot has moved to a first position on the side wall; if it is detected that the cleaning robot has moved to the first position on the side wall, controlling the cleaning robot to adjust a liquid or the volume of a gas cavity in a buoyancy device thereof; and when the liquid or the volume of the gas cavity in the buoyancy device has reached a preset threshold, controlling the cleaning robot to stop operating. Since the cleaning robot is no longer subjected to an acting force that drives the cleaning robot to be attached to the side wall, the cleaning robot descends to the water surface under gravity and floats near the side wall of the area to be cleaned under the action of a buoyant force of the buoyancy device, thereby enabling the cleaning robot to float and dock autonomously.

Description

Control method of cleaning robot, cleaning robot and computer storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411291762.1, filed on September 13, 2024, entitled "Control method of cleaning robot, cleaning robot and computer storage medium", and to the Chinese patent application No. 202411295400.X, filed on September 13, 2024, entitled "Control method of cleaning robot, cleaning robot and computer storage medium", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning robots, in particular to a control method of a cleaning robot, a cleaning robot and a computer storage medium. BACKGROUND

[0003] A pool, swimming pool cleaning robot is an intelligent robot that can automatically clean the bottom, wall and water line of a swimming pool, and has high cleaning efficiency and wide coverage. Using the cleaning robot can efficiently clean the swimming pool, reduce the burden of manual cleaning, and make the cleaning of the swimming pool more simple. After the cleaning robot works underwater, how to make the cleaning robot realize autonomous floating and parking becomes a technical problem to be solved. SUMMARY

[0004] The present application provides a control method of a cleaning robot realizing autonomous floating and parking, a cleaning robot and a computer storage medium.

[0005] In a first aspect, the embodiments of the present application provide a control method of a cleaning robot, comprising:

[0006] receiving a parking signal of the cleaning robot;

[0007] controlling the cleaning robot to move to a side wall of a to-be-cleaned area according to the parking signal;

[0008] detecting whether the cleaning robot moves to a first position on the side wall;

[0009] if yes, controlling the cleaning robot to adjust a volume of a liquid or gas cavity in a buoyancy device of the cleaning robot, and controlling the cleaning robot to stop running when the volume of the liquid or gas cavity in the buoyancy device reaches a preset threshold.

[0010] In an optional implementation, the controlling the cleaning robot to adjust the volume of the liquid or gas in the buoyancy device comprises:

[0011] control the cleaning robot to turn so that a portion of liquid in a buoyancy device of the cleaning robot is discharged.

[0012] The control method of the cleaning robot provided in the embodiments of the present application comprises the following steps: after receiving a signal of the cleaning robot docking, controlling the cleaning robot to move to a side wall of a cleaning area according to the docking signal; then detecting whether the cleaning robot moves to a first position on the side wall; if it is detected that the cleaning robot moves to the first position on the side wall, controlling the cleaning robot to turn so that a portion of liquid in a buoyancy device of the cleaning robot is discharged; when a volume of a gas cavity in the buoyancy device reaches a preset volume threshold, controlling the cleaning robot to stop running, the cleaning robot is no longer driven to adhere to the side wall by an acting force, the cleaning robot falls to a water surface under the action of gravity, and floats near the side wall of the cleaning area under the action of the buoyancy of the buoyancy device, so that the cleaning robot is automatically docked by floating, the user does not need to assist the cleaning robot to float on the water surface after observing the state of the cleaning robot, the user is avoided from waiting, and the intelligence of the cleaning robot is improved.

[0013] In an optional embodiment, the control method of the cleaning robot further comprises:

[0014] detecting whether there are obstacles on two sides of the cleaning robot;

[0015] if yes, controlling the cleaning robot to turn away from the obstacles, or controlling the cleaning robot to move horizontally by a first distance, and controlling the cleaning robot to turn to any side when the cleaning robot moves horizontally by the first distance.

[0016] In an optional embodiment, the detecting whether there are obstacles on two sides of the cleaning robot comprises:

[0017] detecting whether a first state is reached after the cleaning robot turns for a first time;

[0018] if yes, judging that there is no obstacle on one side of a current turning direction of the cleaning robot;

[0019] if no, judging that there is an obstacle on one side of the current turning direction of the cleaning robot.

[0020] In an optional embodiment, the control method of the cleaning robot further comprises:

[0021] detecting an electricity value of the cleaning robot;

[0022] comparing the electricity value of the cleaning robot with a first threshold value;

[0023] generating a docking signal for representing that the cleaning robot docks on a bank according to a comparison result.

[0024] In an alternative embodiment, the method further comprises:

[0025] acquiring a water flow parameter in a dustbin of the cleaning robot;

[0026] comparing the water flow parameter with a second threshold value;

[0027] generating a docking signal for representing a docking of the cleaning robot on the shore according to the comparison result.

[0028] In an alternative embodiment, the method further comprises:

[0029] determining whether the cleaning robot has completed a cleaning task;

[0030] if yes, generating a docking signal for representing a docking of the cleaning robot on the shore.

[0031] In an alternative embodiment, the method further comprises:

[0032] receiving a user input instruction;

[0033] generating a docking signal for representing a docking of the cleaning robot on the shore according to the input instruction.

[0034] In an alternative embodiment, the controlling the cleaning robot to move onto a side wall of the area to be cleaned according to the docking signal comprises:

[0035] determining whether the cleaning robot is currently located on the side wall;

[0036] if yes, controlling the cleaning robot to continue moving along the side wall;

[0037] if no, controlling the cleaning robot to move from a current position towards the side wall, and when the cleaning robot moves close to the side wall, controlling the cleaning robot to move from a bottom of the area to be cleaned to the side wall.

[0038] In an alternative embodiment, the controlling the cleaning robot to move from the bottom of the area to be cleaned to the side wall comprises:

[0039] controlling the cleaning robot to lift a preset angle close to one end of the side wall, so that the cleaning robot is in contact with the side wall close to the one end;

[0040] when the cleaning robot moves to a second position along the side wall, controlling the cleaning robot to generate a preset pressure to adhere to the side wall.

[0041] In an alternative embodiment, the controlling the cleaning robot to lift a preset angle near one end of the side wall to make the cleaning robot contact the side wall near one end of the side wall comprises: controlling the water pump assembly of the cleaning robot to reduce its running power to make the cleaning robot lift a preset angle near one end of the side wall.

[0042] The controlling the cleaning robot to generate a preset pressure to make it adhere to the side wall comprises:

[0043] Controlling the water pump assembly of the cleaning robot to increase its running power to make the cleaning robot generate a preset pressure to make it adhere to the side wall.

[0044] In an alternative embodiment, the control method of the cleaning robot further comprises:

[0045] Detecting the motion state of the cleaning robot;

[0046] According to the motion state of the cleaning robot, determining whether the cleaning robot moves to a position close to the side wall.

[0047] In an alternative embodiment, the detecting whether the cleaning robot moves to the first position on the side wall comprises:

[0048] Detecting whether the buoyancy device of the cleaning robot is at least partially above the liquid surface;

[0049] If yes, determining whether the cleaning robot moves to the first position on the side wall.

[0050] In an alternative embodiment, the controlling the cleaning robot to turn to make the liquid in the buoyancy device of the cleaning robot partially discharged comprises:

[0051] Controlling the cleaning robot to turn so that at least part of the water outlet of the buoyancy device is above the liquid surface of the area to be cleaned, and the liquid in the buoyancy device is discharged through the water outlet.

[0052] In an alternative embodiment, the controlling the cleaning robot to stop running comprises:

[0053] Controlling the water pump assembly of the cleaning robot to stop running to make the cleaning robot float on the water surface under the action of the buoyancy device.

[0054] In an alternative embodiment, the controlling the cleaning robot to adjust the volume of liquid or gas in the buoyancy device of the cleaning robot comprises:

[0055] The buoyancy device of the cleaning robot is connected with the outside world to lower the liquid level in the buoyancy device.

[0056] In a second aspect, the embodiments of the present application provide a cleaning robot, comprising:

[0057] a body;

[0058] a cleaning assembly arranged at an end of the body;

[0059] a garbage basket arranged on the body, the garbage basket having a garbage collection opening for water flow and garbage flow;

[0060] a buoyancy device arranged on the body, the buoyancy device extending to the cleaning assembly, the buoyancy device comprising a water opening;

[0061] a moving assembly arranged on the body and used to drive the cleaning robot to move;

[0062] a water pump assembly arranged on the body and used to pump water flow and garbage from water into the garbage basket and discharge water flow from the top of the body;

[0063] a control module used to execute the control method of the cleaning robot according to the first aspect.

[0064] In an optional embodiment, the water opening of the buoyancy device is in an open state, and when the cleaning robot moves to a first position on the side wall of the area to be cleaned, the water opening of the buoyancy device is below the liquid level of the area to be cleaned.

[0065] In an optional embodiment, after the cleaning robot turns, at least part of the water opening is above the liquid level of the area to be cleaned, and part of the liquid in the buoyancy device is discharged through the water opening.

[0066] In a third aspect, the embodiments of the present application further provide a computer storage medium storing a computer program, and the computer program is executed by a processor to implement the control method of the cleaning robot according to the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows.

[0068] FIG. 1 is a perspective view of a cleaning robot in an upright state according to an embodiment of the present application;

[0069] FIG. 2 is a perspective view of a cleaning robot in a turned-over state according to an embodiment of the present application;

[0070] Fig. 3 is a side view of a cleaning robot according to an embodiment of the present application;

[0071] Fig. 4 is a structural diagram of a buoyancy device of a cleaning robot according to an embodiment of the present application;

[0072] Fig. 5 is a structural diagram of a buoyancy device of a cleaning robot according to an embodiment of the present application;

[0073] Fig. 6 is a partially exploded perspective view of a cleaning robot in a flipped state according to an embodiment of the present application;

[0074] Fig. 7 is a structural diagram of a buoyancy device of a cleaning robot in a flipped state according to an embodiment of the present application;

[0075] Fig. 8 is a partially exploded structural diagram of a buoyancy device according to an embodiment of the present application;

[0076] Fig. 9 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;

[0077] Fig. 10 is a diagram of a cleaning robot at the bottom of a cleaning area according to an embodiment of the present application;

[0078] Fig. 11 is a diagram of a cleaning robot in a vertical wall-climbing state on a side wall of a cleaning area according to an embodiment of the present application;

[0079] Fig. 12 is a diagram of a cleaning robot in a vertical wall-climbing state at a first position of a side wall of a cleaning area according to an embodiment of the present application;

[0080] Fig. 13 is a diagram of a cleaning robot in a vertical wall-climbing state at a first position of a side wall of a cleaning area according to an embodiment of the present application;

[0081] Fig. 14 is a diagram of a cleaning robot after turning at a first position of a side wall of a cleaning area according to an embodiment of the present application;

[0082] Fig. 15 is a structural diagram of a cleaning robot floating on water after a water pump assembly and a moving assembly stop running according to an embodiment of the present application;

[0083] Fig. 16 is a flowchart of step S400 according to an embodiment of the present application;

[0084] Figs. 17a-17e are diagrams of a cleaning robot turning toward the right after detecting an obstacle on the left according to an embodiment of the present application;

[0085] Fig. 17f-17h are schematic diagrams of a cleaning robot provided by an embodiment of the present application turning to the right after moving a first distance to the left after detecting an obstacle on the left;

[0086] Fig. 18a-18b are schematic diagrams of a cleaning robot provided by an embodiment of the present application turning to the left when the initial attitude of the cleaning robot is to the left;

[0087] Fig. 19 is a partially cutaway structural schematic diagram of a buoyancy device provided by an embodiment of the present application;

[0088] Fig. 20a is a flowchart of a first method of generating a docking signal provided by an embodiment of the present application;

[0089] Fig. 20b is a partial control circuit block diagram of the first method of generating a docking signal provided by an embodiment of the present application;

[0090] Fig. 21a is a flowchart of a second method of generating a docking signal provided by an embodiment of the present application;

[0091] Fig. 21b is a partial control circuit block diagram of the second method of generating a docking signal provided by an embodiment of the present application;

[0092] Fig. 22a is a flowchart of a third method of generating a docking signal provided by an embodiment of the present application;

[0093] Fig. 22b is a partial control circuit block diagram of the third method of generating a docking signal provided by an embodiment of the present application;

[0094] Fig. 23a is a flowchart of a fourth method of generating a docking signal provided by an embodiment of the present application;

[0095] Fig. 23b is a partial control circuit block diagram of the fourth method of generating a docking signal provided by an embodiment of the present application;

[0096] Fig. 24 is a flowchart of a step S200 provided by an embodiment of the present application;

[0097] Fig. 25 is a flowchart of a step before S200 provided by an embodiment of the present application;

[0098] Fig. 26 is a flowchart of a step S230 provided by an embodiment of the present application;

[0099] Fig. 27 is a flowchart of a cleaning robot provided by an embodiment of the present application lifting one end and abutting against a side wall;

[0100] Fig. 28 is a flowchart of a step S300 provided by an embodiment of the present application;

[0101] Fig. 29 is a flowchart of a control method of a cleaning robot provided by an embodiment of the present application;

[0102] Fig. 30 is a schematic view of a cleaning robot provided by an embodiment of the present application at the bottom of a region to be cleaned;

[0103] Fig. 31 is a schematic view of a cleaning robot provided by an embodiment of the present application in a vertical wall-climbing state on a side wall of a region to be cleaned;

[0104] Fig. 32 is a schematic view of a cleaning robot provided by an embodiment of the present application in a vertical wall-climbing state at a first position of a side wall of a region to be cleaned;

[0105] Fig. 33 is a schematic view of a cleaning robot provided by an embodiment of the present application at a first position of a side wall of a region to be cleaned with a first type of air outlet open;

[0106] Fig. 34 is a schematic view of a cleaning robot provided by an embodiment of the present application at a first position of a side wall of a region to be cleaned with a buoyancy device forming a buoyancy chamber;

[0107] Fig. 35 is a schematic view of a cleaning robot provided by an embodiment of the present application floating on the water after the water pump assembly and the moving assembly stop running;

[0108] Fig. 36 is a schematic view of a cleaning robot provided by an embodiment of the present application at a first position of a side wall of a region to be cleaned with a second type of air outlet open;

[0109] Fig. 37 is a block diagram of a cleaning robot provided by an embodiment of the present application including a processor and a computer storage medium.

[0110] BRIEF DESCRIPTION OF THE DRAWINGS: cleaning robot 100; body 10; cleaning assembly 20; garbage basket 30; buoyancy device 40; moving assembly 50; first traveling wheel 51; second traveling wheel 52; water pump assembly 60; control module 70; floating chamber 41; water outlet 43; side wall 200; seventh detection module 87; buoyancy chamber 45; first floating chamber portion 401; second floating chamber portion 402; third floating chamber portion 403; third detection module 83; fourth detection module 84; fifth detection module 85; sixth detection module 86; computer storage medium 110; processor 120; front end 10c; rear end 10d; bottom 10b; top 10a, air outlet 42; air valve 44. DETAILED DESCRIPTION

[0111] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only some embodiments, but not all embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the protection scope of the present application.

[0112] Reference to an "embodiment" in this application means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. Those skilled in the art will appreciate from the present description that embodiments described can be combined with other embodiments in various ways.

[0113] The terms "first", "second", and the like, herein and in the appended claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "include", "have", and the like, are intended to be inclusive in a manner similar to the term "comprise" and are not intended to be exclusive or limiting in some way. In other words, the use of such terms in the detailed description is not intended to exclude or eliminate from the scope of the application other elements or steps that are not specifically recited.

[0114] Referring to FIG. 1 and FIG. 2, FIG. 1 is a structural schematic diagram of a cleaning robot 100 according to an embodiment of the present application. The cleaning robot 100 comprises a body 10, a cleaning assembly 20, a garbage basket 30, a buoyancy device 40, a moving assembly 50, a water pump assembly 60, and a control module 70 (see FIG. 17b).

[0115] Referring to FIG. 1 and FIG. 2, the body 10 has a front end 10c and a rear end 10d oppositely arranged along a traveling direction D1. The traveling direction D1 refers to the advancing direction of the body 10 during cleaning. The front end 10c of the body 10 refers to one end of the advancing direction of the cleaning robot 100 during cleaning. The rear end 10d of the body 10 refers to the other end opposite to the front end 10c. The traveling direction is denoted by D1 in the drawings.

[0116] The cleaning robot 100 is a reversible cleaning robot. For the purpose of illustration, the working modes of the cleaning robot 100 include but are not limited to a water surface cleaning mode and a water surface cleaning mode.

[0117] In the water surface cleaning mode, the cleaning robot 100 is in a reversed state (e.g., reversed by 180°). That is, the height of the bottom 10b of the body 10 is higher than the height of the top 10a of the body 10, for example, the bottom 10b of the body 10 is located on the water surface, and the top 10a of the body 10 is located underwater. The buoyancy device 40 forms a buoyancy chamber, so that the cleaning robot 100 can float on the water surface, and thus the bottom 10b of the body 10 is located on the water surface, and the top 10a of the body 10 is located underwater.

[0118] In the underwater cleaning mode, the cleaning robot 100 is located underwater, and the cleaning robot 100 is in a normal state or a state of being flipped by an angle less than 90°. That is, the height of the top 10a of the body 10 is higher than the height of the bottom 10b of the body 10.

[0119] In addition, the cleaning robot 100 also has a wall climbing mode, in which the cleaning robot 100 is in a vertical flipped state, and the cleaning robot 100 is in a state of being flipped by an angle close to 90°. The cleaning robot 100 is arranged along the side wall of the area to be cleaned, and the like. The area to be cleaned includes but is not limited to a swimming pool, a pool, and the like.

[0120] The cleaning assembly 20 is arranged at the end of the body 10. Optionally, the cleaning assembly 20 is arranged at the end where the body 10 moves forward, that is, the aforementioned front end 10c. Further optionally, the cleaning assembly 20 is arranged at the bottom 10b of the body 10, so as to facilitate cleaning of the bottom of the water, the side wall, and the like in the underwater cleaning mode.

[0121] The cleaning assembly 20 includes but is not limited to a cleaning roller brush. The cleaning assembly 20 rolls under the action of a driving motor, and carries garbage into the garbage basket 30. Optionally, the cleaning assembly 20 is connected to the moving assembly 50 through a transmission structure, so that the cleaning assembly 20 and the moving assembly 50 share the same set of driving motors, and linkage of the cleaning assembly 20 and the moving assembly 50 is realized.

[0122] Please refer to FIG. 2 and FIG. 6, the garbage basket 30 is arranged on the body 10. The garbage basket 30 is of a detachable structure, so as to facilitate dumping of garbage. Optionally, the garbage basket 30 can have different structures according to different working modes of the cleaning robot 100. Optionally, different cleaning modes can also share the garbage basket 30.

[0123] In the present embodiment, the garbage basket 30 has a garbage collection port for water flow and garbage flow. In the underwater cleaning mode, the garbage collection port of the garbage basket 30 faces the side where the cleaning assembly 20 is located. The cleaning assembly 20 rolls under the action of a driving motor, and carries garbage and water flow into the garbage basket 30 through the garbage collection port. The water flow entering the garbage basket 30 can flow out through the filter screen on the outer wall of the garbage basket 30.

[0124] The buoyancy device 40 is arranged on the body 10. The number of the buoyancy device 40 is not specifically limited in the present application. In the present embodiment, the number of the buoyancy device 40 is two, and the two buoyancy devices 40 are arranged on the two sides in the width direction of the body 10, so as to provide relatively balanced buoyancy in the water surface cleaning mode, and make the cleaning robot 100 stably perform water surface cleaning.

[0125] The buoyancy device 40 extends to the cleaning assembly 20. In other words, the orthogonal projection of the buoyancy device 40 in the width direction of the machine body 10 at least partially coincides with the orthogonal projection of the cleaning assembly 20 in the width direction of the machine body 10. In this way, on the one hand, the cleaning assembly 20 does not protrude too much from the front end 10c of the machine body 10 and appears to be visually jarring, and in addition, the buoyancy device 40 is arranged outside the cleaning assembly 20 and can also play a role in protecting the cleaning assembly 20 from the outside to prevent damage to the cleaning assembly 20; on the other hand, the buoyancy device 40 also makes better use of the space on both sides of the machine body 10, providing a larger buoyancy for the buoyancy device 40 or laying a foundation for providing greater carrying capacity.

[0126] Optionally, referring to FIGS. 1, 4 and 5, the buoyancy device 40 includes a floating cavity 41 and a water inlet 43.

[0127] Referring to FIGS. 1, 4 and 5, the floating cavity 41 is an internal space formed by the shell of the buoyancy device 40.

[0128] Referring to FIGS. 1, 4 and 5, the water inlet 43 is arranged on the shell of the buoyancy device 40, and the water inlet 43 is in communication with the floating cavity 41.

[0129] Optionally, referring to FIGS. 1, 7 and 8, the buoyancy device 40 includes a floating cavity 41, an air inlet 42, a water inlet 43 and an air valve 44. The air valve 44 is used to automatically open and close the air inlet 42.

[0130] Referring to FIGS. 1, 7 and 8, the floating cavity 41 is an internal space formed by the shell of the buoyancy device 40. Optionally, the air inlet 42 can be an opening provided on the shell of the floating cavity 41, and the size of the air inlet 42 is relatively small.

[0131] Referring to FIGS. 1, 7 and 8, the water inlet 43 is arranged on the shell of the buoyancy device 40, and the water inlet 43 is in communication with the floating cavity 41. Generally, the air inlet 42 has a small diameter, and the air inlet 42 is used to facilitate the discharge of the gas in the floating cavity 41 through the air inlet 42 while the liquid level in the floating cavity 41 rises; or the air inlet 42 is used to facilitate the intake of the gas in the floating cavity 41 through the air inlet 42 while the liquid level in the floating cavity 41 falls.

[0132] Optionally, the air valve 44 is arranged at the air inlet 42 and used to open or close the air inlet 42. When the air inlet 42 is opened, the floating cavity 41 is in communication with the outside atmosphere. When the air inlet 42 is closed, the floating cavity 41 is isolated from the outside atmosphere.

[0133] The air valve 44 includes, but is not limited to, a solenoid valve or other electrically controlled valve.

[0134] The moving assembly 50 is arranged on the body 10 and is configured to drive the cleaning robot 100 to move. The moving assembly 50 includes, but is not limited to, a driving motor, a transmission gear, a driving wheel, a driving track, etc. Optionally, the number of the moving assembly 50 is two, and the two moving assemblies 50 are arranged on the two sides of the body 10 in the width direction, respectively. The two moving assemblies 50 drive the cleaning robot 100 to move forward, backward, turn, etc.

[0135] The water pump assembly 60 is arranged on the body 10. The water pump assembly 60 is configured to form a water flow in a preset direction, so that the water flow enters the garbage basket 30 from outside and is discharged from the top 10a of the body 10 after passing through the water pump assembly 60. In this process, the garbage in the water enters the garbage basket 30 and is deposited in the garbage basket 30 along with the water flow. Thus, the water pump assembly 60 sucks the water flow and the garbage from the water into the garbage basket 30 and discharges the water flow from the top 10a of the body 10.

[0136] In addition, when the cleaning robot 100 moves on the water bottom, the water pump assembly 60 sprays water towards the top 10a of the body 10 to form a reaction force to press the cleaning robot 100 downward. The cleaning robot 100 is made to adhere to the water bottom, so that the moving assembly 50 drives the cleaning robot 100 to move.

[0137] When the cleaning robot 100 moves along the side wall of the area to be cleaned, the water pump assembly 60 sprays water towards the top 10a of the body 10 to form a reaction force to press the cleaning robot 100 downward. The cleaning robot 100 is made to adhere to the side wall of the area to be cleaned, so that the moving assembly 50 drives the cleaning robot 100 to move along the side wall of the area to be cleaned.

[0138] The specific structure of the control module 70 includes, but is not limited to, a control chip. The cleaning robot 100 further includes a memory (for example, a subsequent computer storage medium). The memory is configured to store programs for performing some steps of a control method of the cleaning robot 100. The control module 70 is configured to execute the control method of the cleaning robot 100 according to the programs. The control method of the cleaning robot 100 can make the cleaning robot 100 automatically float and dock. The specific steps of the control method are exemplified below.

[0139] Referring to FIG. 9, FIG. 9 is a control method of a cleaning robot 100 provided by an embodiment of the present application. The method can be applied to the cleaning robot 100 of any of the above embodiments. The method includes, but is not limited to, the following steps.

[0140] Step S100: receiving a docking signal indicating that the cleaning robot 100 docks.

[0141] Optionally, referring to FIG. 10, when the cleaning robot 100 is in an underwater state, the control module 70 receives a signal indicating that the cleaning robot 100 is parked at the edge of a water pool (a region to be cleaned).

[0142] Optionally, the cleaning robot 100 further comprises a detection module, which is configured to detect a target scene and generate a parking signal according to the target scene, and send the parking signal to the control module 70. The number of detection modules is one or more.

[0143] The target scene includes but is not limited to the following scenes:

[0144] The first is a cleaning robot 100 working failure scene, which specifically includes but is not limited to any one or more of the following: power failure, water pump assembly 60 working failure, garbage basket 30 filter screen blockage, etc.

[0145] The detection module is configured to detect the failure scene. After the detection module detects the failure, the detection module generates a parking signal and sends the parking signal to the control module 70.

[0146] Optionally, the number of detection modules is multiple, and the multiple detection modules include a first detection module. The first detection module is electrically connected to the control module 70, and the first detection module is configured to detect power failure. The first detection module is configured to send a parking signal to the control module 70 when the first detection module detects power failure.

[0147] Optionally, the multiple detection modules include a second detection module. The second detection module is electrically connected to the control module 70, and the second detection module is configured to detect water pump assembly 60 working failure. The second detection module is configured to send a parking signal to the control module 70 when the second detection module detects water pump assembly 60 working failure.

[0148] Optionally, the multiple detection modules include a third detection module. The third detection module is electrically connected to the control module 70, and the third detection module is configured to detect garbage basket 30 filter screen blockage. The third detection module is configured to send a parking signal to the control module 70 when the third detection module detects garbage basket 30 filter screen blockage.

[0149] The second is a cleaning robot 100 completing a cleaning task scene.

[0150] Optionally, the multiple detection modules include a fourth detection module, and the fourth detection module is configured to detect whether the cleaning robot 100 completes a cleaning task in a region to be cleaned. The fourth detection module is configured to send a parking signal to the control module 70 after the fourth detection module detects that the cleaning robot 100 completes the cleaning task in the region to be cleaned.

[0151] The third is a low battery scenario.

[0152] Optionally, the plurality of detection modules comprises a fifth detection module configured to detect that the power level of the cleaning robot 100 is less than or equal to a preset power level (e.g. 10%). The fifth detection module sends the docking signal to the control module 70 after detecting that the power level of the cleaning robot 100 is less than or equal to the preset power level.

[0153] The fourth is to receive a wireless communication signal indicating that the cleaning robot 100 is docked.

[0154] Optionally, the plurality of detection modules comprises a sixth detection module configured to detect whether a wireless communication signal indicating that the cleaning robot 100 is docked is received. The sixth detection module sends the docking signal to the control module 70 after receiving the wireless communication signal indicating that the cleaning robot 100 is docked.

[0155] Step S200: Please refer to FIG. 11, according to the docking signal, the control module 70 controls the cleaning robot 100 to move to the side wall 200 of the to-be-cleaned area.

[0156] Specifically, the control module 70 is configured to control the cleaning robot 100 to move to the side wall 200 of the to-be-cleaned area according to the docking signal. The to-be-cleaned area includes but is not limited to a pool, a swimming pool, etc. The side wall 200 of the to-be-cleaned area includes but is not limited to the wall of the pool.

[0157] Optionally, the control module 70 is electrically connected to the driving motor of the moving assembly 50. When the current position of the cleaning robot 100 is on the bottom surface of the pool, the control module 70 controls the moving assembly 50 to control the cleaning robot 100 to move from the bottom surface of the to-be-cleaned area to the wall of the pool. The specific control steps are illustrated later.

[0158] Step S300: Please refer to FIG. 12 and FIG. 13, detect whether the cleaning robot 100 moves to the first position on the side wall 200.

[0159] Specifically, the cleaning robot 100 further comprises a seventh detection module. The seventh detection module is electrically connected to the control module 70.

[0160] The seventh detection module is configured to detect whether the position of the cleaning robot 100 is at the first position of the side wall of the to-be-cleaned area. In an optional embodiment, the position of the cleaning robot 100 on the side wall 200 can be calculated according to the wall-climbing direction, the wall-climbing speed and the wall-climbing time of the cleaning robot 100. The seventh detection module is configured to calculate the position of the cleaning robot 100 on the side wall 200 according to the wall-climbing direction, the wall-climbing speed and the wall-climbing time of the cleaning robot 100. The detection result is obtained by comparing the position of the cleaning robot 100 on the side wall 200 detected by the seventh detection module with the first position.

[0161] In another optional embodiment, please refer to FIG. 13, when the cleaning robot 100 moves to the first position on the side wall 200, the seventh detection module 87 on the cleaning robot 100 exposes the water surface. At this time, the seventh detection module 87 includes but is not limited to a low water level sensor (a sensor that detects the contact between the sensor and the liquid. When the sensor exposes the water surface, the sensor will send a detection signal), a water immersion sensor (a sensor for detecting the water immersion state in the environment), a dew point sensor (an instrument that can directly measure the dew point temperature, which belongs to a kind of temperature and humidity sensors. The dew point temperature can directly indicate the humidity of the current environment), a pressure sensor (for detecting whether there is water pressure), a gas sensor (for detecting whether it exposes the water surface and is located in the atmosphere) and the like.

[0162] Optionally, the position of the water port 43 of the buoyancy device 40 and the seventh detection module 87 is not specifically limited.

[0163] Optionally, when the cleaning robot 100 is in a vertical wall-climbing state, the seventh detection module 87 is located above the water port 43 of the buoyancy device 40. Further optionally, when the cleaning robot 100 moves to the first position on the side wall 200, the water port 43 is located below the liquid level L of the to-be-cleaned area.

[0164] Optionally, when the cleaning robot 100 moves to the first position on the side wall 200, a part of the cleaning robot 100 exposes the liquid level. At this time, the water port 43 of the buoyancy device 40 can not expose, or the water port 43 exposes a part of the liquid level, or the water port 43 exposes the entire liquid level.

[0165] In other embodiments, when the cleaning robot 100 moves to the first position on the side wall 200, the cleaning robot 100 can expose the entire liquid level.

[0166] Of course, in other embodiments, when the cleaning robot 100 moves to the first position on the side wall 200, the cleaning robot 100 can also be located entirely below the to-be-cleaned area, but close to the liquid level.

[0167] Step S400: please refer to FIG. 14, if yes, turn the cleaning robot 100, so that the water port 43 of the buoyancy device 40 is in communication with the outside, so that part of the liquid in the buoyancy device 40 of the cleaning robot 100 is discharged, and the liquid level in the buoyancy device 40 is lowered.

[0168] It can be understood that the cleaning robot 100 climbs along the side wall 200 in the upward direction, and when the cleaning robot 100 climbs to a first position at a certain height, at this time, the cleaning robot 100 can be partially exposed to the water surface. The control module 70 controls the cleaning robot 100 to turn, and the turning angle is not specifically limited. For example, the cleaning robot 100 is turned to a transversely arranged state. After turning, the water outlet 43 of the buoyancy device 40 arranged at the side of the cleaning robot 100 is exposed to the water surface. The liquid in the floating cavity of the buoyancy device 40 flows out through the water outlet 43, and the liquid level in the buoyancy device 40 decreases.

[0169] Optionally, when the seventh detection module 87 detects that the position of the cleaning robot 100 is located at the first position of the side wall 200 of the to-be-cleaned area, a first detection signal is generated, and the first detection signal is also used to indicate that the seventh detection module 87 is exposed to the water surface. When the seventh detection module 87 is exposed to the water surface, the position of the cleaning robot 100 on the side wall 200 is the first position.

[0170] The seventh detection module 87 sends the first detection signal to the control module 70, the control module 70 controls the cleaning robot 100 to turn according to the first detection signal, and the water outlet 43 of the buoyancy device 40 of the cleaning robot 100 is located above the liquid surface L of the to-be-cleaned area, so that the liquid level in the buoyancy device 40 decreases, and then the floating cavity 45 is formed in the buoyancy device 40.

[0171] The present application does not specifically limit the position of the seventh detection module 87 on the cleaning robot 100. Optionally, when the cleaning robot 100 rises to the position where the seventh detection module 87 is exposed to the water surface on the side wall 200, the cleaning robot 100 is controlled to turn to a transversely arranged state, and when the cleaning robot 100 turns to the transversely arranged state, the water outlet 43 of the buoyancy device 40 is located above the liquid surface L of the to-be-cleaned area.

[0172] The above cleaning robot 100 turning to the transversely arranged state is only an example, and in other embodiments, the cleaning robot 100 can also turn to other angles.

[0173] Optionally, the specific implementation of the turning of the cleaning robot 100 includes but is not limited to reversing the rotation and / or differential rotation of the moving assemblies on both sides of the cleaning robot 100 to make the cleaning robot 100 turn.

[0174] It should be noted that when the cleaning robot 100 is underwater, the buoyancy device 40 is filled with water, so after the water outlet 43 of the buoyancy device 40 is exposed to the water surface, the pressure difference between the inside and outside of the buoyancy device 40 causes the liquid in the buoyancy device 40 to be discharged from the water outlet 43, and the water level in the buoyancy device 40 decreases.

[0175] Step S500: Please refer to FIG. 15, when the volume of the gas cavity in the buoyancy device 40 reaches the preset volume threshold, the cleaning robot 100 is controlled to stop running.

[0176] Optionally, the cleaning robot 100 further comprises an eighth detection module for detecting whether the volume of the gas cavity (i.e. the buoyancy chamber 45) in the buoyancy device 40 reaches the preset volume threshold. After the eighth detection module detects that the volume of the gas cavity in the buoyancy device 40 reaches the preset volume threshold, the eighth detection module sends an eighth detection signal to the control module 70. The control module 70 controls the cleaning robot 100 to stop running according to the eighth detection signal.

[0177] Specifically, the eighth detection module includes but is not limited to a liquid level sensor, and the eighth detection module is located at a preset height in the buoyancy device 40 for detecting whether the volume of the gas cavity in the buoyancy device 40 reaches the preset volume threshold.

[0178] Further optionally, the eighth detection module further includes but is not limited to calculating the liquid discharge amount according to the water outlet 43 liquid discharge flow rate and liquid discharge time. According to the liquid discharge amount in the buoyancy device 40, it is determined whether the volume of the gas cavity in the buoyancy device 40 reaches the preset volume threshold.

[0179] Specifically, for example, the preset height of the eighth detection module is not specifically limited in the present application. The preset height can be calculated according to the buoyancy (or buoyancy range) required for the cleaning robot 100 to float on the water surface, the volume (or volume range) of the buoyancy chamber 45 in the buoyancy device 40, and the liquid discharge amount required for the buoyancy chamber 45 in the buoyancy device 40 to discharge liquid. According to the liquid discharge amount and the attitude (wall climbing state) of the cleaning robot 100, the preset height of the eighth detection module can be determined.

[0180] The preset volume threshold is not specifically limited in the present application. Optionally, when the volume of the gas cavity in the buoyancy device 40 reaches the preset volume threshold, the buoyancy provided by the gas cavity in the buoyancy device 40 and the buoyancy of other sealed chambers of the cleaning robot 100 can make the cleaning robot 100 float on the water surface.

[0181] In the present embodiment, after the cleaning robot 100 stops running, the cleaning robot 100 is no longer subjected to the adhesion force towards the side wall 200, so the cleaning robot 100 falls into the water under the action of gravity, and the cleaning robot 100 floats on the water surface under the action of the buoyancy provided by the gas cavity in the buoyancy device 40.

[0182] The control method of the cleaning robot 100 provided by the embodiments of the present application comprises the following steps: after receiving a signal of the cleaning robot 100 docking, the cleaning robot 100 is controlled to move to the side wall 200 of the area to be cleaned according to the docking signal; then it is detected whether the cleaning robot 100 moves to the first position on the side wall 200; if it is detected that the cleaning robot 100 moves to the first position on the side wall 200, the cleaning robot 100 is controlled to turn so that the liquid in the buoyancy device 40 of the cleaning robot 100 is discharged; when the volume of the gas cavity in the buoyancy device 40 reaches a preset volume threshold, the cleaning robot 100 is controlled to stop running, the cleaning robot 100 is no longer driven to adhere to the side wall 200 by the driving force, the cleaning robot 100 falls to the water surface under the action of gravity, and floats near the side wall 200 of the area to be cleaned under the action of the buoyancy of the buoyancy device 40. The above process realizes the autonomous floating docking of the cleaning robot 100, and the user does not need to stand by to observe the state of the cleaning robot 100 and assist the cleaning robot 100 to float on the water surface, thereby avoiding the user waiting and improving the intelligence of the cleaning robot 100.

[0183] Since it is not necessary to determine where the cleaning robot 100 climbs the wall from the side wall 200, there may be a problem that the cleaning robot 100 climbs the wall at the corner position, and at this time, the cleaning robot 100 turns towards the corner side, which may cause the cleaning robot 100 to be collided, the turning process to be unable to be completed, and the like. Alternatively, some rigid structures are arranged on the side wall 200 of part of the area to be cleaned, and if the cleaning robot 100 collides with the rigid structures on the side wall 200 in the turning process, the cleaning robot 100 will be damaged.

[0184] Optionally, before or during the control of the turning of the cleaning robot 100, the method further comprises the following steps, but is not limited to the following steps.

[0185] Please refer to FIG. 16, and step S410: it is detected whether there are obstacles on the two sides of the cleaning robot 100.

[0186] Optionally, the method of detecting whether there are obstacles on the two sides of the cleaning robot 100 comprises the following embodiments, but is not limited to the following embodiments.

[0187] In the first optional embodiment of detecting whether there are obstacles on the two sides of the cleaning robot 100, distance measuring sensors can be arranged on the two sides of the cleaning robot 100, and the distance measuring sensors on the two sides of the cleaning robot 100 can detect whether there are obstacles on the two sides of the cleaning robot 100 and the distance of the obstacles by sending detection signals and receiving reflected signals.

[0188] Specifically, the distance measuring sensor can be arranged at a position close to the front end of the cleaning robot 100. When the cleaning robot 100 is located at the first position of the side wall 200, the distance measuring sensor is located above the water surface, so that the distance measuring sensor detects whether there is an obstacle on both sides of the cleaning robot 100.

[0189] In a first alternative embodiment for detecting whether there is an obstacle on both sides of the cleaning robot 100, the control module 70 controls the cleaning robot 100 to turn and detects whether the cleaning robot 100 reaches the first state after the cleaning robot 100 turns for a first time. If yes, it is determined that there is no obstacle on the side in the current turning direction of the cleaning robot 100. If no, it is determined that there is an obstacle on the side in the current turning direction of the cleaning robot 100.

[0190] The control module 70 can determine the theoretical turning angle of the cleaning robot 100 after the first time period according to the reverse rotation of the differential speed of the moving assemblies 50 on both sides. The control module 70 compares the theoretical turning angle of the cleaning robot 100 after the first time period (corresponding to the first state of the cleaning robot 100) with the actual turning angle of the cleaning robot 100 after the first time period.

[0191] Optionally, the cleaning robot 100 further comprises a posture detector. The posture detector is configured to detect the posture of the cleaning robot 100. The posture detector includes but is not limited to a gyroscope. The posture detector can detect the actual turning angle of the cleaning robot 100 after the first time period in the turning process, i.e., the first state. The posture detector is electrically connected to the control module 70. The posture detector converts the first state of the cleaning robot 100 after the first time period in the turning process into an electrical signal and sends the electrical signal to the control module 70.

[0192] If the difference between the theoretical turning angle of the cleaning robot 100 after the first time period and the actual turning angle of the cleaning robot 100 after the first time period is greater than or equal to a preset angle threshold, it indicates that the cleaning robot 100 is hindered in the current turning process, which means that there is an obstacle in the current turning. The preset angle threshold is not specifically limited in the present application. For example, the preset angle threshold can be 10°, 20°, etc.

[0193] If the difference between the theoretical turning angle of the cleaning robot 100 after the first time period and the actual turning angle of the cleaning robot 100 after the first time period is less than the preset angle threshold, it indicates that the cleaning robot 100 is smooth in the current turning process, which means that there is no obstacle in the current turning.

[0194] The detection of whether there is an obstacle in the rotating direction before or during the turning is performed in this embodiment, so that the rigid structure on the side wall 200 or the cleaning robot 100 can be effectively detected when the cleaning robot 100 climbs on the corner of a wall, the cleaning robot 100 is prevented from being damaged and the climbing on the wall fails, and the intelligence of the cleaning robot 100 is improved.

[0195] Step S420: If the cleaning robot 100 detects that there is an obstacle on one side, the cleaning robot 100 is controlled to turn away from the obstacle or to move laterally by a first distance, and the cleaning robot 100 is controlled to turn to either side when the cleaning robot 100 moves laterally by the first distance.

[0196] In an alternative embodiment, when the cleaning robot 100 detects that there is an obstacle on one side, the control module 70 can control the two groups of moving assemblies 50 to move in a direction in which the cleaning robot 100 turns to the other side, so that the cleaning robot 100 turns away from the obstacle, thereby avoiding the cleaning robot 100 from colliding with the obstacle during the turning and ensuring that the turning of the cleaning robot 100 is smooth.

[0197] For example, referring to FIGS. 17a-17e, when the cleaning robot 100 detects that there is an obstacle on the left side during the left turning, the control module 70 controls the cleaning robot 100 to turn to the right side.

[0198] For another example, when the cleaning robot 100 detects that there is an obstacle on the right side during the right turning, the control module 70 controls the cleaning robot 100 to turn to the left side.

[0199] The attitude detector is electrically connected to the control module 70, and the control module 70 is further configured to, during the turning of the cleaning robot 100 to the first side, control the cleaning robot 100 to turn to a second side opposite to the first side, according to the angle difference between the first attitude of the cleaning robot 100 detected by the attitude detector after the first time period of turning and the theoretical attitude being greater than or equal to a preset angle threshold.

[0200] In another alternative embodiment, when the cleaning robot 100 detects that there is an obstacle on one side, the control module 70 can control the two groups of moving assemblies 50 to move laterally by a first distance in a direction in which the position of the cleaning robot 100 is towards the other side, so that the cleaning robot 100 is relatively away from the obstacle, and the cleaning robot 100 can then turn to either side, thereby avoiding the cleaning robot 100 from colliding with the obstacle during the turning and ensuring that the turning of the cleaning robot 100 is smooth.

[0201] Please refer to FIG. 17a and FIG. 17b, the control module 70 is further configured to, during the turning of the cleaning robot 100 towards the first side, control the cleaning robot 100 to move a first distance along the second side, according to the angle difference between the first attitude of the cleaning robot 100 detected by the attitude detector after turning for a first time period and the theoretical attitude being greater than or equal to a preset angle threshold, please refer to FIG. 17f, and control the cleaning robot 100 to turn towards the first side or the second side after moving the first distance, please refer to FIG. 17g and FIG. 17h.

[0202] In another optional embodiment, according to the attitude of the cleaning robot 100 at the first position being inclined to the first side, the cleaning robot 100 is controlled to turn towards the first side; or, according to the attitude of the cleaning robot 100 at the first position being inclined to the second side, the cleaning robot 100 is controlled to turn towards the second side.

[0203] Specifically, the attitude detector is configured to detect the attitude of the cleaning robot 100, the attitude detector is electrically connected to the control module 70, and the control module 70 is further configured to, according to the current attitude of the cleaning robot 100 detected by the attitude detector, determine the turning direction of the cleaning robot 100 when the cleaning robot 100 is at the first position of the side wall 200.

[0204] For example, please refer to FIG. 18a and FIG. 18b, when the attitude of the cleaning robot 100 at the first position of the side wall 200 is left inclined, the control module 70 controls the cleaning robot 100 to turn left, thereby turning along the current attitude of the cleaning robot 100, compared with the way of turning right, the angle that the cleaning robot 100 needs to turn towards the left side is small, and it is easier to turn to the horizontal attitude.

[0205] For example, when the attitude of the cleaning robot 100 at the first position of the side wall 200 is right inclined, the control module 70 controls the cleaning robot 100 to turn right, thereby turning along the current attitude of the cleaning robot 100, compared with the way of turning left, the angle that the cleaning robot 100 needs to turn towards the right side is small, and it is easier to turn to the horizontal attitude.

[0206] The present application does not make specific limitations on the position and structure of the water gap 43 of the buoyancy device 40, which is illustrated below in combination with the drawings.

[0207] Optionally, please refer to FIG. 3, FIG. 4, FIG. 13 and FIG. 14, the water port 43 is located close to the bottom of the cleaning robot 100. The water port 43 is located at a distance from the front end 10c of the cleaning robot 100, so that when the cleaning robot 100 is located at the first position of the side wall 200, the front end 10c of the cleaning robot 100 is located above the liquid level L of the area to be cleaned, and the water port 43 is located below the liquid level L of the area to be cleaned.

[0208] Further, please refer to FIG. 3 and FIG. 4, the moving assembly 50 further includes a first travel wheel 51 and a second travel wheel 52, which are arranged at a distance along the travel direction of the cleaning robot 100 and are rotatably arranged on the same side of the body. The first travel wheel 51 and the second travel wheel 52 are respectively located on the front end 10c side and the rear end side of the buoyancy device 40. In other words, the buoyancy device 40 is located between the first travel wheel 51 and the second travel wheel 52, so that the buoyancy device 40 is compactly arranged with the first travel wheel 51 and the second travel wheel 52, fully utilizing the space between the first travel wheel 51 and the second travel wheel 52, and the cleaning robot 100 has a smaller front-rear direction size while being provided with the buoyancy device 40, which is beneficial to the miniaturization of the cleaning robot 100.

[0209] Please refer to FIG. 3, FIG. 4, FIG. 5, FIG. 13, FIG. 14 and FIG. 19, the water port 43 of the buoyancy device 40 is arranged towards the bottom 10b of the cleaning robot 100, so that during the submersion process of the cleaning robot 100, the water port 43 of the buoyancy device 40 is in communication with the outside atmosphere, the water port 43 of the buoyancy device 40 quickly intakes liquid to fill the entire buoyancy device 40, and the cleaning robot 100 sinks to the bottom of the water.

[0210] Optionally, when the cleaning robot 100 turns to a preset posture, the water port 43 of the buoyancy device 40 is in communication with the outside.

[0211] Specifically, the preset posture is a posture in which the cleaning robot 100 is arranged transversely, and the front-rear direction of the cleaning robot 100 is parallel to the bottom surface of the pool. At this time, the water port 43 of the buoyancy device 40 is located above the liquid level L of the area to be cleaned.

[0212] Optionally, the water port 43 of the buoyancy device 40 is located on the side (inner side) of the buoyancy device 40 that is more biased towards the center of the body. In other words, when the cleaning robot 100 is in a transversely arranged posture, the water port 43 of the buoyancy device 40 is located on the lower side.

[0213] Compared to when the cleaning robot 100 is in a horizontal orientation, the water inlet 43 of the buoyancy device 40 is positioned higher. Liquid in the lower chamber of the buoyancy device 40 cannot drain through the water inlet 43, making it difficult for the volume of the gas chamber within the buoyancy device 40 to reach the preset volume threshold. This embodiment addresses this by positioning the water inlet 43 of the buoyancy device 40 lower when the cleaning robot 100 is in a horizontal orientation. This allows liquid in the higher chamber of the buoyancy device 40 to flow out through the water inlet 43, increasing the drainage speed and making it easier for the volume of the gas chamber within the buoyancy device 40 to reach the preset volume threshold.

[0214] Optionally, referring to Figures 3, 4, 5, 13, 14, and 19, the buoyancy device 40 includes a first floating cavity 401, a second floating cavity 402, and a third floating cavity 403 that are internally interconnected. The second floating cavity 402 is located on the side of the first floating cavity 401 facing away from the body 10, and the third floating cavity 403 is located on the side of the first floating cavity 401 facing away from the body 10. The second floating cavity 402 and the third floating cavity 403 are arranged along the height direction of the cleaning robot 100.

[0215] Optionally, referring to Figures 3, 4, 5, and 19, the water inlet 43 is located at the bottom 10b of the first float cavity 401 and is open. Specifically, the bottom 10b of the first float cavity 401 facing the body 10 has an open water inlet 43.

[0216] The preset volume threshold is the sum of the inner volume of the second float cavity 402 and the inner volume of the third float cavity 403. When the cleaning robot 100 is in a horizontally positioned posture, since the second float cavity 402 and the third float cavity 403 are higher than the water inlet 43, the liquid in the second float cavity 402 and the third float cavity 403 is more easily discharged and emptied through the water inlet 43.

[0217] The detection module can be located between the second floating cavity 402 and the first floating cavity 401, and / or between the third floating cavity 403 and the first floating cavity 401, to detect whether the liquid in the second floating cavity 402 and the third floating cavity 403 has been emptied, and then detect whether the volume of the gas chamber in the buoyancy device 40 has reached a preset volume threshold. The control module 70 controls the cleaning robot 100 to stop running according to the detection result of the detection module. After the cleaning robot 100 loses the adhesion between itself and the side wall 200 and the driving force of the moving component 50, it falls into the water. The gas chamber in the buoyancy device 40 forms a buoyancy chamber 45. The buoyancy provided by the buoyancy chamber 45 makes the cleaning robot 100 float on the water surface and achieve docking at the shore.

[0218] Further, please refer to FIG. 3, FIG. 4, FIG. 5 and FIG. 19, the second floating cavity 402 is located between the first traveling wheel 51 and the second traveling wheel 52, and the third floating cavity 403 is arranged between the first traveling wheel 51, the second traveling wheel 52 and the top of the machine body in the height direction. On the one hand, the buoyancy device 40 is fully embedded between the first traveling wheel 51 and the second traveling wheel 52 of the moving assembly 50, which reduces the space occupied by the buoyancy device 40 in the length direction, thereby reducing the overall size of the cleaning robot 100.

[0219] In the first alternative embodiment, please refer to FIG. 3, FIG. 4, FIG. 5 and FIG. 19, the water inlet 43 of the buoyancy device 40 is arranged in an open manner. That is, the water inlet 43 of the buoyancy device 40 is an unsealed opening on the shell of the buoyancy device 40, so that the buoyancy device 40 has a relatively large water inlet speed, thereby improving the speed of filling the buoyancy device 40 with water during the sinking process of the cleaning robot 100, thereby improving the sinking speed and reducing the problem of the buoyancy device 40 forming a buoyancy chamber 45 inside the buoyancy device 40 due to slow water filling during the sinking process, causing the cleaning robot 100 to be unstable in posture and easy to sway or even overturn.

[0220] In the second alternative embodiment, the water inlet 43 of the buoyancy device 40 is electrically controlled to open or close. The control module 70 controls the opening of the water inlet 43.

[0221] Specifically, the buoyancy device 40 further comprises a water inlet switch assembly (not shown). The water inlet switch assembly is used to control the opening and closing of the water inlet 43. The control module 70 is further configured to close the water inlet 43 when the volume of the buoyancy chamber 45 is greater than or equal to a preset volume threshold, so as to block the buoyancy chamber 45.

[0222] In this embodiment, the opening and closing of the water inlet 43 is also controlled by an electric switch. By closing the water inlet 43, the buoyancy chamber 45 is blocked to form a buoyancy chamber 45 with a preset volume threshold.

[0223] Please refer to FIG. 20a and FIG. 20b, before step S100, the method further comprises but is not limited to the following steps.

[0224] Step S911: detecting the power value of the cleaning robot 100.

[0225] Optionally, the cleaning robot 100 further comprises a battery (not shown) and a fifth detection module 85 electrically connected to the battery, the fifth detection module 85 is configured to monitor the power value of the cleaning robot 100. Wherein, the fifth detection module 85 includes but is not limited to a power manager.

[0226] Step S912: comparing the power value of the cleaning robot 100 with the first threshold value.

[0227] Optionally, the first threshold value of the power is pre-stored in the memory. The first threshold value is not specifically limited in the present application. Optionally, the first threshold value includes but is not limited to 20%, or 18%, or 15%, or 10%, or 8% of the power, which are only examples. The power value of the first threshold value is reserved for the cleaning robot 100 to move to the side wall 200 and reach the first position of the side wall 200, so that the water outlet 43 is in communication with the outside world, the water in the buoyancy device 40 is discharged through the water outlet 43, and the target volume of the buoyancy chamber 45 is formed in the buoyancy device 40. Even if the water pump assembly 60, the moving assembly 50 and the like stop running, the cleaning robot 100 can still float on the water surface after falling into the water surface from the side wall 200. Alternatively, the power value of the first threshold value is reserved for the cleaning robot 100 to move to the side wall 200 and reach the first position of the side wall 200, so that the water outlet 43 is in communication with the outside world, the water in the buoyancy device 40 is discharged through the water outlet 43, and the target volume of the buoyancy chamber 45 is formed in the buoyancy device 40. Even if the water pump assembly 60, the moving assembly 50 and the like stop running, the cleaning robot 100 can still float on the water surface after falling into the water surface from the side wall 200.

[0228] Step S913: generating a signal for representing the shore docking of the cleaning robot 100 according to the comparison result.

[0229] Optionally, the control module 70 compares the power value detected by the fifth detection module 85 with the first threshold value, and when the power value detected by the fifth detection module 85 is less than or equal to the first threshold value, the fifth detection module 85 sends a docking signal to the control module 70. The control module 70 executes the above steps 200-500 according to the docking signal.

[0230] The present embodiment determines whether the cleaning robot 100 is docked on the shore by detecting the power value, and when the power of the cleaning robot 100 is insufficient, the cleaning robot 100 can be floated from the side wall 200 along the to-be-cleaned area and docked on the shore in time, effectively avoiding the problem that the user needs to fish the cleaning robot 100 from the water bottom when the power of the cleaning robot 100 is consumed after the cleaning robot 100 is on the water bottom.

[0231] The cleaning robot 100 further comprises an alarm module (not shown). The control module 70 is electrically connected to the alarm module. The alarm module is configured to remind the operator of the low power problem of the cleaning robot 100 through a sound alarm, a light alarm, or the like, so that the operator can simply and directly obtain the reason why the cleaning robot 100 docks on the shore, so that the operator can charge the cleaning robot 100 according to the prompt of the alarm signal, and at the same time, the intelligence of the cleaning robot 100 is improved.

[0232] Further, when the cleaning robot 100 receives the docking signal under the condition of an unfinished cleaning task, the position where the last cleaning task is interrupted can be recorded, and the last interrupted cleaning task can be continued to be completed under the condition that the cleaning robot 100 is fully charged.

[0233] Referring to FIGS. 21a and 21b, before step S100, the method further comprises the following steps.

[0234] Step S921: Obtain the water flow parameter in the garbage basket 30 of the cleaning robot 100.

[0235] The third detection module 83 is configured to monitor the water flow parameter in the garbage basket 30. The water flow parameter includes but is not limited to the water flow speed.

[0236] The third detection module 83 includes but is not limited to a flow rate sensor. Optionally, the third detection module 83 can detect the position of the water flow parameter in the garbage basket 30, such as any one or more of the garbage basket 30, the garbage basket 30 inlet, the garbage basket 30 filter screen, the water pump assembly 60, and the like.

[0237] Optionally, the flow rate sensor measures the water flow rate by using the ultrasonic principle and the Doppler effect.

[0238] Optionally, the third detection module 83 is arranged in the garbage basket 30, and whether the garbage basket 30 is blocked is determined by whether the water flow rate value detected by the third detection module 83 is small.

[0239] Step S922: Compare the water flow parameter with a second threshold value.

[0240] Optionally, the third detection module 83 compares the water flow parameter in the garbage basket 30 with a second threshold value. The second threshold value includes but is not limited to the water flow speed when the garbage basket 30 is blocked under the running state of the cleaning robot 100.

[0241] Step S923: According to the comparison result, a signal for indicating that the cleaning robot 100 docks on the shore is generated.

[0242] When the third detection module 83 determines that the water flow parameter of the garbage basket 30 is greater than the second threshold value, it indicates that the garbage basket 30 has not been blocked, the garbage basket 30 is not full, and the filter screen of the garbage basket 30 has not been blocked.

[0243] When the third detection module 83 determines that the water flow parameter of the garbage basket 30 is less than or equal to the second threshold value, it indicates that the garbage basket 30 is blocked, indicating that the garbage basket 30 is full and / or the filter screen of the garbage basket 30 is blocked. At this time, the third detection module 83 generates a docking signal and sends the docking signal to the control module 70. The control module 70 executes steps 200-500 according to the docking signal.

[0244] The present embodiment determines whether the cleaning robot 100 docks on the shore by monitoring the water flow parameter of the garbage basket 30. The cleaning robot 100 can timely float from the side wall 200 along the to-be-cleaned area and dock on the shore when the garbage basket 30 is full and / or the filter screen of the garbage basket 30 is blocked, effectively avoiding the problem of the garbage basket 30 being full and / or the filter screen of the garbage basket 30 being blocked when the cleaning robot 100 works on the water bottom, causing poor cleaning effect due to the garbage basket 30 being full or abnormal work due to insufficient water flow in the water pump assembly 60 caused by the filter screen of the garbage basket 30 being blocked.

[0245] The cleaning robot 100 further comprises an alarm module (not shown). The control module 70 is electrically connected to the alarm module. The alarm module is used to remind the operator of the problem of the garbage basket 30 being full and / or the filter screen of the garbage basket 30 being blocked through sound alarm, light alarm and the like, so that the operator can simply and directly obtain the reason for the cleaning robot 100 to dock on the shore, so that the operator can clean the garbage basket 30 and / or the filter screen of the garbage basket 30 according to the prompt of the alarm signal, and also improve the intelligence of the cleaning robot 100.

[0246] Further, when the cleaning robot 100 receives a docking signal under an incomplete cleaning task, the position where the last cleaning task is interrupted can be recorded, and in the case of cleaning the garbage basket 30 and / or the filter screen of the garbage basket 30 of the cleaning robot 100, the last interrupted cleaning task is continued to be completed.

[0247] Please refer to FIG. 22a and FIG. 22b, before step S100, the method further comprises but is not limited to the following steps.

[0248] Step S931: Determine whether the cleaning robot 100 completes the cleaning task.

[0249] Optionally, the fourth detection module 84 is configured to monitor whether the cleaning robot 100 completes the cleaning task of the to-be-cleaned area. Optionally, the control module 70 generates a pulse signal for controlling the driving motor of the moving assembly 50 according to the pre-planned path plan, and the pulse signal can control the number of rotations and the rotation speed of the driving motor. The fourth detection module 84 is configured to detect the execution feedback of the driving motor to determine whether the cleaning task is completed. Optionally, the fourth detection module 84 includes a register (for storing the number of rotations of the driving motor), a data processing unit, etc.

[0250] Optionally, the fourth detection module 84 includes but is not limited to a positioning module, which is configured to monitor the position of the cleaning robot 100 to determine whether the cleaning robot 100 completes the cleaning task of the to-be-cleaned area.

[0251] Step S932: If yes, a signal for representing that the cleaning robot 100 is docked on the shore is generated.

[0252] When the fourth detection module 84 detects that the cleaning robot 100 completes the cleaning task of the to-be-cleaned area, a docking signal is generated to the control module 70. The control module 70 executes the above steps 200-500 according to the docking signal.

[0253] The present embodiment determines whether the cleaning robot 100 is docked on the shore by monitoring whether the cleaning robot 100 completes the cleaning task of the to-be-cleaned area. The cleaning robot 100 can float from the side wall 200 of the to-be-cleaned area and be docked on the shore after completing the cleaning task of the to-be-cleaned area, without the user needing to watch the cleaning robot 100 in real time to fish up the cleaning robot 100 after completing the cleaning task of the to-be-cleaned area.

[0254] The cleaning robot 100 further includes a prompting module (not shown). The control module 70 is electrically connected to the prompting module. The prompting module is configured to prompt the operator that the cleaning robot 100 completes the cleaning task of the to-be-cleaned area through sound prompting, light prompting, etc., so that the operator can simply and directly obtain the reason for the cleaning robot 100 to be docked on the shore, and the intelligence of the cleaning robot 100 is improved.

[0255] Referring to FIGS. 23a and 23b, before step S100, the method further includes but is not limited to the following steps.

[0256] Step S941: receiving a user input instruction.

[0257] Optionally, the cleaning robot 100 and the user terminal can be wirelessly connected, and the wireless communication connection mode includes but is not limited to any one or a plurality of Bluetooth communication connection, Wi-Fi communication connection, UWB communication connection, etc.

[0258] The operator can trigger the docking instruction in advance through input mode, virtual key selection, etc. on the user terminal interface.

[0259] Step S942: According to the input instruction, a signal for representing the shore docking of the cleaning robot 100 is generated.

[0260] Optionally, the sixth detection module 86 includes but is not limited to a signal receiver. When the signal receiver of the cleaning robot 100 is in wireless communication connection with the user terminal (for example, when the cleaning robot 100 climbs the wall to at least partially expose the water surface), the user terminal sends the shore docking signal to the signal receiver of the cleaning robot 100 through wireless signal. The signal receiver sends the docking signal to the control module 70.

[0261] The embodiment can determine whether the cleaning robot 100 docks on the shore according to the docking instruction input by the user. Even if the cleaning robot 100 is in the underwater working state, the user can input the docking instruction in advance, without the user waiting for the cleaning robot 100 to expose the water surface to input the docking instruction in real time, which is more convenient for flexible control of the cleaning robot 100 docking on the shore.

[0262] Referring to FIG. 24, according to the docking signal, the cleaning robot 100 moves to the side wall 200 of the to-be-cleaned area before step 200, which includes but is not limited to the following steps.

[0263] Step 210: Determine whether the cleaning robot 100 is currently located on the side wall 200.

[0264] Optionally, the cleaning robot 100 further includes a posture sensor, which includes but is not limited to a gyroscope or a three-dimensional acceleration sensor. The posture sensor can be used to detect the current posture of the cleaning robot 100, such as the upright posture, the overturned posture, the vertical wall-climbing posture, etc. The posture sensor is electrically connected to the control module 70. The control module 70 determines whether the cleaning robot 100 is currently located on the side wall 200 according to the current posture of the cleaning robot 100 detected by the posture sensor. For example, when the cleaning robot 100 is in the vertical wall-climbing posture, it indicates that the cleaning robot 100 is currently located on the side wall 200. The vertical wall-climbing posture is that the front end 10c and the rear end of the cleaning robot 100 are arranged in the vertical direction.

[0265] Step 220: If yes, the cleaning robot 100 is controlled to continue moving along the side wall 200.

[0266] Optionally, when the control module 70 detects that the cleaning robot 100 is currently located on the side wall 200, the cleaning robot 100 is controlled to continue moving along the side wall 200.

[0267] The specific cleaning robot 100 continues to move along the side wall 200 in a manner including but not limited to operating the water pump assembly 60 to generate a force adhering to the side wall 200, and the moving assembly 50 driving the cleaning robot 100 to move upward.

[0268] Step 230: If no, the control module 70 controls the cleaning robot 100 to move from the current position toward the side wall 200. When the cleaning robot 100 moves close to the side wall 200, the control module 70 controls the cleaning robot 100 to move from the bottom 10b of the area to be cleaned to the side wall 200.

[0269] Optionally, when the control module 70 detects that the cleaning robot 100 is not currently on the side wall 200, the control module 70 controls the cleaning robot 100 to move from the current position toward the side wall 200.

[0270] For example, the control module 70 detects that the cleaning robot 100 is located at the bottom 10b of the pool, and controls the cleaning robot 100 to move forward until the cleaning robot 100 encounters the side wall 200. In this embodiment, the cleaning robot 100 can not detect the location of the side wall 200.

[0271] For another example, the cleaning robot 100 further includes an ultrasonic module. The ultrasonic module determines the location of the side wall 200 or the location of the closest side wall 200 by emitting an ultrasonic signal and receiving a reflected ultrasonic signal. The control module 70 controls the cleaning robot 100 to move toward the side wall 200 according to the location of the side wall 200 detected by the ultrasonic module. Optionally, the control module 70 can control the moving assembly 50 to decelerate in advance when the cleaning robot 100 moves close to the side wall 200.

[0272] For another example, the cleaning robot 100 determines the side of the closest side wall 200 according to the pre-stored area to be cleaned and the current position of the cleaning robot 100, and the control module 70 controls the cleaning robot 100 to move toward the closest side wall 200.

[0273] For another example, the cleaning robot 100 includes a radar, and the control module 70 controls the cleaning robot 100 to move toward the side wall 200 according to the location of the side wall 200 detected by the radar. In this embodiment, the side wall 200 can or can not be the closest side wall 200 to the cleaning robot 100.

[0274] For example, when the fifth detection module 85 detects that the power is insufficient, the control module 70 can control the cleaning robot 100 to move toward the closest side wall 200.

[0275] The specific moving manner of the cleaning robot 100 towards the side wall 200 includes but is not limited to operating the water pump assembly 60 to generate a force adhering to the bottom surface of the pool, and driving the cleaning robot 100 to move forward by the moving assembly 50.

[0276] The step 200 controls the cleaning robot 100 to move to the side wall 200 of the area to be cleaned according to the parking signal. The control method of the cleaning robot 100 further includes but is not limited to the following steps.

[0277] Referring to FIG. 25, a step 191 is detecting the motion state of the cleaning robot 100.

[0278] Specifically, the motion state of the cleaning robot 100 includes but is not limited to acceleration and the like. The cleaning robot 100 further includes an acceleration detector. The acceleration detector is used to detect the acceleration and the like of the cleaning robot 100.

[0279] A step 192 is judging whether the cleaning robot 100 moves to a position close to the side wall 200 according to the motion state of the cleaning robot 100.

[0280] Specifically, when the cleaning robot 100 encounters the side wall 200 during the forward movement, the speed of the cleaning robot 100 decreases after the collision between the cleaning robot 100 and the side wall 200 of the area to be cleaned, and the motion state of the cleaning robot 100 changes (the acceleration changes).

[0281] The acceleration detector detects the sudden decrease of the acceleration of the cleaning robot 100, and generates an electrical signal to be sent to the control module 70. The control module 70 can judge that the cleaning robot 100 moves to a position close to the side wall 200 according to the change of the acceleration of the cleaning robot 100.

[0282] After the cleaning robot 100 moves to a position close to the side wall 200, the step 230 controls the cleaning robot 100 to move from the bottom 10b of the area to be cleaned to the side wall 200, which includes but is not limited to the following steps.

[0283] Referring to FIG. 26 and FIG. 27, a step 231 is controlling the cleaning robot 100 to lift a preset angle close to one end of the side wall 200, so that the cleaning robot 100 is in contact with the side wall 200 close to one end of the side wall 200.

[0284] Specifically, the acceleration detector detects that the acceleration of the cleaning robot 100 suddenly decreases, and generates an electrical signal sent to the control module 70, and the control module 70 can determine that the cleaning robot 100 has moved to a position close to the side wall 200 according to the change of the acceleration of the cleaning robot 100. The control module 70 controls the cleaning robot 100 to lift the end close to the side wall 200 by a preset angle, so that the end close to the side wall 200 of the cleaning robot 100 is in contact with the side wall 200. The preset angle is not specifically limited in this embodiment.

[0285] In this embodiment, after the cleaning robot 100 moves to a position close to the side wall 200, the end close to the side wall 200 of the cleaning robot 100 is lifted, so that the body 10 of the cleaning robot 100 gradually forms a wall-climbing posture under the driving of the moving assembly 50, that is, the front end 10c of the cleaning robot 100 is gradually lifted, and the lifting angle gradually increases under the driving of the moving assembly 50, until the cleaning robot 100 is in a vertical wall-climbing state.

[0286] Specifically, the specific embodiments of the control module 70 controlling the cleaning robot 100 to lift the end close to the side wall 200 by a preset angle include but are not limited to: the control module 70 controls the water pump assembly 60 of the cleaning robot 100 to reduce its operating power, so that the end close to the side wall 200 of the cleaning robot 100 is lifted by a preset angle.

[0287] Specifically, when the operating power of the water pump assembly 60 of the cleaning robot 100 is reduced, the water spraying force of the water pump assembly 60 towards the top 10a is reduced, and the adhesion between the cleaning robot 100 and the bottom surface of the pool is reduced. Under the driving force of the moving assembly 50 of the cleaning robot 100, the end close to the side wall 200 of the cleaning robot 100 is easily lifted and in contact with the side wall 200. Under the further driving force of the moving assembly 50 of the cleaning robot 100, the cleaning robot 100 moves upwards along the side wall 200 of the to-be-cleaned area.

[0288] Step 232: When the cleaning robot 100 moves to a second position along the side wall 200, the cleaning robot 100 is controlled to generate a preset pressure to adhere to the side wall 200.

[0289] Optionally, referring to FIG. 11, the second position is a posture of the cleaning robot 100 close to a vertical posture, and the end close to the side wall 200 of the cleaning robot 100 is lifted at an angle close to 90 degrees, for example, the end close to the side wall 200 of the cleaning robot 100 is lifted at an angle of 80°.

[0290] The posture sensor of the cleaning robot 100 detects that the posture of the cleaning robot 100 is close to the vertical posture, which means that the cleaning robot 100 is in the vertical wall-climbing state. The control module 70 controls the cleaning robot 100 to generate a preset pressure to adhere to the side wall 200 according to the posture of the cleaning robot 100 close to the vertical posture, so as to increase the adhesion between the bottom 10b of the cleaning robot 100 and the side wall 200 of the area to be cleaned, thereby increasing the forward friction to facilitate the cleaning robot 100 to move along the side wall 200 under the driving of the moving assembly 50.

[0291] Specifically, the specific implementation of controlling the cleaning robot 100 to generate a preset pressure to adhere to the side wall 200 includes but is not limited to: controlling the water pump of the cleaning robot 100 to increase its operating power, so that the cleaning robot 100 generates a preset pressure to adhere to the side wall 200.

[0292] Optionally, when the operating power of the water pump assembly 60 of the cleaning robot 100 increases, the water spraying force of the water pump assembly 60 towards the top 10a increases, and the adhesion between the bottom 10b of the cleaning robot 100 and the side wall 200 of the area to be cleaned increases, so as to increase the adhesion between the bottom 10b of the cleaning robot 100 and the side wall 200 of the area to be cleaned, thereby increasing the forward friction to facilitate the cleaning robot 100 to move along the side wall 200 under the driving of the moving assembly 50.

[0293] If the posture of the cleaning robot 100 returns to the upright posture after the operating power of the water pump assembly 60 of the cleaning robot 100 increases, that is, the angle of the cleaning robot 100 close to one end of the side wall 200 decreases, which means that the front of the cleaning robot 100 is an obstacle, not the side wall 200, then the cleaning robot 100 is controlled to continue to move forward until it moves to the vicinity of the side wall 200.

[0294] The step 300 of detecting whether the cleaning robot 100 moves to the first position on the side wall 200 includes but is not limited to the following steps.

[0295] Please refer to FIG. 28, step 310: detecting whether the buoyancy device 40 of the cleaning robot 100 is at least partially above the liquid level.

[0296] Optionally, the cleaning robot 100 further comprises a ninth detection module for detecting whether the buoyancy device 40 of the cleaning robot 100 is at least partially above the liquid surface. In an optional embodiment, the position of the cleaning robot 100 on the side wall 200 can be calculated according to the wall-climbing direction, the wall-climbing speed and the wall-climbing time of the cleaning robot 100. The ninth detection module is configured to calculate the position of the cleaning robot 100 on the side wall 200 according to the wall-climbing direction, the wall-climbing speed and the wall-climbing time of the cleaning robot 100, and detect whether the buoyancy device 40 of the cleaning robot 100 is at least partially above the liquid surface according to the liquid surface height and the relative position of the buoyancy device 40 on the cleaning robot 100.

[0297] In another optional embodiment, the ninth detection module is arranged at or at the same height as the end of the buoyancy device 40 close to the cleaning assembly 20 when the cleaning robot 100 is in the vertical wall-climbing state.

[0298] When at least part of the buoyancy device 40 is above the liquid surface, the ninth detection module is exposed to the water surface. The ninth detection module determines that at least part of the buoyancy device 40 is above the liquid surface according to the humidity change, the water pressure change and the like between the first position and the position before the first position.

[0299] At this time, the seventh detection module 87 includes but is not limited to a low water level sensor, a water immersion sensor, a dew point sensor, a pressure sensor, a gas sensor and the like.

[0300] Step 320: If yes, it is determined whether the cleaning robot 100 moves to the first position on the side wall 200.

[0301] Optionally, if the ninth detection module is configured to detect whether the buoyancy device 40 of the cleaning robot 100 is at least partially above the liquid surface, the control module 70 controls the seventh detection module 87 to further detect whether the cleaning robot 100 moves to the first position on the side wall 200. This process can be seen in the foregoing step 300.

[0302] It can be understood that when the cleaning robot 100 moves to the first position on the side wall 200, the water outlet 43 is below the liquid surface L of the area to be cleaned, part of the buoyancy device 40 is exposed to the liquid surface, and the liquid surface height in the buoyancy device 40 is higher than the liquid surface height L of the area to be cleaned.

[0303] The step 400 of controlling the cleaning robot 100 to turn so as to make the liquid in the buoyancy device 40 of the cleaning robot 100 to be discharged includes but is not limited to: controlling the cleaning robot 100 to turn so that at least part of the water outlet 43 of the buoyancy device 40 is located above the liquid surface L of the area to be cleaned, and the liquid in the buoyancy device 40 is discharged through the water outlet 43.

[0304] The present application does not make specific limitation to the turning direction of the cleaning robot 100. As the step 400 described above, the cleaning robot 100 can determine the turning direction of the cleaning robot 100 according to the self-attitude direction and the obstacle direction.

[0305] The present application does not make specific limitation to the turning angle, which can be 45°-135°, and further can be close to 90°, and the cleaning robot 100 is arranged horizontally.

[0306] After the cleaning robot 100 turns, part of the water outlet 43 of the buoyancy device 40 is located above the liquid surface L of the area to be cleaned, or the whole water outlet 43 of the buoyancy device 40 is located above the liquid surface L of the area to be cleaned, which is convenient for the liquid in the buoyancy device 40 to be discharged through the water outlet 43, and is also convenient for forming the buoyancy chamber 45 when the gas cavity of the buoyancy device 40 of the cleaning robot 100 falls into the water surface, and providing buoyancy.

[0307] The step 500 of controlling the cleaning robot 100 to stop running includes but is not limited to: controlling the water pump assembly 60 of the cleaning robot 100 to stop rotating, so that the cleaning robot 100 floats on the water surface under the action of the buoyancy device 40.

[0308] Specifically, the water pump assembly 60 of the cleaning robot 100 stops rotating, at this time, the bottom surface of the cleaning robot 100 is no longer attached to the side wall 200, and the cleaning robot 100 falls into the water surface under the action of gravity, but the cleaning robot 100 floats on the water surface under the buoyancy of the buoyancy device 40. It should be noted that the water pump assembly 60 of the cleaning robot 100 stops rotating, and the movement assembly 50 can also be controlled to stop running.

[0309] In the process of cleaning the bottom of the water, when the cleaning robot 100 completes the cleaning work or the power is insufficient or the garbage is full, etc., the cleaning robot 100 is controlled to climb the wall, so that the front end 10c of the cleaning robot 100 is exposed above the water surface, and then the pool robot is controlled to turn to a preset angle, that is, to turn to the left or to the right by a preset angle, so that the water outlet 43 of the left or right buoyancy device 40 is above the water line. At this time, the water in the buoyancy device 40 will be discharged from the water outlet 43, so that the upper end of the floating cavity 41 of the buoyancy device 40 is filled with air, and then the water pump assembly is controlled to be closed. The cleaning robot 100 will sink by a preset height under the action of gravity and float on the water surface by the buoyancy provided by the buoyancy chamber 45, so as to realize that the cleaning robot 100 automatically floats on the water surface after the work is completed or the remaining power is insufficient, without the need for tools to fish the cleaning robot 100 from the bottom of the water, and convenient to use.

[0310] Please refer to FIG. 29, which is a control method of a cleaning robot 100 provided by an embodiment of the present application. The method can be applied to the cleaning robot 100 of any of the above-mentioned embodiments, and the method includes but is not limited to the following steps.

[0311] Step S1: receiving a docking signal indicating that the cleaning robot 100 is docked.

[0312] Optionally, please refer to FIG. 30, when the cleaning robot 100 is in an underwater state, the control module 70 receives a signal indicating that the cleaning robot 100 is docked at the side of the pool (the area to be cleaned).

[0313] Optionally, the cleaning robot 100 further includes a detection module, which is used to detect a target scene and generate a docking signal according to the target scene, and send the docking signal to the control module 70. The number of detection modules is one or more.

[0314] The target scene includes but is not limited to the following scenes:

[0315] The first is a cleaning robot 100 work failure scene, which specifically includes but is not limited to any one or more of the following: power failure, water pump assembly 60 work failure, garbage basket 30 filter screen blockage, etc.

[0316] The detection module is used to detect the failure scene, and the detection module generates a docking signal after detecting the failure and sends the docking signal to the control module 70.

[0317] Optionally, the number of detection modules is multiple, and the multiple detection modules include a first detection module. The first detection module is electrically connected to the control module 70, and the first detection module is used to detect power failure. The first detection module is used to send a docking signal to the control module 70 when detecting the power failure.

[0318] Optionally, the plurality of detection modules comprises a second detection module. The second detection module is electrically connected to the control module 70, and the second detection module is configured to detect a working failure of the water pump assembly 60. The second detection module is configured to send a stop signal to the control module 70 when the working failure of the water pump assembly 60 is detected.

[0319] Optionally, the plurality of detection modules comprises a third detection module. The third detection module is electrically connected to the control module 70, and the third detection module is configured to detect a filter screen blockage of the garbage basket 30. The third detection module is configured to send a stop signal to the control module 70 when the filter screen blockage of the garbage basket 30 is detected.

[0320] The second scenario is that the cleaning robot 100 completes a cleaning task.

[0321] Optionally, the plurality of detection modules comprises a fourth detection module, and the fourth detection module is configured to detect whether the cleaning robot 100 completes a cleaning task of a to-be-cleaned area. The fourth detection module is configured to send a stop signal to the control module 70 after detecting that the cleaning robot 100 completes the cleaning task of the to-be-cleaned area.

[0322] The third scenario is a low battery scenario.

[0323] Optionally, the plurality of detection modules comprises a fifth detection module, and the fifth detection module is configured to detect that a battery level is less than or equal to a preset battery level (for example, 10%). The fifth detection module is configured to send a stop signal to the control module 70 after detecting that the battery level of the cleaning robot 100 is less than or equal to the preset battery level.

[0324] The fourth scenario is that a wireless communication signal indicating that the cleaning robot 100 stops is received.

[0325] Optionally, the plurality of detection modules comprises a sixth detection module, and the sixth detection module is configured to detect whether a wireless communication signal indicating that the cleaning robot 100 stops is received. The sixth detection module is configured to send a stop signal to the control module 70 after receiving the wireless communication signal indicating that the cleaning robot 100 stops.

[0326] Step S2: Referring to FIG. 31, the cleaning robot 100 is controlled to move to a side wall 200 of a to-be-cleaned area according to the stop signal.

[0327] Specifically, the control module 70 is configured to control the cleaning robot 100 to move to the side wall 200 of the to-be-cleaned area according to the stop signal. The to-be-cleaned area includes but is not limited to a pool, a swimming pool, etc. The side wall 200 of the to-be-cleaned area includes but is not limited to a wall of the pool.

[0328] Optionally, the control module 70 is electrically connected to the driving motor of the moving assembly 50. When the current position of the cleaning robot 100 is on the bottom surface of the pool, the control module 70 controls the moving assembly 50 to control the cleaning robot 100 to move from the bottom surface of the area to be cleaned to the wall of the pool. The specific control steps are illustrated below.

[0329] Step S3: Please refer to FIG. 32, detect whether the cleaning robot 100 moves to the first position on the side wall 200.

[0330] Specifically, the cleaning robot 100 further comprises a seventh detection module. The seventh detection module is electrically connected to the control module 70.

[0331] The seventh detection module is used to detect whether the position of the cleaning robot 100 is located at the first position of the side wall of the area to be cleaned. In an optional embodiment, the position of the cleaning robot 100 on the side wall 200 can be calculated according to the wall-climbing direction, wall-climbing speed and wall-climbing time of the cleaning robot 100. The seventh detection module is used to calculate the position of the cleaning robot 100 on the side wall 200 according to the wall-climbing direction, wall-climbing speed and wall-climbing time of the cleaning robot 100. The detection result is obtained by comparing the position of the cleaning robot 100 on the side wall 200 detected by the seventh detection module with the first position.

[0332] In another optional embodiment, please refer to FIG. 33, when the cleaning robot 100 moves to the first position on the side wall 200, the seventh detection module 87 on the cleaning robot 100 is exposed to the water surface. At this time, the seventh detection module 87 includes but is not limited to a low water level sensor (a sensor that detects the contact between the sensor and the liquid. When the sensor is exposed to the water surface, the sensor will send a detection signal), a water immersion sensor (a sensor for detecting the water immersion state in the environment), a dew point sensor (an instrument that can directly measure the dew point temperature, which belongs to a kind of temperature and humidity sensors. The dew point temperature can directly indicate the humidity of the current environment), a pressure sensor (for detecting whether there is water pressure), a gas sensor (for detecting whether it is exposed to the water surface and located in the atmosphere) and the like.

[0333] Optionally, the seventh detection module 87 is located below the air port 42 of the buoyancy device 40. When the cleaning robot 100 is at the first position on the side wall 200, the air port 42 of the buoyancy device 40 of the cleaning robot 100 is located on the water surface.

[0334] Step S4: Please refer to FIG. 34, if yes, control the buoyancy device 40 of the cleaning robot 100 to communicate with the outside world, so that the liquid level in the buoyancy device 40 decreases.

[0335] Optionally, the seventh detection module 87 generates a first detection signal when the position of the cleaning robot 100 is located at the first position of the side wall of the area to be cleaned, and the first detection signal is also used to indicate that the air port 42 of the buoyancy device 40 is above the water surface.

[0336] The seventh detection module 87 sends the first detection signal to the control module 70, and the control module 70 controls the buoyancy device 40 of the cleaning robot 100 to be in communication with the atmosphere so as to lower the liquid level in the buoyancy device 40, thereby forming the buoyancy chamber 45 in the buoyancy device 40 (see FIG. 35).

[0337] It should be noted that when the cleaning robot 100 is underwater, the buoyancy device 40 is filled with water, so when the buoyancy device 40 partially exposes the water surface and the air port 42 is in communication with the atmosphere, the pressure difference between the inside and outside of the buoyancy device 40 causes the liquid level in the buoyancy device 40 to drop.

[0338] Optionally, the seventh detection module 87 generates a second detection signal when the position of the cleaning robot 100 is not located at the first position of the side wall of the area to be cleaned, and sends the second detection signal to the control module 70.

[0339] Step S5: Please refer to FIG. 35, when the liquid level in the buoyancy device 40 drops to a preset height, the control module 70 controls the buoyancy device 40 of the cleaning robot 100 to be isolated from the outside world, and controls the cleaning robot 100 to stop running.

[0340] Optionally, the cleaning robot 100 further comprises an eighth detection module for detecting whether the liquid level in the buoyancy device 40 drops to a preset height. The eighth detection module sends an eighth detection signal to the control module 70 after detecting whether the liquid level in the buoyancy device 40 drops to a preset height. The control module 70 controls the buoyancy device 40 of the cleaning robot 100 to be isolated from the outside world according to the eighth detection signal, and controls the cleaning robot 100 to stop running.

[0341] Optionally, the eighth detection module includes but is not limited to a liquid level sensor, and the eighth detection module is located at a preset height in the buoyancy device 40 for detecting whether the liquid level in the buoyancy device 40 drops below the preset height.

[0342] Further optionally, the eighth detection module further includes but is not limited to calculating the liquid discharge amount according to the opening time of the air port 42 and the liquid discharge flow rate of the water port 43. Whether the liquid level in the buoyancy device 40 drops to a preset height is determined according to the liquid discharge amount in the buoyancy device 40.

[0343] For example, the preset height is not specifically limited, and the preset height can be calculated according to the buoyancy (or buoyancy range) required for the cleaning robot 100 to float on the water surface, the volume (or volume range) of the buoyancy chamber 45 in the buoyancy device 40, and the liquid discharge amount required for the buoyancy device 40 to discharge liquid according to the volume of the buoyancy chamber 45. According to the liquid discharge amount and the attitude (wall-climbing state) of the cleaning robot 100, the preset height in the buoyancy device 40 can be determined.

[0344] The control method of the cleaning robot 100 provided in the embodiments of the present application includes the following steps: after receiving a docking signal indicating that the cleaning robot 100 is docked, the cleaning robot 100 is controlled to move to the side wall 200 of the area to be cleaned according to the docking signal; then it is detected whether the cleaning robot 100 moves to the first position on the side wall 200; if it is detected that the cleaning robot 100 moves to the first position on the side wall 200, the buoyancy device 40 of the cleaning robot 100 is controlled to be in communication with the external air, so that the liquid level in the buoyancy device 40 is lowered to form the buoyancy chamber 45; when the liquid level in the buoyancy device 40 is lowered to the preset height, the buoyancy device 40 of the cleaning robot 100 is controlled to be isolated from the external air, and the cleaning robot 100 is controlled to stop running. The cleaning robot 100 is no longer driven to adhere to the side wall 200 by the driving force, and the cleaning robot 100 falls to the water surface under the action of gravity and floats near the side wall 200 of the area to be cleaned under the action of the buoyancy of the buoyancy device 40. The above process realizes the autonomous floating and docking of the cleaning robot 100, and the user does not need to assist the cleaning robot 100 to float on the water surface after observing the state of the cleaning robot 100, thereby avoiding the user waiting and improving the intelligence of the cleaning robot 100.

[0345] The position and structure of the air port 42 and the water port 43 of the buoyancy device 40 are not specifically limited, and are exemplarily described below in combination with the drawings.

[0346] Optionally, when the cleaning robot 100 moves to the first position on the side wall 200 of the area to be cleaned, the air port 42 of the buoyancy device 40 can be in communication with the external air.

[0347] Specifically, before the cleaning robot 100 moves to the first position on the side wall 200 of the area to be cleaned, the control module 70 controls the air port 42 of the buoyancy device 40 to be in a closed state.

[0348] In the first alternative air port 42 design, please refer to Figs. 33-35, the air port 42 is arranged on the buoyancy device 40 close to the front end 10c of the main body 10, so as to facilitate the movement of the cleaning robot 100 to the sidewall 200 of the area to be cleaned. The air port 42 has a relatively high height, and is more likely to be above the liquid surface, thereby realizing the communication of the air port 42 with the outside.

[0349] In the second alternative air port 42 design, please refer to Fig. 36, the air port 42 is an open end of a vent pipe, and the other end of the vent pipe is in communication with the floating cavity 41. The vent pipe extends towards the front end of the cleaning robot 100, so as to facilitate the movement of the cleaning robot 100 to the sidewall 200 of the area to be cleaned. The air port 42 has a relatively high height, and is more likely to be above the liquid surface, thereby realizing the communication of the air port 42 with the outside.

[0350] In the present embodiment, when the cleaning robot 100 is in the vertical wall-climbing state, the height of the air port 42 can be higher than the height of the floating cavity 41 close to the front end of the cleaning robot 100. In this way, during the movement of the cleaning robot 100 along the sidewall 200 of the area to be cleaned, the air port 42 can be exposed to the liquid surface more quickly. At this time, the air port 42 can be opened earlier, thereby advancing the starting time of the drainage of the buoyancy device 40, accelerating the ending time of the drainage volume in the buoyancy device 40 reaching the preset volume, and improving the response speed of the cleaning robot 100 from being exposed to the water surface to being docked on the shore.

[0351] Please refer to Fig. 33, the air port 42 of the buoyancy device 40 is arranged on the buoyancy device 40 close to one end of the cleaning assembly 20. When the buoyancy device 40 moves to the first position on the sidewall 200 of the area to be cleaned, the air port 42 of the buoyancy device 40 is located above the liquid surface L of the area to be cleaned.

[0352] Please refer to Fig. 33, when the cleaning robot 100 moves to the first position on the sidewall 200 of the area to be cleaned, the air port 42 of the buoyancy device 40 is opened, so that the air port 42 is in communication with the outside atmosphere. Further, a part of the buoyancy device 40 is located above the liquid surface of the pool. The liquid surface height of the buoyancy device 40 is higher than the liquid surface height of the pool.

[0353] Further alternatively, when the cleaning robot 100 moves to the first position on the sidewall 200 of the area to be cleaned, the water port 43 is in an open state.

[0354] Optionally, referring to FIG. 33, when the cleaning robot 100 moves to the first position on the side wall 200 of the area to be cleaned, the water inlet 43 of the buoyancy device 40 is below the liquid level L of the area to be cleaned. In other words, the water inlet 43 of the buoyancy device 40 is at a distance from the front end 10c of the body 10.

[0355] The control module 70 is further configured to expose the front end 10c of the buoyancy device 40 by a height less than the preset distance when the cleaning robot 100 stops running. In this way, the water inlet 43 of the buoyancy device 40 is always below the external water level.

[0356] After the cleaning robot 100 moves to the first position on the side wall 200 of the area to be cleaned, the control module 70 controls the air inlet 42 of the buoyancy device 40 to open. At this time, due to the higher liquid pressure in the buoyancy device 40 than the liquid pressure of the area to be cleaned, the liquid in the buoyancy device 40 flows out through the water inlet 43, the liquid level in the buoyancy device 40 decreases, and the aforementioned buoyancy chamber 45 (gas chamber) is formed in the buoyancy device 40. When the eighth detector detects that the liquid level in the buoyancy device 40 decreases to the preset height, the control module 70 controls the buoyancy device 40 of the cleaning robot 100 to be isolated from the outside, and controls the cleaning robot 100 to stop running.

[0357] In the first optional embodiment, referring to FIG. 33, the water inlet 43 of the buoyancy device 40 is in an open configuration. That is, the water inlet 43 of the buoyancy device 40 is an unsealed opening on the shell of the buoyancy device 40, so that the buoyancy device 40 has a relatively large water inlet speed, thereby improving the speed of filling the buoyancy device 40 with water during the sinking process of the cleaning robot 100, thereby improving the sinking speed, and reducing the problems of the buoyancy device 40 forming a buoyancy chamber 45 in the sinking process due to slow water inlet, causing the cleaning robot 100 to be unstable in posture and easy to sway, even overturn, and the like.

[0358] Optionally, the water inlet 43 of the buoyancy device 40 faces the bottom 10b of the body 10, so that during the sinking process of the cleaning robot 100, the air inlet 42 of the buoyancy device 40 is opened, the inner cavity of the buoyancy device 40 is in communication with the outside atmosphere, the water inlet 43 of the buoyancy device 40 quickly intakes liquid to fill the entire buoyancy device 40, and the cleaning robot 100 sinks to the bottom of the water.

[0359] Optionally, the buoyancy device 40 is open to the water inlet 43 facing the bottom 10b of the body 10.

[0360] The structure of the buoyancy device 40 is not specifically limited in the present application.

[0361] In the second alternative embodiment, the water inlet 43 of the buoyancy device 40 is controlled to open or close by electricity. After the air inlet 42 of the control module 70 is controlled to open, the control module 70 controls the water inlet 43 to open.

[0362] Specifically, the buoyancy device 40 further comprises a water inlet switch assembly (not shown). The water inlet switch assembly is configured to control the opening and closing of the water inlet 43. The control module 70 is further configured to close the water inlet 43 when the volume of the buoyancy chamber 45 is greater than or equal to the preset volume, so as to block the buoyancy chamber 45.

[0363] In the present embodiment, the opening and closing of the water inlet 43 is controlled by an electric switch. In this way, the air inlet 42 can not be closed, and the buoyancy chamber 45 is blocked by closing the water inlet 43, so as to form the buoyancy chamber 45 with the preset volume.

[0364] In other embodiments, the way to block the buoyancy chamber 45 includes but is not limited to closing the air inlet 42 and closing the water inlet 43.

[0365] As shown in FIG. 28, it can be understood that when the cleaning robot 100 moves to the first position on the side wall 200, the air inlet 42 is in communication with the external atmosphere, the water inlet 43 is below the liquid surface, a part of the buoyancy device 40 is exposed to the liquid surface, and the liquid level in the buoyancy device 40 is higher than the liquid level L of the area to be cleaned.

[0366] The step S4 of controlling the buoyancy device 40 of the cleaning robot 100 to be in communication with the external environment so as to lower the liquid level in the buoyancy device 40 includes but is not limited to the following steps.

[0367] The step S4 of controlling the air inlet 42 of the buoyancy device 40 to open so as to control the buoyancy device 40 of the cleaning robot 100 to be in communication with the external environment.

[0368] Optionally, when the cleaning robot 100 moves to the first position on the side wall 200, the control module 70 controls the air valve 44 to open the air inlet 42 of the buoyancy device 40, so as to control the buoyancy device 40 of the cleaning robot 100 to be in communication with the external environment. At this time, since the liquid level in the buoyancy device 40 is higher than the liquid level L of the area to be cleaned, the liquid level in the buoyancy device 40 is lowered, and thus the buoyancy chamber 45 is formed in the buoyancy device 40. In the process of draining water, the volume of the buoyancy chamber 45 gradually increases.

[0369] The step S5 of controlling the buoyancy device 40 of the cleaning robot 100 to be isolated from the external environment includes but is not limited to the following steps: controlling the air inlet 42 of the buoyancy device 40 to close, so as to control the buoyancy device 40 of the cleaning robot 100 to be isolated from the external environment.

[0370] Optionally, when the volume of the buoyancy chamber 45 is greater than or equal to the preset volume, the air valve 44 is controlled to close the air port 42 of the buoyancy device 40 to block the buoyancy chamber 45, so as to isolate the buoyancy device 40 of the cleaning robot 100 from the outside.

[0371] In the embodiment, the buoyancy chamber 45 is blocked by closing the air port 42 to form a buoyancy chamber 45 with a preset volume. The preset volume is not specifically limited in the present application, wherein the preset volume can be determined according to the gravity of the cleaning robot 100 and the buoyancy of the cleaning robot 100 in the floating state. The buoyancy chamber 45 with the preset volume enables the cleaning robot 100 to float on the water surface under the buoyancy of the buoyancy chamber 45 even if the water pump assembly 60 and the moving assembly 50 of the cleaning robot 100 stop running, thereby achieving the side docking.

[0372] In the process of cleaning the water bottom, when the cleaning robot 100 completes the cleaning work or the power is insufficient or the garbage is full, the cleaning robot 100 is controlled to climb the wall, so that the front end of the cleaning robot 100 is exposed above the water surface, and the buoyancy device 40 is at least partially exposed on the water surface. The buoyancy chamber 41 of the buoyancy device 40 exposed on the water surface is filled with water, and then the air valve 44 is controlled to open the air port 42, so that the air port 42 is in communication with the outside air. Since the air port 42 is opened, the water level in the buoyancy chamber 41 of the buoyancy device 40 drops to the level of the water surface, so that the upper end of the buoyancy chamber 41 of the buoyancy device 40 is filled with air. Then the water pump assembly is controlled to be closed, and the cleaning robot 100 will sink by a preset height under the action of gravity and float on the water surface by the buoyancy provided by the buoyancy chamber 45, thereby realizing the automatic floating of the cleaning robot 100 on the water surface after the completion of the work or when the remaining power is insufficient, without the need for using tools to fish the cleaning robot 100 from the water bottom, thereby facilitating the use.

[0373] Referring to FIG. 37, the present application further provides a computer storage medium 110. The computer storage medium 110 stores a computer program. The computer program is executed by a processor 120 to implement the control method of the cleaning robot 100 according to any one of the above-mentioned embodiments.

[0374] Referring to FIG. 37, the present application further provides a cleaning robot 100, which comprises the above-mentioned computer storage medium 110 and processor 120. The processor 120 is configured to execute the control method of the cleaning robot 100 according to any one of the above-mentioned embodiments. The processor 120 includes but is not limited to the above-mentioned control module 70.

[0375] The computer program in the computer storage medium 110 provided in the application, when executed by the processor 120, realizes, after receiving a signal that the cleaning robot 100 docks, according to the docking signal, controlling the cleaning robot 100 to move to the side wall 200 of the area to be cleaned; then detecting whether the cleaning robot 100 moves to the first position on the side wall 200; if it is detected that the cleaning robot 100 moves to the first position on the side wall 200, controlling the cleaning robot 100 to turn, so that the liquid part in the buoyancy device 40 of the cleaning robot 100 is discharged; when the volume of the gas cavity in the buoyancy device 40 reaches a preset volume threshold, controlling the cleaning robot 100 to stop running, the cleaning robot 100 is no longer driven by the force that makes it adhere to the side wall 200, the cleaning robot 100 falls to the water surface under the action of gravity, and floats near the side wall 200 of the area to be cleaned under the action of the buoyancy of the buoyancy device 40, the above process realizes autonomous floating docking of the cleaning robot 100, without the need for the user to stand by and observe the state of the cleaning robot 100 to assist the cleaning robot 100 to float on the water surface, avoiding the user to wait, and improving the intelligence of the cleaning robot 100.

[0376] Optionally, the processor 120 includes one or more general processors 120, wherein the general processor 120 can be any type of device capable of processing electronic instructions, including a central processing unit (CPU), a microprocessor, a microcontroller module 70, a main processor, a control module 70, an ASIC, and the like. The processor 120 is used to execute various types of digital storage instructions, such as software or firmware programs stored in the computer readable storage medium 110, which can enable the computing device to provide a wide variety of services.

[0377] The computer readable storage medium 110 as a non-volatile computer readable storage medium can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the control method in the embodiment of the application. The processor 120 executes the non-volatile software programs, instructions and modules stored in the computer readable storage medium 110, thereby executing various functional applications and data processing of the server, i.e. realizing the control method of the above method embodiment.

[0378] The computer-readable storage medium 110 can include a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. Combinations of the above should also be included within the scope of computer-readable media.

[0379] For the convenience and brevity, only the division of the above functional units and modules is exemplified, in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to complete all or part of the above described functions. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application, and these improvements and refinements are also considered within the protection scope of the present application.

Claims

1. A control method of a cleaning robot, characterized by, The method comprises: receiving a docking signal of the cleaning robot; controlling the cleaning robot to move to a side wall of a to-be-cleaned area according to the docking signal; detecting whether the cleaning robot moves to a first position on the side wall; if yes, controlling the cleaning robot to adjust the volume of liquid or gas in the buoyancy device of the cleaning robot, and controlling the cleaning robot to stop running when the volume of liquid or gas in the buoyancy device reaches a preset threshold. 2.The control method of the cleaning robot according to claim 1, characterized in that, The step of controlling the cleaning robot to adjust the volume of liquid or gas in the buoyancy device of the cleaning robot comprises: controlling the cleaning robot to turn to make part of the liquid in the buoyancy device of the cleaning robot be discharged. 3.The control method of the cleaning robot according to claim 2, characterized in that, The method further comprises: detecting whether there is an obstacle on both sides of the cleaning robot; if yes, controlling the cleaning robot to turn away from the obstacle, or controlling the cleaning robot to move laterally by a first distance, and controlling the cleaning robot to turn to either side when the cleaning robot moves laterally by the first distance. 4.The control method of the cleaning robot according to claim 3, characterized in that, The step of detecting whether there is an obstacle on both sides of the cleaning robot comprises: detecting whether the cleaning robot reaches a first state after turning for a first time; if yes, judging that there is no obstacle on one side in the current turning direction of the cleaning robot; if no, judging that there is an obstacle on one side in the current turning direction of the cleaning robot. 5.The control method of the cleaning robot according to claim 1, characterized in that, The method further comprises: detecting the power value of the cleaning robot; comparing the power value of the cleaning robot with a first threshold; generating a docking signal for representing the docking of the cleaning robot on the bank according to the comparison result. 6.The control method of the cleaning robot according to claim 1, characterized in that, The method further comprises: obtaining a water flow parameter in a garbage basket of the cleaning robot; comparing the water flow parameter with a second threshold; generating a docking signal for representing the docking of the cleaning robot on the bank according to the comparison result. 7.The control method of the cleaning robot according to claim 1, characterized in that, The method further comprises: judging whether the cleaning robot completes a cleaning task; if yes, generating a docking signal for representing the docking of the cleaning robot on the bank. 8.The control method of the cleaning robot according to claim 1, characterized in that, The method further comprises: receiving a user input instruction; generating a docking signal for representing the docking of the cleaning robot on the bank according to the input instruction. 9.The control method of the cleaning robot of claim 1, wherein, The step of controlling the cleaning robot to move to a side wall of a to-be-cleaned area according to the docking signal comprises: judging whether the cleaning robot is currently located on the side wall; if yes, controlling the cleaning robot to continue moving along the side wall; if no, controlling the cleaning robot to move from a current position towards the side wall, and controlling the cleaning robot to move from the bottom of the to-be-cleaned area to the side wall when the cleaning robot moves close to the side wall. 10.The control method of the cleaning robot according to claim 9, characterized in that, The step of controlling the cleaning robot to move from the bottom of the to-be-cleaned area to the side wall comprises: controlling the cleaning robot to lift a preset angle at one end close to the side wall, so that the one end of the cleaning robot close to the side wall contacts the side wall; controlling the cleaning robot to generate a preset pressure to adhere to the side wall when the cleaning robot moves to a second position along the side wall. 11.The control method of the cleaning robot according to claim 10, characterized in that, The control of the cleaning robot to lift a preset angle near one end of the side wall to make the cleaning robot contact the side wall includes: controlling the water pump assembly of the cleaning robot to reduce its running power to make the cleaning robot lift a preset angle near one end of the side wall. The control of the cleaning robot to generate a preset pressure to make it adhere to the side wall includes: Controlling the water pump assembly of the cleaning robot to increase its running power to make the cleaning robot generate a preset pressure to make it adhere to the side wall. 12.The control method of the cleaning robot according to claim 9, wherein, The control method of the cleaning robot further includes: Detecting the motion state of the cleaning robot; According to the motion state of the cleaning robot, it is judged whether the cleaning robot moves to the position close to the side wall. 13.The control method of the cleaning robot according to claim 1, characterized in that, The detection of whether the cleaning robot moves to the first position on the side wall includes: Detecting whether the buoyancy device of the cleaning robot is at least partially above the liquid surface; If yes, it is judged whether the cleaning robot moves to the first position on the side wall. 14.The control method of the cleaning robot according to claim 2 or 13, wherein, The control of the cleaning robot to turn to make the liquid in the buoyancy device of the cleaning robot partially discharge includes: Controlling the cleaning robot to turn so that at least part of the water outlet of the buoyancy device is above the liquid surface of the to-be-cleaned area, and the liquid in the buoyancy device is discharged through the water outlet. 15.The control method of the cleaning robot according to claim 1, wherein, The control of the cleaning robot to stop running includes: Controlling the water pump assembly of the cleaning robot to stop running to make the cleaning robot float on the water surface under the action of the buoyancy device. 16.The control method of the cleaning robot according to claim 1, wherein, The control of the cleaning robot to adjust the volume of the liquid or gas in the buoyancy device includes: Controlling the buoyancy device of the cleaning robot to communicate with the outside world to make the liquid level in the buoyancy device drop. 17.The control method of the cleaning robot according to claim 16, wherein, The control of the cleaning robot to stop running when the volume of the liquid or gas cavity in the buoyancy device reaches a preset threshold includes: When the liquid level in the buoyancy device drops to a preset height, the buoyancy device of the cleaning robot is isolated from the outside world, and the cleaning robot is controlled to stop running. 18.The control method of the cleaning robot according to claim 17, wherein, The control of the cleaning robot to communicate the buoyancy device with the outside world to make the liquid level in the buoyancy device drop includes: Controlling the air port of the buoyancy device to open to make the buoyancy device of the cleaning robot communicate with the outside world. The control of the cleaning robot to isolate the buoyancy device from the outside world includes: Controlling the air port of the buoyancy device to close to make the buoyancy device of the cleaning robot isolated from the outside world.

19. A cleaning robot, characterized in that It includes: Machine body; Cleaning assembly arranged at the end of the machine body; Garbage basket arranged on the machine body, the garbage basket having a garbage collection port for water flow and garbage flow; Buoyancy device arranged on the machine body, the buoyancy device extending to the cleaning assembly, the buoyancy device including a floating cavity, an air port, a water port, and an air valve for automatically opening and closing the air port; Moving assembly arranged on the machine body for driving the cleaning robot to move; Water pump assembly arranged on the machine body for pumping water flow and garbage from water into the garbage basket and discharging water flow from the top of the machine body; A control module is configured to execute the cleaning robot control method of any one of claims 1-18.

20. The cleaning robot of claim 19, wherein, The water inlet of the buoyancy device is in an open configuration, and when the cleaning robot moves to a first position on a side wall of a region to be cleaned, the water inlet of the buoyancy device is below the liquid level of the region to be cleaned.

21. The cleaning robot of claim 19, wherein, The air outlet of the buoyancy device is in communication with the outside when the cleaning robot moves to a first position on a side wall of a region to be cleaned.

22. The cleaning robot of claim 21, wherein, The air outlet of the buoyancy device is located at one end of the buoyancy device close to the cleaning assembly, and when the buoyancy device moves to a first position on a side wall of a region to be cleaned, the air outlet of the buoyancy device is above the liquid level of the region to be cleaned.

23. A computer storage medium, comprising, The computer storage medium stores a computer program, and the computer program is executed by a processor to implement the cleaning robot control method of any one of claims 1-18.

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