Blind area cleaning method, cleaning robot and readable storage medium

Abstract

The present application relates to a blind area cleaning method, a cleaning robot and a readable storage medium. The blind area cleaning method is applied to a cleaning robot, wherein the cleaning robot comprises a side brush and a rotary wet cleaning member, which are disposed at the bottom of the cleaning robot, the side brush is disposed at the front end of the cleaning robot, the rotary wet cleaning member is disposed at the rear end of the cleaning robot, the rotary wet cleaning member extends and retracts along the width direction of the cleaning robot, and when the rotary wet cleaning member extends out of the cleaning robot, the minimum distance between the outermost end of the rotary wet cleaning member and the cleaning robot is less than or equal to the minimum distance between the outermost end of the side brush and the cleaning robot. The method comprises: during the process of a cleaning robot executing a cleaning task, the cleaning robot driving a side brush and a rotary wet cleaning member to enter a cleaning blind area of an obstacle, and using the side brush and the rotary wet cleaning member to clean the cleaning blind area along the length direction of the cleaning blind area. By means of the present method, the cleaning effect can be improved.

Description

Blind spot cleaning methods, cleaning robots, and readable storage media

[0001] This application claims priority to Chinese Patent Application No. 202510488447.6, filed on April 18, 2025, entitled "Blind Spot Cleaning Method, Cleaning Robot and Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning robot technology, and in particular to a blind spot cleaning method, a cleaning robot, and a readable storage medium. Background Technology

[0003] Cleaning robots improve environmental hygiene while reducing labor. They are equipped with both dry and wet cleaning devices at their base; the dry device is located at the front, and the wet device at the rear. During routine cleaning, the robot uses the dry cleaning device to sweep and vacuum, while the wet cleaning device mops. When encountering obstacles (such as furniture or walls), the robot typically navigates around them by moving along the edges.

[0004] Currently, for the sake of aesthetic design, some furniture has gaps around its edges. However, since the dimensions of these gaps in the vertical direction are usually smaller than those of cleaning robots in the vertical direction, the cleaning robots cannot enter these gaps to clean them. This makes these gaps prone to becoming cleaning blind spots, resulting in incomplete cleaning and affecting the cleaning effect. Summary of the Invention

[0005] Therefore, it is necessary to address the technical problem that the aforementioned cleaning robots cannot enter crevices for cleaning, which easily leads to cleaning blind spots in crevices, resulting in incomplete cleaning and affecting the cleaning effect. To provide a blind spot cleaning method, a cleaning robot, and a readable storage medium, this paper proposes a solution to the problem.

[0006] In a first aspect, this application provides a blind spot cleaning method applied to a cleaning robot. The cleaning robot includes a side brush and a rotary wet cleaning component disposed at the bottom of the cleaning robot. The side brush is disposed at the front end of the cleaning robot, and the rotary wet cleaning component is disposed at the rear end of the cleaning robot. The rotary wet cleaning component extends and retracts along the width direction of the cleaning robot. When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot.

[0007] The method includes: during the cleaning robot's cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind area of ​​the obstacle, and uses the side brush and the rotary wet cleaning component to clean the cleaning blind area along the length of the cleaning blind area;

[0008] The cleaning blind spot is a recessed area formed by the inward indentation of the surface of the obstacle. The recessed area connects downward with the working surface of the cleaning robot. The height of the side brush is less than the height of the rotary wet cleaning component. The height of the cleaning blind spot is greater than the height of the rotary wet cleaning component and the side brush, but less than the height of the cleaning robot body.

[0009] In one embodiment, along the length of the cleaning blind zone, one end of the cleaning blind zone is a first closed end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone through the first closed end;

[0010] The cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, including:

[0011] The cleaning robot is controlled to retract the rotary wet cleaning component into the cleaning robot.

[0012] Adjust the position of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, while making the farthest end of the side brush enter the cleaning blind zone;

[0013] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning component passes the first closed end, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot so that the farthest end of the rotary wet cleaning component enters the cleaning blind zone.

[0014] In one embodiment, adjusting the pose of the cleaning robot to achieve a minimum edge distance L0 between the cleaning robot and the edge of the obstacle, while simultaneously bringing the farthest end of the side brush into the cleaning blind zone, includes:

[0015] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0016] Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0;

[0017] The cleaning robot is controlled to turn a second time so that its forward direction is parallel to the length of the cleaning blind spot, while the farthest end of the side brush enters the cleaning blind spot.

[0018] In one embodiment, before the cleaning robot is first turned to face the obstacle with its front or rear end toward the obstacle, the method further includes:

[0019] The cleaning robot is controlled to travel along the edge of the obstacle at a first preset distance L1, so that the side brush passes through the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0020] In one embodiment, adjusting the pose of the cleaning robot to achieve a minimum edge distance L0 between the cleaning robot and the edge of the obstacle, while simultaneously bringing the farthest end of the side brush into the cleaning blind zone, includes:

[0021] The front end of the cleaning robot is driven to deflect toward the obstacle;

[0022] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing away from the obstacle. During the process of moving and swinging, the cleaning robot is driven to make the distance between the cleaning robot and the edge of the obstacle the minimum edge distance L0, and at the same time, the side brush is driven to enter the cleaning blind zone.

[0023] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0024] In one embodiment, along the length of the cleaning blind area, the end of the cleaning blind area furthest from the first closed end is designated as the second closed end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes:

[0025] The front end of the cleaning robot is controlled to approach the second closed end, and the cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind area through the second closed end.

[0026] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning component away from the cleaning blind spot through the second closed end, including:

[0027] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0028] Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0029] The cleaning robot is controlled to make a second turn, causing the front end of the cleaning robot to deviate from the obstacle.

[0030] In one embodiment, when the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the second preset distance L2.

[0031] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning component away from the cleaning blind spot through the second closed end, including:

[0032] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0033] In one embodiment, when the rotary wet cleaning component extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the third preset distance L3.

[0034] In one embodiment, along the length of the cleaning blind area, the end of the cleaning blind area away from the first closed end is the first open end. After the cleaning robot cleans the cleaning blind area along the length of the cleaning blind area using the side brush and the rotary wet cleaning component, the method further includes: controlling the cleaning robot to maintain the rotary wet cleaning component in an extended state, and controlling the cleaning robot to travel along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the first open end;

[0035] Wherein, the edge of the obstacle is the edge of the projected pattern in the height direction of the obstacle.

[0036] In one embodiment, along the length of the cleaning blind zone, one end of the cleaning blind zone is a second opening end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end;

[0037] The cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, including:

[0038] Control the cleaning robot to extend the rotary wet cleaning component out of the cleaning robot;

[0039] The pose of the cleaning robot is adjusted so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind zone.

[0040] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end.

[0041] In one embodiment, along the length of the cleaning blind area, the end of the cleaning blind area furthest from the second opening end is a third opening end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes:

[0042] The cleaning robot is controlled to maintain the rotary wet cleaning component in the extended state, and the cleaning robot is controlled to continue to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the third opening end.

[0043] In one embodiment, along the length of the cleaning blind area, the end of the cleaning blind area furthest from the second open end is a third closed end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes:

[0044] The front end of the cleaning robot is controlled to approach the third closed end, and the cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind area through the third closed end.

[0045] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning component away from the cleaning blind spot through the third closed end, including:

[0046] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0047] Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4;

[0048] The cleaning robot is controlled to turn a second time, causing the front end of the cleaning robot to deviate from the obstacle, and causing the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end.

[0049] In one embodiment, when the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fourth preset distance L4.

[0050] In one embodiment, the cleaning robot drives the side brush and the rotary wet cleaning component away from the cleaning blind spot through the third closed end, including:

[0051] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fifth preset distance L5, and the side brush and the rotary wet cleaning component leave the cleaning blind zone through the third closed end.

[0052] In one embodiment, when the rotary wet cleaning component extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fifth preset distance L5.

[0053] In one embodiment, at least one end of the cleaning blind spot is a fourth closed end along its length. During the cleaning robot's cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, and uses the side brush and the rotary wet cleaning component to clean the cleaning blind spot along its length, including:

[0054] The cleaning robot is controlled to travel along the edge of the obstacle with a minimum edge distance L0. When it encounters the fourth closed section, the side brush passes through the fourth closed end first in the retracted state of the rotary wet cleaning component. When the rotary wet cleaning component passes through the fourth closed end afterward, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot.

[0055] During the process of controlling the cleaning robot to travel along the edge of the obstacle at a minimum edge distance L0, the cleaning robot uses the side brush and the rotary wet cleaning component to clean the cleaning blind area along the length of the cleaning blind area.

[0056] In one embodiment, the edge of the obstacle is the edge of a projected pattern in the height direction of the obstacle.

[0057] In one embodiment, cleaning the blind spot along its length using the side brush and the rotary wet cleaning component includes: the cleaning robot performing at least one forward and backward motion to clean the blind spot by reciprocating motion using the side brush and the rotary wet cleaning component.

[0058] Secondly, this application provides a blind spot cleaning device for use in a cleaning robot. The cleaning robot includes a side brush and a rotary wet cleaning component disposed at the bottom of the cleaning robot. The side brush is disposed at the front end of the cleaning robot, and the rotary wet cleaning component is disposed at the rear end of the cleaning robot. The rotary wet cleaning component extends and retracts along the width direction of the cleaning robot. When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot.

[0059] The device includes: a first control module, used to drive the side brush and the rotary wet cleaning component into the cleaning blind zone of the obstacle during the cleaning task performed by the cleaning robot, and to clean the cleaning blind zone along the length of the cleaning blind zone using the side brush and the rotary wet cleaning component;

[0060] The cleaning blind spot is a recessed area formed by the inward indentation of the surface of the obstacle. The recessed area connects downward with the working surface of the cleaning robot. The height of the side brush is less than the height of the rotary wet cleaning component. The height of the cleaning blind spot is greater than the height of the rotary wet cleaning component and the side brush, but less than the height of the cleaning robot body.

[0061] In one embodiment, along the length of the cleaning blind zone, one end of the cleaning blind zone is a first closed end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone through the first closed end;

[0062] The first control module is specifically used for:

[0063] The cleaning robot is controlled to retract the rotary wet cleaning component into the cleaning robot.

[0064] Adjust the position of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, while making the farthest end of the side brush enter the cleaning blind zone;

[0065] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning component passes the first closed end, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot so that the farthest end of the rotary wet cleaning component enters the cleaning blind zone.

[0066] In one embodiment, the first control module is specifically used for:

[0067] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0068] Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0;

[0069] The cleaning robot is controlled to turn a second time so that its forward direction is parallel to the length of the cleaning blind spot, while the farthest end of the side brush enters the cleaning blind spot.

[0070] In one embodiment, the device further includes:

[0071] The second control module is used to control the cleaning robot to travel along the edge of the obstacle at a first preset distance L1 so that the side brush passes through the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0072] In one embodiment, the first control module is specifically used for:

[0073] The front end of the cleaning robot is driven to deflect toward the obstacle;

[0074] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing away from the obstacle. During the process of moving and swinging, the cleaning robot is driven to make the distance between the cleaning robot and the edge of the obstacle the minimum edge distance L0, and at the same time, the side brush is driven to enter the cleaning blind zone.

[0075] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0076] In one embodiment, along the length of the cleaning blind zone, the end of the cleaning blind zone away from the first closed end is designated as the second closed end, and the device further includes:

[0077] The third control module is used to drive the side brush and the rotary wet cleaning component to leave the cleaning blind area after the cleaning robot cleans the blind area along the length of the blind area using the side brush and the rotary wet cleaning component, with the front end of the cleaning robot approaching the second closed end.

[0078] In one embodiment, the third control module is specifically used for:

[0079] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0080] Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0081] The cleaning robot is controlled to make a second turn, causing the front end of the cleaning robot to deviate from the obstacle.

[0082] In one embodiment, when the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the second preset distance L2.

[0083] In one embodiment, the third control module is specifically used for:

[0084] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0085] In one embodiment, when the rotary wet cleaning component extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the third preset distance L3.

[0086] In one embodiment, along the length of the cleaning blind area, the end of the cleaning blind area away from the first closed end is a first open end. The device further includes: a fourth control module, used to control the cleaning robot to maintain the rotary wet cleaning component in an extended state after the cleaning robot cleans the cleaning blind area along the length of the cleaning blind area using the side brush and the rotary wet cleaning component, and to control the cleaning robot to travel along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the first open end;

[0087] Wherein, the edge of the obstacle is the edge of the projected pattern in the height direction of the obstacle.

[0088] In one embodiment, along the length of the cleaning blind zone, one end of the cleaning blind zone is a second opening end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end;

[0089] The first control module is specifically used for:

[0090] Control the cleaning robot to extend the rotary wet cleaning component out of the cleaning robot;

[0091] The pose of the cleaning robot is adjusted so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind zone.

[0092] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end.

[0093] In one embodiment, along the length of the cleaning blind zone, the end of the cleaning blind zone away from the second opening end is a third opening end, and the device further includes:

[0094] The fifth control module is used to control the cleaning robot to maintain the rotary wet cleaning component in the extended state, and to control the cleaning robot to continue to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the third opening end.

[0095] In one embodiment, along the length of the cleaning blind zone, the end of the cleaning blind zone away from the second open end is a third closed end, and the device further includes:

[0096] The sixth control module is used to drive the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end.

[0097] In one embodiment, the sixth control module is specifically used for:

[0098] The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle;

[0099] Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4;

[0100] The cleaning robot is controlled to turn a second time, causing the front end of the cleaning robot to deviate from the obstacle, and causing the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end.

[0101] In one embodiment, when the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fourth preset distance L4.

[0102] In one embodiment, the sixth control module is specifically used for:

[0103] The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fifth preset distance L5, and the side brush and the rotary wet cleaning component leave the cleaning blind zone through the third closed end.

[0104] In one embodiment, when the rotary wet cleaning component extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fifth preset distance L5.

[0105] In one embodiment, along the length of the cleaning blind zone, at least one end of the cleaning blind zone is a fourth closed end, and the first control module is specifically used for:

[0106] The cleaning robot is controlled to travel along the edge of the obstacle with a minimum edge distance L0. When it encounters the fourth closed section, the side brush passes through the fourth closed end first in the retracted state of the rotary wet cleaning component. When the rotary wet cleaning component passes through the fourth closed end afterward, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot.

[0107] During the process of controlling the cleaning robot to travel along the edge of the obstacle at a minimum edge distance L0, the cleaning robot uses the side brush and the rotary wet cleaning component to clean the cleaning blind area along the length of the cleaning blind area.

[0108] In one embodiment, the edge of the obstacle is the edge of a projected pattern in the height direction of the obstacle.

[0109] In one embodiment, the first control module is specifically configured to: the cleaning robot perform at least one forward or backward movement to clean the cleaning blind spot by reciprocating the side brush and the rotary wet cleaning component.

[0110] Thirdly, this application provides a cleaning robot, comprising:

[0111] Side brushes are located at the bottom and front of the cleaning robot;

[0112] A rotary wet cleaning component is located at the bottom and rear end of the cleaning robot. The rotary wet cleaning component extends and retracts along the width direction of the cleaning robot. When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot.

[0113] A walking system, located at the bottom of the cleaning robot, is used to drive the cleaning robot to move.

[0114] A perception system used to acquire image and / or distance information of obstacles;

[0115] A control module is used to perform the blind spot cleaning method described in any of the first aspects above.

[0116] In one embodiment, the sensing system includes one or more of the following: an AI camera, a binocular camera, a tri-lens camera, a line laser sensor, a surface laser sensor, a lidar, a Dtof, an Itof, and an ultrasonic sensor.

[0117] Fourthly, this application provides a cleaning robot, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the steps of the blind spot cleaning method described in any of the first aspects above.

[0118] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the blind spot cleaning method described in any of the first aspects above.

[0119] The above-mentioned blind spot cleaning method, cleaning robot, and readable storage medium are described. The blind spot cleaning method is applied to the cleaning robot, which includes a side brush and a rotary wet cleaning component located at the bottom of the cleaning robot. The side brush is located at the front end of the cleaning robot, and the rotary wet cleaning component is located at the rear end of the cleaning robot. The rotary wet cleaning component extends and retracts along the width direction of the cleaning robot. When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot. The method includes: during the cleaning robot's cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of an obstacle, and uses the side brush and the rotary wet cleaning component to clean the cleaning blind spot along its length; wherein, the cleaning blind spot is a recessed area formed by the inward indentation of the obstacle's surface, the recessed area connecting downwards to the working surface of the cleaning robot, and the height of the cleaning blind spot is greater than the height of the rotary wet cleaning component and the side brush, but less than the height of the cleaning robot's body. Using this method, the cleaning robot overcomes cleaning limitations by using the side brush and the rotary wet cleaning component, which can flexibly extend and retract to the cleaning blind spot on the side of the obstacle, achieving cleaning treatment of the blind spot, improving cleaning coverage, and enhancing cleaning effect. Attached Figure Description

[0120] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0121] Figure 1 is a top view of one embodiment of a cleaning robot;

[0122] Figure 2 is a bottom view of one embodiment of the cleaning robot;

[0123] Figure 3 is a top view of one embodiment of the cleaning robot;

[0124] Figure 4 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0125] Figure 5 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0126] Figure 6 is a structural schematic diagram of a lead screw drive mechanism in one embodiment;

[0127] Figure 7 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0128] Figure 8 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0129] Figure 9 is a schematic diagram illustrating a cleaning robot in one embodiment;

[0130] Figure 10 is a schematic diagram illustrating a cleaning robot in one embodiment;

[0131] Figure 11 is a schematic diagram illustrating a cleaning robot in one embodiment;

[0132] Figure 12 is a schematic diagram illustrating a cleaning robot in one embodiment;

[0133] Figure 13 is a schematic diagram of a cleaning blind spot structure in one embodiment;

[0134] Figure 14 is a schematic diagram of a side brush and a rotary wet cleaning component entering a cleaning blind spot in one embodiment.

[0135] Figure 15 is a schematic diagram of a cleaning blind spot in one embodiment;

[0136] Figure 16 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0137] Figure 17 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0138] Figure 18 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0139] Figure 19 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0140] Figure 20 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0141] Figure 21 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0142] Figure 22 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0143] Figure 23 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0144] Figure 24 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0145] Figure 25 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0146] Figure 26 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0147] Figure 27 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0148] Figure 28 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0149] Figure 29 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0150] Figure 30 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0151] Figure 31 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0152] Figure 32 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0153] Figure 33 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0154] Figure 34 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0155] Figure 35 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0156] Figure 36 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0157] Figure 37 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0158] Figure 38 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0159] Figure 39 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0160] Figure 40 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0161] Figure 41 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0162] Figure 42 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0163] Figure 43 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0164] Figure 44 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0165] Figure 45 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0166] Figure 46 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0167] Figure 47 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0168] Figure 48 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0169] Figure 49 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0170] Figure 50 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0171] Figure 51 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0172] Figure 52 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0173] Figure 53 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0174] Figure 54 is a schematic diagram of the cleaning robot adjusting its posture in one embodiment;

[0175] Figure 55 is a schematic diagram of a cleaning robot adjusting its posture in one embodiment.

[0176] Explanation of reference numerals in the attached drawings: 1. Body; 101. Front end; 102. Rear end; 103. Roller brush chamber; 104. Dust box chamber; 105. Extension opening; 201. Drive wheel; 202. Caster wheel; 301. Side brush; 302. Roller brush; 303. Dust box; 304. Rotary wet cleaning component; 305. Cleaning component bracket; 3051. Drive end; 3052. Extension end; 3053. Cleaning component mounting chamber; 3023. Wastewater collection tank; 3024. Fourth drive assembly; 30241. Fourth drive motor; 30242. Fourth gearbox; 3025. Internal support bracket; 30251. Drive shaft; 3025 2. Driven shaft; 30261. Fifth drive motor; 30262. Fixed bracket; 30263. Moving bracket; 3027. Wiper; 3028. Spray nozzle; 4. Guide rail; 401. First end; 402. Inclined section; 403. Second end; 404. Guide component; 5. Mounting plate; 501. Screw drive mechanism; 5011. Screw; 5012. Slider; 502. Clearance cavity; 6. Cleaning blind spot; 601. First closed end; 602. First open end; 603. Second closed end; 604. Second open end; 605. Third open end; 606. Third closed end; 607. Fourth closed end. Detailed Implementation

[0177] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0178] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0179] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0180] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0181] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0182] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0183] In one exemplary embodiment, a cleaning robot is provided. The cleaning robot may be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc., as shown in Figures 1-8. The cleaning robot may include a body 1, a walking system, a sensing system, a cleaning module, a control module, etc.

[0184] The walking system is mounted on the body 1 and is used to drive the body 1 to move on the working surface. The self-moving movement includes forward, backward, and turning. Along the forward direction of the body 1, the front end of the body 1 is the front end 101, and the rear end is the rear end 102. The width direction of the body 1 refers to the direction of the body 1 perpendicular to its forward direction.

[0185] The walking system generally includes a first drive assembly and a set of drive wheels 201. The set of drive wheels 201 includes drive wheels 201 and casters 202. The drive wheels 201 are rotatably mounted on the bottom of the body 1. Two drive wheels 201 are arranged opposite each other along the width direction of the body 1, and the two drive wheels 201 are located between the front end 101 and the rear end 102 of the body 1. The casters 202 are located on the bottom of the body 1. The casters 202 can be located at the front end 101 or the rear end 102 of the body 1. The casters 202 are located on the perpendicular bisector of the line connecting the two drive wheels 201. During the forward, backward, and turning movements of the body 1, the casters 202 play a supporting and assisting role in steering.

[0186] The first drive assembly includes a first drive motor and a first gearbox. The first drive assembly is located inside the machine body 1. There are two sets of the first drive assembly. Each set of the first drive assembly corresponds to each drive wheel 201. The output end of the first drive motor is connected to the input end of the first gearbox, and the output end of the first gearbox is connected to the drive wheel 201. The power of the first drive motor is transmitted to the drive wheel 201 through the first gearbox to drive the machine body 1 to move on the working surface.

[0187] When the walking system needs to drive the machine body 1 forward or backward, the two first drive motors rotate at the same speed, so that the two drive wheels 201 rotate at the same speed. This allows the machine body 1 to move forward or backward. When the walking system needs to drive the machine body 1 to turn, the two first drive motors rotate at different speeds, so that the two drive wheels 201 rotate at different speeds. Because of the speed difference between the two drive wheels 201, the machine body 1 turns. For example, along the forward direction of the machine body 1, when it is necessary to drive the machine body 1 to turn right, the speed of the right drive wheel 201 is controlled to be less than the speed of the left drive wheel 201; when it is necessary to drive the machine body 1 to turn left, the speed of the right drive wheel 201 is controlled to be greater than the speed of the left drive wheel 201.

[0188] The cleaning modules include dry cleaning modules and / or wet cleaning modules. The dry cleaning modules are used to perform sweeping work, mainly removing dust and debris from the floor by scraping and vacuuming. The wet cleaning modules are used to perform mopping work, mainly using water or detergent to wet the wet cleaning modules and removing stains and dust from the floor by mopping.

[0189] The dry cleaning module includes a side brush 301, a roller brush 302, a dust box 303, and a fan. A second drive assembly is provided within the body 1. The second drive assembly includes a second drive motor and a second gearbox. The output shaft of the second drive motor is connected to the input end of the second gearbox, and the output end of the second gearbox extends out of the bottom surface of the body 1 and is connected to the side brush 301. The side brush 301 is rotatably mounted on the bottom of the body 1 via the second drive assembly. The side brush 301 is located at the front end 101 of the body 1, and during rotation, its farthest point extends beyond the widest edge of the body 1. The widest edge of the body 1 refers to the edge of the body 1 corresponding to the widest portion along the direction perpendicular to the forward movement of the body 1. A third drive assembly is provided within the body 1. The third drive assembly includes a third drive motor and a third gearbox, and the output shaft of the third drive motor is connected to the input end of the third gearbox. A roller brush 302 cavity 103 is provided at the bottom of the body 1, and the roller brush 302 cavity 103 is located between two drive wheels 201. The side brush 301 is closer to the front end 101 of the body 1 than the roller brush 302 cavity 103 and the drive wheels 201. The output end of the third gearbox extends to the roller brush 302 cavity 103 and is connected to the roller brush 302. The roller brush 302 is rotatably disposed in the roller brush 302 cavity 103 via the third drive assembly. The side of the roller brush 302 cavity 103 facing the ground is open, and at least part of the side of the roller brush 302 facing the ground is exposed from the opening of the roller brush 302 cavity 103. The exposed part of the roller brush 302 is used to sweep up garbage on the ground. A suction port is provided on the inner wall of the roller brush 302 chamber 103, and a dust box 303 chamber 104 is provided on the body 1. The dust box 303 is detachably installed in the dust box 303 chamber 104. A dust inlet is provided on one side of the dust box 303, and an exhaust port is provided on the other side. The suction port of the roller brush 302 chamber 103 is connected to the dust inlet of the dust box 303, and the exhaust port of the dust box 303 is connected to the fan. The side brush 301 is closer to the front end 101 of the body 1 than the roller brush 302. In this way, during the cleaning robot's sweeping operation, the side brush 301 and the roller brush 302 rotate simultaneously. The side brush 301 gathers the debris towards the opening of the roller brush 302 cavity 103. Under the action of the fan, the roller brush 302 cavity 103 generates negative pressure. The debris gathered by the side brush 301 and the debris near the opening of the roller brush 302 cavity 103 are sucked into the dust box 303 under the action of the negative pressure, so as to achieve the collection of debris in the dust box 303.

[0190] To optimize airflow transmission between the dustbin 303 and the roller brush 302 chamber 103, the dustbin 303 and the roller brush 302 chamber 103 are staggered along the forward direction of the body 1. For example, along the forward direction of the body 1, the dustbin 303 is closer to the front end 101 of the body 1 than the roller brush 302 chamber 103; or along the forward direction of the body 1, the dustbin 303 is closer to the rear end 102 of the body 1 than the roller brush 302 chamber 103.

[0191] The wet cleaning module includes a rotary wet cleaning component 304, a cleaning component support 305, a wastewater collection tank 3023, a fourth drive assembly 3024, an internal support bracket 3025, and a fifth drive assembly.

[0192] The rotary wet cleaning component 304 can be either a tracked or roller-type cleaning component. Along the height direction, the projection of the rotary wet cleaning component 304 is rectangular. Along the height direction, the longitudinal section of the tracked cleaning component is an elongated hole shape, while the longitudinal section of the rotary wet cleaning component 304 is a circular hole shape. The interior of the rotary wet cleaning component 304 is hollow, and an internal support bracket 3025 is disposed within the cavity of the rotary wet cleaning component 304 to tension the rotary wet cleaning component 304. The inner support bracket 3025 has a drive shaft 30251 rotatably connected to one side of its length direction, and a driven shaft 30252 rotatably connected to the other side of its length direction. The drive shaft 30251 and the driven shaft 30252 are parallel to each other, and both the drive shaft 30251 and the driven shaft 30252 are parallel to the width direction of the body 1. The rotary wet cleaning component 304 is tensioned outside the drive shaft 30251 and the driven shaft 30252.

[0193] The length of the cleaning component bracket 305 is perpendicular to the forward direction of the machine body 1. One end of the cleaning component bracket 305 along its length is the drive end 3051, and the other end is the extension end 3052. The cleaning component bracket 305 is movably mounted on the machine body 1. A cleaning component mounting cavity 3053 is provided on the side of the cleaning component bracket 305 facing the ground, and the rotary wet cleaning component 304 is detachably mounted in the cleaning component mounting cavity 3053. The rotary wet cleaning component 304 is located near the rear end 102 of the machine body 1, and the roller brush 302 and two drive wheels 201 are located between the rotary wet cleaning component 304 and the side brush 301. A fourth drive assembly 3024 is mounted on the drive end 3051 of the cleaning component bracket 305 and is used to drive the rotary wet cleaning component 304 to rotate, during which the rotary wet cleaning component 304 cleans the ground. The fourth drive assembly 3024 includes a fourth drive motor 30241 and a fourth gearbox 30242. The fourth gearbox 30242 is connected to the drive end 3051 of the cleaning component bracket 305. The fourth motor is connected to the fourth gearbox 30242. The output shaft of the fourth motor is connected to the input end of the fourth gearbox 30242. The output end of the fourth gearbox 30242 extends to the cleaning component mounting cavity 3053 and is connected to the drive shaft 30251 of the inner support bracket 3025. The fourth motor drives the drive shaft 30251 of the inner support bracket 3025 to rotate through the transmission of the fourth gearbox 30242, so as to rotate the rotary wet cleaning component 304.

[0194] During rotation, the rotary wet cleaning component 304 moves in the direction of the rear end 102 of the body 1 towards the front end 101 of the body 1, while the side facing away from the ground moves in the direction of the front end 101 of the body 1 towards the rear end 102 of the body 1. A wastewater containing cavity is provided on the inner wall of the cleaning component mounting cavity 3053, located near the rear end 102 of the body 1. A squeegee 3027 is fixed on the inner wall of the cleaning component mounting cavity 3053, extending along the length of the cleaning component bracket 305. The squeegee 3027 protrudes from the inner wall of the mounting cavity and is located on the side of the wastewater containing cavity away from the front end 101 of the body 1.

[0195] A plurality of water spray nozzles 3028 are provided on the inner wall of the cleaning component mounting cavity 3053. These nozzles are distributed along the length of the cleaning component support 305 and are positioned within the cleaning component mounting cavity 3053 near the front end 101 of the machine body 1. The outlets of the nozzles 3028 face the rotary wet cleaning component 304. A clean water tank is fixed inside the machine body 1, storing clean water for cleaning the rotary wet cleaning component 304. A clean water delivery pipeline connects the clean water tank and the water spray nozzles 3028. A water pump is installed on the clean water delivery pipeline, which sprays the clean water from the tank onto the rotary wet cleaning component 304 to achieve self-cleaning of the rotary wet cleaning component 304.

[0196] Thus, during the cleaning process of the rotary wet cleaning component 304, the rotary wet cleaning component 304 is in a rotating state. After cleaning the dirt on the ground, a dirty area is formed on the surface of the rotary wet cleaning component 304. This dirty area first passes through several water spray nozzles 3028, which spray clean water onto the rotary wet cleaning component 304 to clean the dirty area, forming wastewater. Then, the wastewater passes through the squeegee 3027, which scrapes the wastewater during the rotation of the rotary wet cleaning component 304 to scrape the wastewater away into the wastewater receiving cavity.

[0197] The wastewater collection tank 3023 is fixed to the end of the cleaning component bracket 305 away from the fourth drive assembly 3024, that is, the wastewater collection tank 3023 is positioned near the protruding end 3052 of the cleaning component bracket 305. The wastewater collection tank 3023 is located on the side of the cleaning component bracket 305 opposite to the rotary wet cleaning component 304. A wastewater absorption pipe connects the wastewater collection tank 3023 to the wastewater receiving cavity, allowing the wastewater collection tank 3023 to absorb wastewater from the wastewater receiving cavity. The wastewater collection tank 3023 absorbs wastewater from the wastewater receiving cavity using a negative pressure principle. An air supply pipe is connected to the wastewater collection tank 3023, and a negative pressure pump is installed on the air supply pipe. The negative pressure pump, through the air supply pipe, can draw the wastewater collection tank 3023 into a negative pressure state, allowing the wastewater collection tank 3023 to absorb wastewater from the wastewater receiving cavity into itself under negative pressure.

[0198] The bottom of the body 1 is provided with a mounting cavity for a cleaning component bracket 305. The cleaning component bracket 305 is movably mounted in the mounting cavity. A fifth drive assembly is connected between the body 1 and the cleaning component bracket 305. The fifth drive assembly is used to drive the cleaning component bracket 305 to perform four actions: lifting, lowering, extending, and retracting. Among them, the lifting action refers to the cleaning component bracket 305 moving upward in the height direction; the lowering action refers to the cleaning component bracket 305 moving downward in the height direction. When the cleaning component bracket 305 is maintained in the lowered state, the rotary wet cleaning component 304 performs mopping operations; the extending action refers to the extended end 3052 of the cleaning component bracket 305 extending out of the edge of the body 1 along the width direction; the retracting action refers to the extended end 3052 of the cleaning component bracket 305 retracting from the outside of the edge of the body 1 to the inside of the edge of the body 1 along the width direction. The mounting cavity of the cleaning component bracket 305 has an extension opening 105 at one end near the extension end 3052 of the cleaning component bracket 305. During the extension process, the cleaning component bracket 305 moves in the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. The extension opening 105 is used to avoid the extension end 3052 of the cleaning component bracket 305. During the retraction process, the cleaning component moves in the direction from the extension end 3052 of the cleaning component bracket 305 to the drive end 3051. The rotary wet cleaning component 304 is installed in the cleaning component mounting cavity 3053 of the cleaning component bracket 305. Therefore, during the movement of the cleaning component bracket 305, the rotary wet cleaning component 304 will move with the cleaning component bracket 305.

[0199] The fifth drive assembly includes a fifth drive motor 30261, a fixed bracket 30262, a movable bracket 30263, and a transmission assembly. The fixed bracket 30262 is fixed to the cleaning component bracket 305, and the movable bracket 30263 is movably mounted on the fixed bracket 30262. The fifth drive motor 30261 drives the transmission assembly to move, and the transmission assembly acts on the fixed bracket 30262 to drive the fixed bracket 30262 to move relative to the movable bracket 30263. A guide rail 4 is provided on one of the movable bracket 30263 and the fixed bracket 30262, and a guide member 404 is provided on the other of the movable bracket 30263 and the fixed bracket 30262. The guide member 404 is linked to the guide rail 4 and, under the action of the transmission assembly, drives the cleaning component bracket 305 to move.

[0200] For example, the guide rail 4 is disposed on the fixed bracket 30262, and the guide member 404 is fixed on the movable bracket 30263. The guide rail 4 is a groove formed on the fixed bracket 30262, and includes a first end 401, an inclined section 402, and a second end 403. Along the height direction of the body 1, the second end 403 is higher than the first end 401, that is, the distance between the second end 403 and the rotary wet cleaning member 304 is greater than the distance between the first end 401 and the rotary wet cleaning member 304. Along the width direction of the body 1, the second end 403 is closer to the protruding end 3052 of the cleaning member bracket 305 than the first end 401. The inclined section 402 is disposed between the first end 401 and the second end 403, and the first end 401, the inclined section 402, and the second end 403 form a continuous groove structure. A movable cavity is provided on the side of the fixed bracket 30262 opposite to the cleaning component bracket 305, and at least a portion of the movable bracket 30263 is disposed within the movable cavity. Along the width direction of the body 1, the size of the movable bracket 30263 is smaller than the size of the movable cavity, allowing the movable bracket 30263 to slide within the movable cavity along the width direction of the body 1. A guide member 404 is a shaft, fixedly connected to the side wall of the movable bracket 30263 facing the guide rail 4. The end of the guide member 404 away from the movable bracket 30263 passes through the guide rail 4, and the guide member 404 slides within the guide rail 4, allowing it to slide within the first end 401, the inclined section 402, and the second end 403. A mounting plate 5 is fixed inside the body 1, located above the movable bracket 30263. A lead screw 5011 drive mechanism 501 is provided on the side of the mounting plate 5 facing the moving bracket 30263. The mounting plate 5 has a clearance on the side facing the moving bracket 30263. The lead screw 5011 drive mechanism 501 includes a lead screw 5011 and a slider 5012, both of which are located within the clearance cavity 502. The lead screw 5011 is arranged along the width direction of the machine body 1 and is rotatably connected between two opposite side walls of the clearance cavity 502. A fifth drive motor 30261 is fixed on the mounting plate 5, and the output shaft of the fifth drive motor 30261 is connected to the lead screw 5011. The slider 5012 has a feed hole extending along the width direction of the machine body 1, through which the lead screw 5011 passes, and the lead screw 5011 is threadedly engaged with the feed hole. The clearance cavity 502 has a limiting groove on its inner wall facing the cleaning component bracket 305. The slider 5012 has a limiting protrusion on its side away from the cleaning component bracket 305. The limiting protrusion slides in the limiting groove. The cooperation between the limiting groove and the limiting protrusion has a limiting effect, preventing the slider 5012 from rotating along with the lead screw 5011 during its rotation. The slider 5012 is relatively fixed to the moving bracket 30263. During the movement of the slider 5012 driven by the lead screw 5011, the slider 5012 can drive the moving bracket 30263 to move synchronously.

[0201] The side of the sewage collection tank 3023 facing away from the fourth drive assembly 3024 does not exceed the end face of the protruding end 3052 of the cleaning component bracket 305, and the distance between the side of the sewage collection tank 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is equal to the maximum extension distance of the cleaning component bracket 305.

[0202] In other embodiments, the distance between the side of the wastewater collection tank 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is greater than the maximum extension distance of the cleaning component bracket 305. In this case, the protruding opening 105 is used to avoid the protruding end 3052 of the cleaning component bracket 305. A first limiting part is provided at the protruding opening 105, and a first mating part is provided on the side of the wastewater collection tank 3023 facing away from the fourth drive assembly 3024. When the cleaning component bracket 305 extends to its maximum extension distance, the first limiting part and the first mating part abut against each other to limit further extension of the cleaning component bracket 305. A second limiting part is provided at the end of the mounting cavity of the cleaning component bracket 305 near the driving end 3051 of the cleaning component bracket 305, and a second mating part is provided on the side of the fourth drive assembly 3024 facing away from the wastewater collection tank 3023. When the cleaning component bracket 305 retracts to its retracted state, the second limiting part and the second mating part abut against each other to limit further retraction of the cleaning component bracket 305. The first limiting part and the first mating part, the second limiting part and the second mating part can be a groove and a protrusion mating, or a surface and a surface mating, which is not limited here.

[0203] Thus, the fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, causing the slider 5012 to move along the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move along the same direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. During the movement of the movable bracket 30263, the guide member 404 near the side wall of the extension end 3052 of the cleaning component bracket 305 pushes the inclined section 402 near the inner side wall of the extension end 3052 of the cleaning component bracket 305, causing the fixed bracket 30262 to move along the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. Since the fixed bracket 30262 is fixedly connected to the cleaning component bracket 305, the movement of the fixed bracket 30262 causes the cleaning component bracket 305 to extend. When the cleaning component bracket 305 reaches its maximum extension distance, the first limiting part and the first mating part abut against each other, and the cleaning component bracket 305 cannot continue to extend. The fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, and the fixed bracket 30262 will move downward along the tilt direction of the inclined section 402, so that the cleaning component bracket 305 completes the descent action in the extended state. In this state, the rotary wet cleaning component 304 is in the state of mopping the floor in the extended state.

[0204] The fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, causing the slider 5012 to move along the direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move along the same direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. During the movement of the movable bracket 30263, the guide member 404, near the side wall of the driving end 3051 of the cleaning component bracket 305, pushes the inclined section 402 near the inner side wall of the driving end 3051 of the cleaning component bracket 305, causing the fixed bracket 30262 to move along the direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. Since the fixed bracket 30262 is fixedly connected to the cleaning component bracket 305, the movement of the fixed bracket 30262 causes the cleaning component bracket 305 to retract. When the cleaning component bracket 305 reaches the retracted state, the second limiting part and the second mating part abut against each other, preventing the cleaning component bracket 305 from retracting further. In this state, the rotary wet cleaning component 304 is in the retracted state and is mopping the floor. The fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, causing the fixed bracket 30262 to move upward along the tilt direction of the inclined section 402. This allows the cleaning component bracket 305 to complete the lifting action in the retracted state. In this state, the rotary wet cleaning component 304 is in the lifted and non-operating state.

[0205] A spring is also provided between the transmission assembly and the cleaning component bracket 305. The spring force acts on the rotary wet cleaning component 304 through the cleaning component bracket 305 to provide an upward pulling force to the rotary wet cleaning component 304. For example, the spring is located between the moving bracket 30263 and the cleaning component bracket 305. Along the height direction of the machine body 1, one end of the spring is connected to the fixed bracket 30262, and the other end is connected to the cleaning component bracket 305. When the rotary wet cleaning component 304 is not in contact with the ground, the spring is in a stretched state.

[0206] On the cleaning component bracket 305, the fourth drive assembly 3024 and the wastewater collection tank 3023 are spaced apart, with the transmission assembly located between them. This arrangement, where the fourth drive assembly 3024 and the wastewater collection tank 3023 are simultaneously fixed to the cleaning component bracket 305, improves the modularity of the wet cleaning module, facilitating later disassembly and maintenance, and also simplifying the use of the internal space of the machine body 1. Furthermore, during the cleaning robot's operation, the wastewater in the wastewater collection tank 3023 continuously increases. The wastewater-containing collection tank 3023 acts as a counterweight, preventing excessive weight on the drive end 3051 of the cleaning component bracket 305 where the fourth drive assembly 3024 is mounted. This prevents an imbalance in weight between the drive end 3051 and the extended end 3052 of the cleaning component bracket 305, thus improving the weight balance along the length of the cleaning component bracket 305.

[0207] To improve the space utilization above the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the size of the cleaning component is 1 / 6 to 1 / 3 along the length direction of the cleaning component bracket 305, for example, the length ratio of the wastewater collection tank 3023 to the length ratio of the cleaning component is 1 / 6, 1 / 5, 1 / 4, 1 / 3, etc.; along the width direction of the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the size of the cleaning component is 1 / 5 to 1, for example, the length ratio of the wastewater collection tank 3023 to the size of the cleaning component is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.; along the height direction of the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the size of the fourth drive assembly 3024 is 1 / 5 to 1, for example, the length ratio of the wastewater collection tank 3023 to the size of the fourth drive assembly 3024 is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.

[0208] During the mopping operation, the cleaning robot controls the rotary wet cleaning component 304 to rotate, typically operating in two scenarios: an edge-following scenario and a non-edge-following scenario. In the edge-following scenario, the cleaning robot moves along the edge of an obstacle (such as a wall, table, chair, or coffee table). During this movement, the extended end 3052 of the cleaning component support 305 extends beyond the edge of the body 1 and rests against the obstacle's edge. The rotary wet cleaning component 304 follows the support 305, extending beyond the edge of the body 1, so that the end of the rotary wet cleaning component 304 furthest from the fourth drive assembly 3024 approaches the obstacle's edge. The cleaning robot performs the edge-following mopping operation while the cleaning component support 305 is both lowered and extended. In the non-edge-following scenario, the cleaning component support 305 remains in a lowered state, and the extended end 3052 retracts to within the edge of the body 1. The cleaning robot performs the non-edge-following mopping operation while the cleaning component support 305 is both lowered and retracted.

[0209] When mopping along edges, due to the width limitation of the machine body 1, the maximum extension distance of the cleaning component bracket 305 is set to 30mm-50mm to allow the rotary wet cleaning component 304 to get closer to the edge of the obstacle and improve the cleaning coverage. For example, the maximum extension distance of the cleaning component bracket 305 can be 30mm, 35mm, 40mm, 45mm, 50mm, etc. Furthermore, when the cleaning component bracket 305 is at its maximum extension distance, the minimum distance between the end face of the extended end 3052 of the cleaning component bracket 305 and the machine body 1 is 5mm-15mm. For example, the minimum distance between the end face of the extended end 3052 of the cleaning component bracket 305 and the machine body 1 is 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, 15mm, etc.

[0210] Since the portion of the roller brush 302 exposed above the opening of the roller brush 302 cavity 103 and both drive wheels 201 are in contact with the ground, in order to minimize the amount of dirt left on the roller brush 302 and the two drive wheels 201 along their path, the mopping coverage of the rotary wet cleaning component 304 should cover the movement path of the roller brush 302 and the two drive wheels 201 as much as possible. Specifically, the cleaning coverage area of ​​the rotary wet cleaning component 304 in its extended state is the first coverage area, the cleaning coverage area of ​​the rotary wet cleaning component 304 in its retracted state is the second coverage area, the coverage area of ​​the opening of the roller brush 302 cavity 103 is the third coverage area, the coverage area of ​​the drive wheel 201 away from the drive end 3051 of the cleaning component bracket 305 is the fourth coverage area, and the coverage area of ​​the drive wheel 201 close to the drive end 3051 of the cleaning component bracket 305 is the fifth coverage area.

[0211] When the rotary wet cleaning component 304 is at its maximum extended distance, the first coverage area covers the third and fourth coverage areas; when the rotary wet cleaning component 304 is in the retracted state, the first coverage area covers the third, fourth, and fifth coverage areas. In this way, when the rotary wet cleaning component 304 extends to its maximum distance, the first coverage area covers the third and fourth coverage areas. Since the side brush 301 is located at the front end 101 of the body 1, the rotary wet cleaning component 304 is located near the rear end 102 of the body 1, and the roller brush 302 and the two drive wheels 201 are located between the rotary wet cleaning component 304 and the side brush 301, when the roller brush 302 and the two drive wheels 201 leave dirt marks on the travel path, the rotary wet cleaning component 304 can clean the dirt marks in the third and fourth coverage areas in a timely manner. Although it cannot clean the dirt marks in the fifth coverage area, it still cleans the dirt marks left by the roller brush 302 and the two drive wheels 201 on the travel path to the greatest extent. When the rotary wet cleaning component 304 is retracted, the first covering area covers the third, fourth, and fifth covering areas. When the roller brush 302 and the two drive wheels 201 leave dirt marks on the travel path, the rotary wet cleaning component 304 can clean the dirt marks in the third, fourth, and fifth covering areas in a timely manner, so as to completely clean the dirt marks left on the travel path of the roller brush 302 and the two drive wheels 201, ensuring the cleaning effect.

[0212] The perception system may include one or more of the following: AI camera, binocular camera, tri-lens camera, line laser sensor, area laser sensor, LiDAR, DTOF, ITOF, and ultrasonic sensor. Among these, the AI ​​camera, binocular camera, and tri-lens camera can be used to acquire image information of the cleaning robot's environment; the binocular camera, tri-lens camera, line laser sensor, area laser sensor, LiDAR, DTOF, and ITOF can be used to acquire distance information of obstacles in the cleaning robot's environment; and the ultrasonic sensor can be used to identify floor materials such as carpets, floors, and tiles. The control module is located inside the robot body 1. After combining image information, depth information, and floor material information, the control module controls the cleaning robot to perform corresponding actions, including edge cleaning, obstacle crossing, and cleaning mode selection.

[0213] In an exemplary embodiment, as shown in Figures 11-14, a blind spot cleaning method is provided. This method is applied to a cleaning robot, which includes a side brush 301 and a rotary wet cleaning component 304 disposed at the bottom of the cleaning robot. The side brush 301 is located at the front end 101 of the cleaning robot, and the rotary wet cleaning component 304 is located at the rear end 102 of the cleaning robot. The rotary wet cleaning component 304 can extend and retract along the width direction of the cleaning robot. When the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot. The method specifically includes:

[0214] Step 101: During the cleaning task performed by the cleaning robot, the cleaning robot drives the side brush 301 and the rotary wet cleaning component 304 into the cleaning blind zone 6 of the obstacle, and uses the side brush 301 and the rotary wet cleaning component 304 to clean the cleaning blind zone 6 along the length of the cleaning blind zone 6.

[0215] As shown in Figure 13, the cleaning blind zone 6 is a recessed area formed by the inward indentation of the surface of the obstacle. The recessed area connects downward with the working surface of the cleaning robot. The height of the side brush 301 is less than the height of the rotary wet cleaning component 304. The height of the cleaning blind zone 6 is greater than the height of the rotary wet cleaning component 304 and less than the height of the cleaning robot body 1.

[0216] In implementation, the cleaning robot is equipped with a side brush 301 and a rotary wet cleaning component 304 at its bottom. The side brush 301 is located at the front end 101 of the cleaning robot, and the rotary wet cleaning component 304 is located at the rear end 102. The rotary wet cleaning component 304 can flexibly extend and retract along the width direction of the cleaning robot. As shown in Figure 3, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance D2 between its farthest end and the cleaning robot is less than or equal to the minimum distance D1 between the farthest end of the side brush 301 and the cleaning robot. In this way, along the width of the cleaning robot, the cleaning area covered by the farthest end of the side brush 301 is further away from the cleaning robot than the cleaning area covered by the farthest end of the rotary wet cleaning component 304. This allows the side brush 301 to remove the debris it sweeps first, preventing it from being picked up by the rotary wet cleaning component 304 when it passes by. This reduces the possibility of debris swept by the side brush 301 being drawn into the cleaning component mounting cavity 3053 and damaging the cleaning robot. Simultaneously, it avoids the possibility of particulate debris swept by the side brush 301 rubbing against the rotary wet cleaning component 304 and the ground, thus preventing scratches on the user's floor tiles or flooring, improving the user experience and ensuring cleaning effectiveness. During the cleaning robot's cleaning task, once a blind spot 6 of an obstacle is detected, the corresponding cleaning program will be initiated. The cleaning blind spot 6 is a recessed area formed by the inward indentation of the obstacle surface, which naturally connects downwards with the working surface of the cleaning robot. Its height is greater than the height of the rotary wet cleaning component 304 and the side brush 301, but less than the height of the cleaning robot body 1. In this situation, the cleaning robot body 1 cannot enter the cleaning blind spot 6 to perform cleaning work. Therefore, the cleaning robot manipulates the side brush 301 and the rotary wet cleaning component 304 to enter the cleaning blind spot 6. After entering, the side brush 301 and the rotary wet cleaning component 304 move along the length of the cleaning blind spot 6 to complete the cleaning of the cleaning blind spot 6.

[0217] In the above-mentioned blind spot cleaning method, the side brush 301 and the rotary wet cleaning component 304 set by the cleaning robot overcome the cleaning limitations. The side brush 301 and the rotary wet cleaning component 304 can be flexibly extended and retracted to the cleaning blind spot 6 on the side of the obstacle, so as to achieve cleaning treatment of the cleaning blind spot 6, improve the cleaning coverage, and improve the cleaning effect.

[0218] Specifically, regarding the cleaning robot's handling of the cleaning blind spot 6, this application embodiment describes the ways in which the cleaning robot enters the cleaning blind spot 6 for various different application scenarios, including the following scenarios:

[0219] Scenario 1: In an exemplary embodiment, the cleaning robot travels along the length of the cleaning blind zone 6, one end of which is a first closed end 601. When the side brush 301 and the rotary wet cleaning component 304 pass through the first closed end 601 and enter the cleaning blind zone 6, as shown in Figures 15-26, the specific process of the cleaning robot driving the side brush 301 and the rotary wet cleaning component 304 into the obstacle's cleaning blind zone 6 in step 101 includes:

[0220] Step 401: Control the cleaning robot to retract the rotary wet cleaning component 304 into the cleaning robot.

[0221] In implementation, when the sensing system detects the existence of a cleaning blind zone 6, as shown in Figure 15, one end of the cleaning blind zone 6 is a closed end (i.e., the first closed end 601), and the other end can be an open end (Figure 15 is a side view of the obstacle, and Figure 16 shows the obstacle in Figure 15 as a cross-sectional view along the AA direction). If the front end 101 of the cleaning robot passes through the first closed end 601 first, the cleaning robot will retract the rotary wet cleaning component 304 into the cleaning robot through the control module so that the rotary wet cleaning component 304 is kept in the retracted state.

[0222] Step 402: Adjust the pose of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and at the same time make the farthest end of the side brush 301 enter the cleaning blind zone 6.

[0223] In practice, to ensure that the blind spot 6, which is lower than the body of the cleaning robot 1, is cleaned, the cleaning robot first adjusts its posture to bring it closer to the obstacle forming the blind spot 6. Specifically, the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0. Simultaneously, the farthest end of the side brush 301 enters the blind spot 6. It should be noted that the cleaning robot's posture refers to its direction and position.

[0224] Specifically, there are several ways for the cleaning robot to adjust its posture to approach an obstacle, which will be described in detail in the following embodiments and will not be repeated here. When the cleaning robot receives a posture adjustment command, the perception system accurately identifies obstacle information such as the type, location, direction, and edge contour of the obstacle. Then, based on the obstacle information fed back by the perception system, the cleaning robot plans a movement path that minimizes the edge distance L0 between the cleaning robot and the obstacle. Subsequently, under the action of the walking system, the cleaning robot begins to move. The cleaning robot controls the forward, backward, and turning actions by controlling the speed difference between the two drive wheels 201. As the cleaning robot approaches the obstacle, the perception system continuously monitors the distance to the obstacle in real time and feeds the distance data back to the control module for fine-tuning of the movement path as needed. When the cleaning robot gradually approaches the obstacle and the distance reaches the preset minimum edge distance L0, the control module manipulates the cleaning robot to continue adjusting its posture until the farthest end of the side brush 301 successfully enters the cleaning blind zone 6.

[0225] Step 403: Control the cleaning robot to travel along the edge of the obstacle at the minimum edge distance L0. When the rotary wet cleaning component 304 passes the first closed end 601, control the cleaning robot to extend the rotary wet cleaning component 304 outside the cleaning robot so that the farthest end of the rotary wet cleaning component 304 enters the cleaning blind zone 6.

[0226] In practice, when the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, the cleaning robot is controlled by the control module to move along the edge of the obstacle. As shown in Figure 6, during this movement, the cleaning robot's perception system continuously acquires obstacle information of the surrounding environment. When the rotary wet cleaning component 304 passes the first closed end 601, the cleaning robot is controlled to extend the rotary wet cleaning component 304 beyond the edge of the cleaning robot, so that the farthest end of the rotary wet cleaning component 304 also enters the cleaning blind zone 6. In this way, both the side brush 301 and the rotary wet cleaning component 304 of the cleaning robot enter the cleaning blind zone 6, so that the side brush 301 at the front end 101 of the cleaning robot first sweeps the cleaning blind zone 6, and then the rotary wet cleaning component 304 at the rear end 102 of the cleaning robot mops the cleaning blind zone 6.

[0227] In this embodiment, when the cleaning robot detects the cleaning blind zone 6, the robot's position is adjusted to control the distance between the cleaning robot and the edge of the obstacle to be the minimum edge distance L0, so that the side brush 301 of the cleaning robot enters the cleaning blind zone 6. When the rotary wet cleaning component 304 passes the first closed end 601, the cleaning robot is controlled to enter the cleaning blind zone 6 with the farthest end of the rotary wet cleaning component 304, so that the cleaning blind zone 6 can be cleaned by the side brush 301 and the rotary wet cleaning component 304, thereby improving the cleaning effect.

[0228] In an exemplary embodiment, as shown in Figures 16-22, this embodiment provides a method for a cleaning robot to adjust its posture so that the farthest end of the side brush 301 enters the cleaning blind zone 6. The specific processing procedure of step 402 includes:

[0229] Step 701: Control the cleaning robot to turn for the first time so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle.

[0230] In practice, during the movement of the cleaning robot, if the body 1 of the cleaning robot walks along the edge of the obstacle, as shown in Figure 8, when the front end 101 of the cleaning robot passes through the first closed end 601 of the cleaning blind zone 6, along the direction of travel, at this time, the control module in the cleaning robot controls the cleaning robot to turn for the first time so that the front end 101 or the rear end 102 of the cleaning robot faces the obstacle.

[0231] Step 702: Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0.

[0232] In practice, the control module in the cleaning robot controls the cleaning robot to move towards the obstacle. As shown in Figure 9, after moving towards the obstacle, the cleaning robot approaches the obstacle by moving forward or backward until the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, at which point the cleaning robot stops approaching the obstacle.

[0233] Specifically, during the cleaning task, the cleaning robot makes its first turn to precisely face the obstacle. After completing the turn, the cleaning robot then begins to approach the obstacle. At this point, according to the preset strategy of the control module, the robot can choose to move forward or backward to shorten the distance to the obstacle until the distance between the cleaning robot and the edge of the obstacle reaches the preset minimum edge distance L0.

[0234] Step 703: Control the cleaning robot to turn for the second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind zone 6, and at the same time, make the farthest end of the side brush 301 enter the cleaning blind zone 6.

[0235] In practice, when the edge between the cleaning robot and the obstacle reaches the minimum edge distance L0, the control module of the cleaning robot controls the cleaning robot to turn for the second time. For example, as shown in Figure 10, it rotates 90 degrees counterclockwise in place so that the edge between the cleaning robot and the obstacle is kept at the minimum edge distance L0, while its forward direction is parallel to the length direction of the cleaning blind zone 6. At the same time, as shown in Figures 11 and 12, during the rotation of the cleaning robot, the side brush 301 gradually enters the cleaning blind zone 6. When the 90-degree counterclockwise rotation is completed, the farthest end of the side brush 301 enters the cleaning blind zone 6.

[0236] Specifically, after the cleaning robot receives the instruction to perform a second turn, the control module controls the two drive wheels 201 at its bottom to adjust their speed difference, which drives the cleaning robot to turn. During the turn, the cleaning robot's perception system continuously scans the surrounding environment, especially the information of the cleaning blind spot 6. When the information fed back by the perception system indicates that the cleaning robot's forward direction has gradually become parallel to the length direction of the cleaning blind spot 6, the farthest end of the side brush 301 naturally enters the cleaning blind spot 6.

[0237] In an exemplary embodiment, as shown in FIG16, prior to step 701, the method further includes:

[0238] Step 1301: Control the cleaning robot to travel along the edge of the obstacle at a first preset distance L1 so that the side brush 301 passes through the first closed end 601.

[0239] Among them, the first preset distance L1 is greater than the minimum edge distance L0.

[0240] In practice, the cleaning robot's path is parallel to the length of the obstacle, and a first preset distance L1 is maintained between the cleaning robot and the edge of the obstacle. Since one end of the cleaning blind zone 6 formed by the obstacle in scenario one is a first closed end 601, the cleaning robot's control module can first control the cleaning robot to maintain the first preset distance L1 and move along the edge of the obstacle. This ensures that the cleaning robot's side brush 301 completely passes through the first closed end 601, providing ample space for the side brush 301 to adjust its position when entering the cleaning blind zone 6. This improves the ease with which the side brush 301 enters the cleaning blind zone 6 and prepares for its subsequent operation.

[0241] In an exemplary embodiment, as shown in Figures 24-26, this embodiment provides another method for adjusting the pose of the cleaning robot so that the farthest end of the side brush 301 enters the cleaning blind zone 6. The specific processing procedure of step 402 includes:

[0242] Step 1401, drive the front end 101 of the cleaning robot to deflect toward the obstacle.

[0243] In practice, when the cleaning robot moves along the edge of an obstacle, the control module of the cleaning robot drives the front end 101 of the cleaning robot to deflect toward the obstacle. This deflection can be a preset angle, for example, the preset angle is less than 90 degrees, so that the cleaning robot gets close to the obstacle.

[0244] Specifically, as the cleaning robot moves along the edge of an obstacle, its perception system continuously monitors the environment. Once a blind spot (6) is detected, the robot adjusts its direction of travel to get closer to the obstacle in order to clean that blind spot. The control module controls the two drive wheels 201 at the bottom of the robot to generate a speed difference, which causes the robot to deflect towards the obstacle. As the front end (101) of the cleaning robot gradually deflects, the overall direction of travel of the robot gets closer and closer to the obstacle.

[0245] Step 1402: Control the cleaning robot to move toward the obstacle, and at the same time drive the front end 101 of the cleaning robot to swing away from the obstacle. During the process of moving and swinging, drive the cleaning robot to make the distance between the edge of the obstacle and the edge of the obstacle the minimum edge distance L0, and at the same time drive the side brush 301 to enter the cleaning blind zone 6.

[0246] In practice, after the cleaning robot deflects toward the obstacle, as shown in Figures 24-26, the control module of the cleaning robot controls the cleaning robot to move toward the obstacle along the deflection direction, and at the same time drives the front end 101 of the cleaning robot to swing away from the obstacle. During the process of moving and swinging back, the cleaning robot drives the distance between the cleaning robot and the edge of the obstacle to the minimum edge distance L0, and at the same time drives the side brush 301 to enter the cleaning blind zone 6.

[0247] Specifically, after the cleaning robot completes its deflection towards the obstacle, the control module sends a signal to the robot's locomotion system, which then prompts the robot to move towards the obstacle in the direction it just deflected. Next, the control module controls the two drive wheels 201 at the bottom of the robot to adjust their speed difference. This speed difference causes the robot to swing back. During this swing, the robot's sensing system continuously acquires information about the surrounding environment, especially the cleaning blind zone 6. When the sensing system indicates that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, the farthest end of the side brush 301 enters the cleaning blind zone 6.

[0248] Optionally, the cleaning robot's swing speed is less than its deflection speed.

[0249] In implementation, during the swinging and deflecting processes of the cleaning robot, the control module controls the two drive wheels 201 at its bottom to adjust their speed difference. This speed difference drives the cleaning robot to steer and swing. To ensure the swinging speed is less than the deflecting speed, the control module controls the speed difference between the two drive wheels 201 during the swinging process to be less than the speed difference during the deflecting process. Thus, when the cleaning robot performs a deflecting action, since there are no obstacles in the direction of deflection, it can deflect quickly, shortening the deflection time. When the cleaning robot performs a swinging action, because it needs to adjust its posture relative to the cleaning blind spot 6, it needs to swing slowly to provide more sensing time for the sensing system, thereby ensuring the accuracy of the cleaning robot's posture adjustment.

[0250] In an exemplary embodiment, the cleaning robot cleans the blind spot 6 along its length, with the end of the blind spot 6 furthest from the first closed end 601 being the second closed end 603. After the cleaning robot cleans the blind spot 6 along its length using the side brush 301 and the rotary wet cleaning component 304, as shown in Figures 27-35, the method further includes:

[0251] Step 1701: Control the front end 101 of the cleaning robot to approach the second closed end 603, and drive the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind zone 6 through the second closed end 603.

[0252] In practice, after the cleaning robot cleans the blind spot 6 along its length using the side brush 301 and the rotary wet cleaning component 304, the front end 101 of the cleaning robot is brought close to the second closed end 603. At this time, the control module in the cleaning robot drives the side brush 301 and the rotary wet cleaning component 304 to leave the blind spot 6 through the second closed end 603, so as to complete the cleaning work of the blind spot 6.

[0253] The following embodiments describe various ways in which the cleaning robot leaves the cleaning blind zone 6, which includes the first closed end 601 in scenario one.

[0254] Method 1: Regarding the cleaning robot leaving the cleaning blind zone 6 via the second closed end 603, in an exemplary embodiment, as shown in Figures 27-30, the specific processing steps for the cleaning robot driving the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind zone 6 via the second closed end 603 in step 1701 above include:

[0255] Step 1801: Control the cleaning robot to turn for the first time so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle.

[0256] In practice, after the cleaning robot cleans the blind spot 6 using the side brush 301 and the rotary wet cleaning component 304, as shown in Figure 19, the control module in the cleaning robot controls the cleaning robot to turn for the first time (e.g., a 90-degree turn). This first turn changes the forward direction of the cleaning robot from being parallel to the length direction of the blind spot 6 to being perpendicular to the length direction of the blind spot 6, that is, the front end 101 or the rear end 102 of the cleaning robot faces the obstacle.

[0257] Step 1802: Control the cleaning robot to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches the second preset distance L2.

[0258] In practice, after the cleaning robot turns for the first time, it faces the obstacle. At this time, as shown in Figure 20, the control module in the cleaning robot controls the cleaning robot to move away from the obstacle so that the cleaning robot can be separated from the edge of the obstacle by a certain distance, which is the second preset distance L2.

[0259] In an optional embodiment, when the rotary wet cleaning component 304 extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a second preset distance L2. Thus, this second preset distance L2 is greater than the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot when the rotary wet cleaning component 304 extends from the cleaning robot, thereby allowing the cleaning robot to safely (without collision) leave the cleaning blind spot 6.

[0260] Step 1803: Control the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle.

[0261] In implementation, when the cleaning robot reaches a second preset distance L2 from the edge of the obstacle, as shown in Figure 21, the control module of the cleaning robot controls the cleaning robot to turn a second time. This turn causes the front end 101 of the cleaning robot to deviate from the obstacle. It should be noted that the deviation of the front end 101 of the cleaning robot from the obstacle occurs in two ways:

[0262] Scenario 1: The cleaning robot's forward direction is parallel to the length of the cleaning blind spot 6;

[0263] Scenario 2: When the cleaning robot reaches the second preset distance L2 from the edge of the obstacle, the front end 101 of the cleaning robot is located on the side away from the cleaning blind zone 6, with a straight line passing through the center of the cleaning robot and parallel to the length direction of the cleaning blind zone 6 as the reference line.

[0264] In both of the above scenarios, it is ensured that even when the side brush 301 or the rotary wet cleaning component 304 of the cleaning robot is extended, it can safely deviate from the obstacle based on the deflection of the cleaning robot, thereby enabling the cleaning robot to safely (without collision) leave the cleaning blind zone 6.

[0265] Method 2: Regarding the cleaning robot leaving the cleaning blind zone 6 after passing through the second closed end 603, in another exemplary embodiment, as shown in Figures 32-35, the specific processing steps for the cleaning robot driving the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind zone 6 after passing through the second closed end 603 in step 1701 include:

[0266] Step 2201: Drive the front end 101 of the cleaning robot to deflect away from the obstacle, and at the same time control the cleaning robot to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches the third preset distance L3.

[0267] In practice, when the cleaning robot travels along the edge of the obstacle and passes the second closed end 603, as shown in Figure 23, the control module in the cleaning robot drives the front end 101 of the cleaning robot to deflect away from the obstacle (for example, the deflection angle is less than 90 degrees). At the same time, as shown in Figure 24, the cleaning robot is controlled to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches the third preset distance L3.

[0268] Specifically, when the cleaning robot's control module receives an instruction to bring the cleaning robot to a third preset distance L3 from the edge of an obstacle, it quickly initiates the corresponding execution program. The control module sends a signal to the cleaning robot's locomotion system, controlling the two drive wheels 201 to generate a speed difference, causing the front end 101 of the cleaning robot to deflect away from the obstacle. Simultaneously, the control module issues an instruction to the cleaning robot's locomotion system, causing the two drive wheels 201 to rotate, propelling the entire cleaning robot away from the obstacle. During this process, the cleaning robot's sensing system continuously collects obstacle data and quickly feeds it back to the control module. Based on this feedback data, the control module adjusts the cleaning robot's speed and direction in real time. As the cleaning robot continues to move and the front end 101 continues to deflect, the distance between it and the obstacle edge gradually changes until the data from the sensing system indicates that the distance has reached the preset third distance L3. At this point, the control module issues an instruction to stop the drive wheels 201 from rotating, and the cleaning robot stops deflecting. The cleaning robot has successfully completed the operation of reaching the specific distance from the obstacle edge.

[0269] In one embodiment, when the rotary wet cleaning component 304 extends from the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a third preset distance L3. This prevents collisions with the rotary wet cleaning component 304 when the cleaning robot moves away from the edge of an obstacle, allowing the cleaning robot to safely leave the cleaning area of ​​the obstacle.

[0270] Method 3: In an exemplary embodiment, as shown in FIG23, along the length direction of the cleaning blind area 6, the end of the cleaning blind area 6 away from the first closed end 601 is the first open end 602. Therefore, regarding the first open end 602, after the cleaning robot cleans the cleaning blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning component 304, the method further includes:

[0271] Step 2601: Control the cleaning robot to keep the rotary wet cleaning component 304 in the extended state, and control the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 from the first opening end 602.

[0272] In practice, after the cleaning robot successfully cleans the blind spot 6 along its length using the side brush 301 and the rotary wet cleaning component 304, the robot's control module quickly initiates subsequent operations. The control module keeps the rotary wet cleaning component 304 extended. Next, the control module guides the robot to move along the edge of the obstacle at a minimum edge distance L0. During this movement, the robot's sensing system acquires the distance to the obstacle edge, ensuring that the minimum edge distance L0 is always maintained. As the robot moves, the side brush 301 and the extended rotary wet cleaning component 304 gradually approach the first opening end 602 of the blind spot 6, eventually successfully leaving the blind spot 6 through the first opening end 602. This completes the series of actions of cleaning and leaving the blind spot 6, preparing the robot for the next cleaning task area.

[0273] Scenario 2: In an exemplary embodiment, as shown in Figures 36-38, the cleaning robot travels along the length of the cleaning blind zone 6. One end of the cleaning blind zone 6 is a second opening end 604. When the side brush 301 and the rotary wet cleaning component 304 enter the cleaning blind zone 6 from the second opening end 604, the specific processing procedure in step 101 where the cleaning robot drives the side brush 301 and the rotary wet cleaning component 304 into the obstacle's cleaning blind zone 6 includes:

[0274] Step 2701: Control the cleaning robot to extend the rotary wet cleaning component 304 out of the cleaning robot.

[0275] In practice, when the cleaning robot's sensing system detects the presence of a cleaning blind spot 6, the control module in the cleaning robot controls the robot to extend the rotary wet cleaning component 304 out of the cleaning robot.

[0276] Step 2702: Adjust the pose of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and make the forward direction of the cleaning robot parallel to the length direction of the cleaning blind zone 6.

[0277] In implementation, since the cleaning blind zone 6 in scenario 2 includes the second opening end 604, during the cleaning process, the control module in the cleaning robot first adjusts the position of the cleaning robot so that the cleaning robot is close to the obstacle (i.e., the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0), and makes the forward direction of the cleaning robot parallel to the length direction of the cleaning blind zone 6.

[0278] Step 2703: Control the cleaning robot to travel along the edge of the obstacle at the minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 enter the cleaning blind zone 6 from the second opening end 604.

[0279] In implementation, as shown in Figures 36-38, since the cleaning blind zone 6 in scenario two includes a second opening end 604, which does not obstruct the cleaning robot, when the control center of the cleaning robot controls the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the side brush 301 and the rotary wet cleaning component 304 of the cleaning robot can directly enter the cleaning blind zone 6 from the second opening end 604. Furthermore, since the cleaning robot moves along the length of the cleaning blind zone 6 with the minimum edge distance L0, it can be ensured that the side brush 301 and the rotary wet cleaning component 304 clean the cleaning blind zone 6 with the maximum cleaning range.

[0280] The following embodiments describe various ways in which the cleaning robot leaves the cleaning blind zone 6, which includes a second opening end 604, in scenario two.

[0281] Method (1): In one embodiment, as shown in Figures 36-38, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 furthest from the second opening end 604 is the third opening end 605. After the cleaning robot cleans the cleaning blind zone 6 along the length of the cleaning blind zone 6 using the side brush 301 and the rotary wet cleaning component 304, the method further includes:

[0282] Step 2901: Control the cleaning robot to keep the rotary wet cleaning component 304 in the extended state, as shown in Figure 30. Control the cleaning robot to continue to move along the edge of the obstacle with the minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 from the third opening end 605.

[0283] In practice, after the cleaning robot enters the cleaning blind zone 6 through the second opening end 604, the control module of the cleaning robot controls the cleaning robot to maintain the rotary wet cleaning component 304 in the extended state, and the control module in the cleaning robot controls the cleaning robot to continue to move along the edge of the obstacle with the minimum edge distance L0, so that the cleaning robot can use the side brush 301 and the rotary wet cleaning component 304 to clean the cleaning blind zone 6. When it reaches the third opening end 605 of the cleaning blind zone 6, since the third opening end 605 does not obstruct the side brush 301 and the rotary wet cleaning component 304 of the cleaning robot, the side brush 301 and the rotary wet cleaning component 304 of the cleaning robot can leave the cleaning blind zone 6 directly through the third opening end 605.

[0284] Method (II): In one embodiment, as shown in Figures 39-47, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 furthest from the second open end 604 is the third closed end 606. After the cleaning robot cleans the cleaning blind zone 6 along the length of the cleaning blind zone 6 using the side brush 301 and the rotary wet cleaning component 304, the method further includes:

[0285] Step 3101: Control the front end 101 of the cleaning robot to approach the third closed end 606, and drive the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind zone 6 through the third closed end 606.

[0286] In practice, after the cleaning robot cleans the blind spot 6 along the length of the blind spot 6 using the side brush 301 and the rotary wet cleaning component 304, the front end 101 of the cleaning robot is controlled to approach the third closed end 606. At this time, due to the obstruction of the third closed end 606, the cleaning robot needs to adjust its posture to drive the side brush 301 and the rotary wet cleaning component 304 to avoid the third closed end 606 and leave the blind spot 6.

[0287] In the following embodiment, as shown in Figures 39-47, the process of the cleaning robot leaving the cleaning blind zone 6, which has a second open end 604 at one end and a third closed end 606 at the other end in method (II), is described in detail below:

[0288] In an exemplary embodiment, as shown in Figures 39-43, the specific process of the cleaning robot driving the side brush 301 and the rotary wet cleaning component 304 leaving the cleaning blind zone 6 through the third closed end 606 in step 3101 includes:

[0289] Step 3201: Control the cleaning robot to turn for the first time so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle.

[0290] In implementation, the cleaning robot's control module initiates its first turn to align either its front end 101 or rear end 102 with the obstacle. Specifically, upon receiving the command to perform the first turn, the control module plans the most suitable turning path based on the robot's current position, posture, and the relative position of the obstacle. It determines the turning angle, speed, and direction to ensure that after the turn, either the front end 101 or rear end 102 accurately faces the obstacle.

[0291] Step 3202: Control the cleaning robot to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches the fourth preset distance L4.

[0292] In implementation, after the cleaning robot completes its first turning motion, the control module of the cleaning robot controls the cleaning robot to move away from the obstacle by moving forward or backward, so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4. This fourth preset distance L4 is greater than the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot when the rotary wet cleaning component 304 extends out of the cleaning robot.

[0293] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a fourth preset distance L4.

[0294] Step 3203: Control the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle, and the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 through the third closed end 606.

[0295] In practice, after the distance between the cleaning robot and the edge of the obstacle reaches the fourth preset distance L4, the control module of the cleaning robot controls the cleaning robot to turn for the second time, so that the front end 101 of the cleaning robot deviates from the obstacle, thereby successfully avoiding the third closed end 606 of the cleaning blind zone 6, and thus the side brush 301 and the rotary wet cleaning component of the cleaning robot leave the cleaning blind zone 6.

[0296] In one embodiment, as shown in Figures 44-47, the specific process of the cleaning robot driving the side brush 301 and the rotary wet cleaning component 304 leaving the cleaning blind zone 6 through the third closed end 606 in step 3101 includes:

[0297] Step 3301: Drive the front end 101 of the cleaning robot to deflect away from the obstacle, and at the same time control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5.

[0298] In practice, as shown in Figures 44-47, the control module in the cleaning robot drives the front end 101 of the cleaning robot to deflect away from the obstacle, and at the same time controls the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 through the third closed end 606.

[0299] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a fifth preset distance L5.

[0300] Scenario 3: In an exemplary embodiment, the cleaning robot travels along the length of the cleaning blind zone 6, at least one end of which is a fourth closed end 607, as shown in Figures 48-55. The specific processing procedure of step 101 includes:

[0301] Step 3701: Control the cleaning robot to travel along the edge of the obstacle with the minimum edge distance L0. When it encounters the fourth closed end 607, since the side brush 301 is made of flexible material, the side brush 301 can pass through the fourth closed end 607 in a bent form while the rotary wet cleaning component 304 is retracted. When the rotary wet cleaning component 304 passes through the fourth closed end 607, control the cleaning robot to extend the rotary wet cleaning component 304 outside the cleaning robot.

[0302] In the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush 301 and the rotary wet cleaning component 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6.

[0303] As the cleaning robot approaches the fourth closed end 607, its side brush 301 passes through the fourth closed end 607 in the retracted state of the rotary wet cleaning component 304. As the robot continues forward, the rotary wet cleaning component 304 subsequently approaches the fourth closed end 607. The instant the rotary wet cleaning component 304 passes the fourth closed end 607, the control module quickly issues a command to start the motor of the rotary wet cleaning component 304. Through a precision transmission device, the motor drives the rotary wet cleaning component 304 to smoothly extend from inside the cleaning robot to the outside along a preset track.

[0304] In one exemplary embodiment, the edge of the obstacle in the above-described blind spot cleaning method is the edge of a projected image in the height direction of the obstacle.

[0305] In one exemplary embodiment, as shown in Figures 23, 38, 50, and 53, the specific process of cleaning the blind spot 6 along its length using the side brush 301 and the rotary wet cleaning component 304 in step 101 includes:

[0306] Step 4101, the cleaning robot performs at least one forward and backward motion to clean the blind spot 6 by reciprocating the side brush 301 and the rotary wet cleaning component 304.

[0307] In one exemplary embodiment, as shown in Figures 1-12 (the sensing system and control module are not shown in Figures 1-12), a cleaning robot is provided, comprising:

[0308] Side brush 301 is located at the bottom of the cleaning robot and at the front end 101 of the cleaning robot;

[0309] A rotary wet cleaning component 304 is located at the bottom of the cleaning robot and at the rear end 102 of the cleaning robot. The rotary wet cleaning component 304 can extend and retract along the width direction of the cleaning robot. When the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot.

[0310] The walking system, located at the bottom of the cleaning robot, is used to drive the cleaning robot to move.

[0311] A perception system used to acquire image and / or distance information of obstacles;

[0312] The control module is used to execute the blind spot cleaning method described in the above embodiments.

[0313] In one exemplary embodiment, the perception system described above includes one or more of the following: an AI camera, a binocular camera, a tri-lens camera, a line laser sensor, a surface laser sensor, a lidar, a Dtof, an Itof, and an ultrasonic sensor.

[0314] In an exemplary embodiment, this application provides a blind spot cleaning device applied to a cleaning robot. The cleaning robot includes a side brush 301 and a rotary wet cleaning component 304 disposed at the bottom of the cleaning robot. The side brush 301 is disposed at the front end 101 of the cleaning robot, and the rotary wet cleaning component 304 is disposed at the rear end 102 of the cleaning robot. The rotary wet cleaning component 304 can extend and retract along the width direction of the cleaning robot. When the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush 301 and the cleaning robot.

[0315] The device includes: a first control module, used to drive the side brush 301 and the rotary wet cleaning component 304 into the cleaning blind zone 6 of the obstacle during the cleaning task performed by the cleaning robot, and to use the side brush 301 and the rotary wet cleaning component 304 to clean the cleaning blind zone 6 along the length direction of the cleaning blind zone 6.

[0316] Among them, the cleaning blind zone 6 is a recessed area formed by the inward indentation of the surface of the obstacle. The recessed area connects downward with the working surface of the cleaning robot. The height of the side brush 301 is less than the height of the rotary wet cleaning component 304. The height of the cleaning blind zone 6 is greater than the height of the rotary wet cleaning component 304 and less than the height of the cleaning robot body 1.

[0317] In one embodiment, along the length of the cleaning blind zone 6, one end of the cleaning blind zone 6 is a first closed end 601, and when the side brush 301 and the rotary wet cleaning component 304 enter the cleaning blind zone 6 through the first closed end 601;

[0318] The first control module is specifically used for:

[0319] The cleaning robot is controlled to retract the rotary wet cleaning component 304 into the cleaning robot;

[0320] Adjust the position of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, and at the same time make the farthest end of the side brush 301 enter the cleaning blind zone 6.

[0321] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning component 304 passes the first closed end 601, the cleaning robot is controlled to extend the rotary wet cleaning component 304 outside the cleaning robot so that the farthest end of the rotary wet cleaning component 304 enters the cleaning blind zone 6.

[0322] In one embodiment, the first control module is specifically used for:

[0323] Control the cleaning robot to make its first turn so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle;

[0324] Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0;

[0325] Control the cleaning robot to turn a second time so that the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind zone 6, and at the same time, make the farthest end of the side brush 301 enter the cleaning blind zone 6.

[0326] In one embodiment, the device further includes:

[0327] The second control module is used to control the cleaning robot to travel along the edge of the obstacle at a first preset distance L1 so that the side brush 301 passes through the first closed end 601, wherein the first preset distance L1 is greater than the minimum edge distance L0.

[0328] In one embodiment, the first control module is specifically used for:

[0329] The front end 101 of the driving cleaning robot deflects toward the obstacle;

[0330] The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end 101 of the cleaning robot is driven to swing away from the obstacle. During the process of moving and swinging, the cleaning robot is driven to make the distance between the cleaning robot and the edge of the obstacle the minimum edge distance L0, and at the same time, the side brush 301 is driven to enter the cleaning blind zone 6.

[0331] In one embodiment, the speed of the swing back is less than the speed of the deflection.

[0332] In one embodiment, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the first closed end 601 is the second closed end 603, and the device further includes:

[0333] The third control module is used to control the front end 101 of the cleaning robot to approach the second closed end 603 after the cleaning robot cleans the cleaning blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning component 304, and drive the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind area 6 through the second closed end 603.

[0334] In one embodiment, the third control module is specifically used for:

[0335] Control the cleaning robot to make its first turn so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle;

[0336] Control the cleaning robot to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2;

[0337] Control the cleaning robot to make a second turn, causing the front end 101 of the cleaning robot to deviate from the obstacle.

[0338] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a second preset distance L2.

[0339] In one embodiment, the third control module is specifically used for:

[0340] The front end 101 of the driving cleaning robot deflects away from the obstacle, and at the same time controls the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3.

[0341] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a third preset distance L3.

[0342] In one embodiment, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the first closed end 601 is the first open end 602. The blind zone cleaning device further includes: a fourth control module, used to control the cleaning robot to extend the rotary wet cleaning component 304 out of the cleaning robot after the cleaning robot cleans the cleaning blind zone 6 along the length of the cleaning blind zone 6 using the side brush 301 and the rotary wet cleaning component 304, and to control the cleaning robot to travel along the edge of the obstacle with a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 from the first open end 602.

[0343] In one embodiment, along the length of the cleaning blind zone 6, one end of the cleaning blind zone 6 is a second opening end 604, and when the side brush 301 and the rotary wet cleaning component 304 enter the cleaning blind zone 6 from the second opening end 604;

[0344] The first control module is specifically used for:

[0345] The cleaning robot is controlled to extend the rotary wet cleaning component 304 out of the cleaning robot;

[0346] Adjust the pose of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and make the forward direction of the cleaning robot parallel to the length direction of the cleaning blind zone 6.

[0347] The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 enter the cleaning blind zone 6 from the second opening end 604.

[0348] In one embodiment, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the second opening end 604 is the third opening end 605, and the device further includes:

[0349] The fifth control module is used to control the cleaning robot to extend the rotary wet cleaning component 304 out of the cleaning robot after the cleaning robot cleans the cleaning blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning component 304, and to control the cleaning robot to travel along the edge of the obstacle with a minimum edge distance L0, so that the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind area 6 from the third opening end 605.

[0350] In one embodiment, along the length of the cleaning blind zone 6, the end of the cleaning blind zone 6 away from the second opening end 604 is the third closed end 606, and the device further includes:

[0351] The sixth control module is used to control the front end 101 of the cleaning robot to approach the third closed end 606 after the cleaning robot cleans the cleaning blind area 6 along the length direction of the cleaning blind area 6 using the side brush 301 and the rotary wet cleaning component 304, and drive the side brush 301 and the rotary wet cleaning component 304 to leave the cleaning blind area 6 through the third closed end 606.

[0352] In one embodiment, the sixth control module is specifically used for:

[0353] Control the cleaning robot to make its first turn so that the front end 101 or rear end 102 of the cleaning robot faces the obstacle;

[0354] Control the cleaning robot to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches the fourth preset distance L4;

[0355] The cleaning robot is controlled to turn a second time, causing the front end 101 of the cleaning robot to deviate from the obstacle, and causing the side brush 301 and the rotary wet cleaning component to leave the cleaning blind zone 6 through the third closed end 606.

[0356] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a fourth preset distance L4.

[0357] In one embodiment, the sixth control module is specifically used for:

[0358] The front end 101 of the driving cleaning robot deflects away from the obstacle, and at the same time controls the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches the fifth preset distance L5, and the side brush 301 and the rotary wet cleaning component 304 leave the cleaning blind zone 6 through the third closed end 606.

[0359] In one embodiment, when the rotary wet cleaning component 304 extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component 304 and the cleaning robot is less than a fifth preset distance L5.

[0360] In one embodiment, along the length of the cleaning blind zone 6, at least one end of the cleaning blind zone 6 is a fourth closed end 607, and the first control module is specifically used for:

[0361] The cleaning robot is controlled to move along the edge of the obstacle with a minimum edge distance L0. When it encounters the fourth closed section, the side brush 301 passes through the fourth closed end 607 first in the retracted state of the rotary wet cleaning component 304. When the rotary wet cleaning component 304 passes through the fourth closed end 607 after the rotary wet cleaning component 304, the cleaning robot is controlled to extend the rotary wet cleaning component 304 outside the cleaning robot.

[0362] In the process of controlling the cleaning robot to move along the edge of the obstacle with the minimum edge distance L0, the cleaning robot uses the side brush 301 and the rotary wet cleaning component 304 to clean the cleaning blind area 6 along the length direction of the cleaning blind area 6.

[0363] In one embodiment, the edge of the obstacle is the edge of the projected pattern in the height direction of the obstacle.

[0364] In one embodiment, the first control module is specifically configured to: enable the cleaning robot to perform at least one forward or backward motion to clean the blind spot 6 by reciprocating the side brush 301 and the rotary wet cleaning component 304.

[0365] It should be understood that although the steps of the processes involved in the above embodiments are shown sequentially according to the indicated numbers, these steps are not necessarily executed in the order indicated by the numbers. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some steps in the processes involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0366] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0367] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0368] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0369] Any references to memory, database, or other media used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0370] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0371] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

A blind spot cleaning method, characterized in that, This invention relates to a cleaning robot, which includes a side brush and a rotary wet cleaning component located at the bottom of the robot. The side brush is located at the front end of the robot, and the rotary wet cleaning component is located at the rear end. The rotary wet cleaning component can extend and retract along the width direction of the robot. When the rotary wet cleaning component extends out of the robot, the minimum distance between the farthest end of the rotary wet cleaning component and the robot is less than or equal to the minimum distance between the farthest end of the side brush and the robot. The method includes: during the cleaning robot's cleaning task, the cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind area of ​​the obstacle, and uses the side brush and the rotary wet cleaning component to clean the cleaning blind area along the length of the cleaning blind area; The cleaning blind spot is a recessed area formed by the inward indentation of the surface of the obstacle. The recessed area connects downward with the working surface of the cleaning robot. The height of the side brush is less than the height of the rotary wet cleaning component. The height of the cleaning blind spot is greater than the height of the rotary wet cleaning component and less than the height of the cleaning robot body. The blind spot cleaning method according to claim 1 is characterized in that, Along the length of the cleaning blind zone, one end of the cleaning blind zone is a first closed end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone through the first closed end; The cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, including: The cleaning robot is controlled to retract the rotary wet cleaning component into the cleaning robot. Adjust the position of the cleaning robot so that the distance between the cleaning robot and the edge of the obstacle reaches the minimum edge distance L0, while making the farthest end of the side brush enter the cleaning blind zone; The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0. When the rotary wet cleaning component passes the first closed end, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot so that the farthest end of the rotary wet cleaning component enters the cleaning blind zone. The blind spot cleaning method according to claim 2 is characterized in that, Adjusting the pose of the cleaning robot to achieve a minimum edge distance L0 between the cleaning robot and the edge of the obstacle, while simultaneously ensuring the farthest end of the side brush enters the cleaning blind zone, includes: The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle; Control the cleaning robot to move towards the obstacle so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0; The cleaning robot is controlled to turn a second time so that its forward direction is parallel to the length of the cleaning blind spot, while the farthest end of the side brush enters the cleaning blind spot. The blind spot cleaning method according to claim 3 is characterized in that, Before the cleaning robot is first turned so that its front or rear end faces the obstacle, the method further includes: The cleaning robot is controlled to travel along the edge of the obstacle at a first preset distance L1, so that the side brush passes through the first closed end, wherein the first preset distance L1 is greater than the minimum edge distance L0. The blind spot cleaning method according to claim 2 is characterized in that, Adjusting the pose of the cleaning robot to achieve a minimum edge distance L0 between the cleaning robot and the edge of the obstacle, while simultaneously ensuring the farthest end of the side brush enters the cleaning blind zone, includes: The front end of the cleaning robot is driven to deflect toward the obstacle; The cleaning robot is controlled to move toward the obstacle, and at the same time, the front end of the cleaning robot is driven to swing away from the obstacle. During the process of moving and swinging, the cleaning robot is driven to reach the minimum edge distance L0 between itself and the edge of the obstacle, and at the same time, the side brush is driven to enter the cleaning blind zone. The blind spot cleaning method according to claim 5 is characterized in that, The speed of the swing back is less than the speed of the deflection. The blind spot cleaning method according to claim 3 or 5 is characterized in that, Along the length of the cleaning blind area, the end of the cleaning blind area furthest from the first closed end is designated as the second closed end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes: The front end of the cleaning robot is controlled to approach the second closed end, and the cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind area through the second closed end. The blind spot cleaning method according to claim 7 is characterized in that, The cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the second closed end, including: The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle; Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a second preset distance L2; The cleaning robot is controlled to make a second turn, causing the front end of the cleaning robot to deviate from the obstacle. The blind spot cleaning method according to claim 8 is characterized in that, When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the second preset distance L2. The blind spot cleaning method according to claim 7 is characterized in that, The cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the second closed end, including: The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle so that the distance between the cleaning robot and the edge of the obstacle reaches a third preset distance L3. The blind spot cleaning method according to claim 10 is characterized in that, When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the third preset distance L3. The blind spot cleaning method according to claim 3 or 5 is characterized in that, Along the length of the cleaning blind area, the end of the cleaning blind area furthest from the first closed end is the first open end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes: The cleaning robot is controlled to maintain the rotary wet cleaning component in an extended state, and the cleaning robot is controlled to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the first opening end; Wherein, the edge of the obstacle is the edge of the projected pattern in the height direction of the obstacle. The blind spot cleaning method according to claim 1 is characterized in that, Along the length of the cleaning blind zone, one end of the cleaning blind zone is a second opening end, and when the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end; The cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, including: Control the cleaning robot to extend the rotary wet cleaning component out of the cleaning robot; The pose of the cleaning robot is adjusted so that the distance between the cleaning robot and the edge of the obstacle is the minimum edge distance L0, and the forward direction of the cleaning robot is parallel to the length direction of the cleaning blind zone. The cleaning robot is controlled to travel along the edge of the obstacle at a minimum edge distance L0, so that the side brush and the rotary wet cleaning component enter the cleaning blind zone from the second opening end. The blind spot cleaning method according to claim 13 is characterized in that, Along the length of the cleaning blind area, the end of the cleaning blind area furthest from the second opening end is the third opening end. After the cleaning robot cleans the cleaning blind area along its length using the side brush and the rotary wet cleaning component, the method further includes: The cleaning robot is controlled to maintain the rotary wet cleaning component in the extended state, and the cleaning robot is controlled to continue to move along the edge of the obstacle with a minimum edge distance L0, so that the side brush and the rotary wet cleaning component leave the cleaning blind area from the third opening end. The blind spot cleaning method according to claim 13 is characterized in that, Along the length of the cleaning blind area, the end of the cleaning blind area away from the second open end is the third closed end. After the cleaning robot cleans the cleaning blind area along the length of the cleaning blind area using the side brush and the rotary wet cleaning component, the method further includes: controlling the front end of the cleaning robot to approach the third closed end, and the cleaning robot driving the side brush and the rotary wet cleaning component to leave the cleaning blind area through the third closed end. The blind spot cleaning method according to claim 15 is characterized in that, The cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end, including: The cleaning robot is controlled to make its first turn so that its front or rear end faces the obstacle; Control the cleaning robot to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fourth preset distance L4; The cleaning robot is controlled to turn a second time, causing the front end of the cleaning robot to deviate from the obstacle, and causing the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end. The blind spot cleaning method according to claim 16 is characterized in that, When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fourth preset distance L4. The blind spot cleaning method according to claim 15 is characterized in that, The cleaning robot drives the side brush and the rotary wet cleaning component to leave the cleaning blind zone through the third closed end, including: The front end of the cleaning robot is driven to deflect away from the obstacle, and the cleaning robot is simultaneously controlled to move away from the obstacle, so that the distance between the cleaning robot and the edge of the obstacle reaches a fifth preset distance L5, and the side brush and the rotary wet cleaning component leave the cleaning blind zone through the third closed end. The blind spot cleaning method according to claim 18 is characterized in that, When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than the fifth preset distance L5. The blind spot cleaning method according to claim 1 is characterized in that, Along the length of the cleaning blind spot, at least one end of the cleaning blind spot is a fourth closed end. During the cleaning task performed by the cleaning robot, the cleaning robot drives the side brush and the rotary wet cleaning component into the cleaning blind spot of the obstacle, and uses the side brush and the rotary wet cleaning component to clean the cleaning blind spot along its length, including: The cleaning robot is controlled to travel along the edge of the obstacle with a minimum edge distance L0. When it encounters the fourth closed end, the side brush passes through the fourth closed end first in the retracted state of the rotary wet cleaning component. When the rotary wet cleaning component passes through the fourth closed end afterward, the cleaning robot is controlled to extend the rotary wet cleaning component outside the cleaning robot. During the process of controlling the cleaning robot to travel along the edge of the obstacle at a minimum edge distance L0, the cleaning robot uses the side brush and the rotary wet cleaning component to clean the cleaning blind area along the length of the cleaning blind area. The blind spot cleaning method according to any one of claims 2-5, 8, 10, 13-14, 16, 18, 20 is characterized in that, The edge of the obstacle is the edge of the projected image of the obstacle in the height direction. The blind spot cleaning method according to claim 1 is characterized in that, The step of cleaning the blind spot along its length using the side brush and the rotary wet cleaning component includes: the cleaning robot performing at least one forward and backward motion to clean the blind spot by reciprocating motion using the side brush and the rotary wet cleaning component. A cleaning robot, characterized in that, include: Side brushes are located at the bottom and front of the cleaning robot; A rotary wet cleaning component is located at the bottom and rear end of the cleaning robot. The rotary wet cleaning component can extend and retract along the width direction of the cleaning robot. When the rotary wet cleaning component extends out of the cleaning robot, the minimum distance between the farthest end of the rotary wet cleaning component and the cleaning robot is less than or equal to the minimum distance between the farthest end of the side brush and the cleaning robot. A walking system, located at the bottom of the cleaning robot, is used to drive the cleaning robot to move. A perception system used to acquire image and / or distance information of obstacles; A control module is used to perform the blind spot cleaning method according to any one of claims 1-22. The cleaning robot according to claim 23 is characterized in that, The perception system includes one or more of the following: AI camera, binocular camera, triocular camera, line laser sensor, area laser sensor, lidar, Dtof, Itof, and ultrasonic sensor. A cleaning robot includes a memory and a processor, the memory storing a computer program, characterized in that... When the processor executes the computer program, it implements the steps of the blind spot cleaning method according to any one of claims 1-22. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the blind spot cleaning method according to any one of claims 1-22.

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