Cleaning method of cleaning robot

Abstract

A cleaning method of a cleaning robot, comprising: when a blocking member of the cleaning robot is in a lowered state and the cleaning robot performs a cleaning task on an operating surface, and when the cleaning robot is in an abnormal physical state for a duration that ranges from a first preset duration to a second preset duration, controlling the blocking member to be in the lowered state, wherein the abnormal physical state indicates that the cleaning robot is moved away from the operating surface, and the lowered state indicates that the blocking member is located at a first position (S11); and after the cleaning robot is no longer in the abnormal physical state and continues to perform the cleaning task, when the operating surface is a carpet area, maintaining the blocking member in the lowered state so that the cleaning robot cleans the carpet area; and when the operating surface is a non-carpet area, the blocking member being located at a target position so that the cleaning robot cleans the non-carpet area, wherein the target position is a second position or a third position, and a ventilation area when the blocking member is located at the first position is less than a ventilation area when the blocking member is located at the second position or the third position (S12).

Description

Cleaning methods of cleaning robots

[0001] This application claims priority to Chinese patent application filed on April 18, 2025, with application number "202510491860.8" and patent title "Cleaning Method for Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention belongs to the field of cleaning robot technology, and in particular relates to a cleaning method for a cleaning robot. Background Technology

[0003] Cleaning robots are powerful assistants for cleaning many places. They come in a wide variety of types, including sweeping robots, mopping robots, sweeping and mopping robots, and floor scrubbers. Some cleaning robots even have the dual function of sweeping and cleaning the floor, and they are increasingly widely used in home environments.

[0004] When performing sweeping or mopping tasks, cleaning robots typically follow a pre-set cleaning path, completing the floor cleaning work in an orderly and efficient manner. However, in actual cleaning processes, cleaning robots sometimes encounter situations where they are "hijacked," such as being moved from their original position, being forcibly dragged, or becoming trapped in a certain area. These situations prevent them from performing the predetermined cleaning tasks normally. Once these hijacking situations disappear, the cleaning robot faces the problem of losing its position or status. If it continues to perform the cleaning task according to the position or status before being "hijacked," it is very likely that it will not match the actual situation of the floor being cleaned, failing to achieve the expected cleaning effect, and may even cause secondary pollution due to misoperation, thus affecting the overall cleaning efficiency. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a cleaning method for a cleaning robot, which solves the technical problem in the prior art where the cleaning robot cannot perform the cleaning task that meets the user's intention when it is hijacked.

[0006] To achieve the above and other related objectives, the technical solution of the present invention is as follows:

[0007] This invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield partially blocks the ventilation channel between the suction chamber and the operating surface. The method includes:

[0008] When the cleaning robot's shield is in a lowered state and performing a cleaning task on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shield is controlled to be in a lowered state. Hijacking means that the cleaning robot is moved away from the operating surface, and the lowered state means that the shield is in a first position.

[0009] The cleaning robot resumes its cleaning task after being hijacked. When the operating surface is a carpeted area, the shield remains in a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shield is in a target position to clean the non-carpeted area. The target position is a second position or a third position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second or third position.

[0010] During operation, cleaning robots often encounter areas with numerous obstacles, requiring manual relocation to move them to a new location. In this invention, after the cleaning robot is hijacked (i.e., removed from the operating surface), to prevent damage to the shielding component due to frequent lowering and retracting, the shielding component does not retract or lower itself. Between a first preset time and a second preset time—that is, when the cleaning robot is hijacked and the hijacking time falls within this time threshold—the shielding component remains in the lowered state and does not switch to the retracted state. This minimizes the number of times the shielding component is lowered and avoids affecting its lifespan due to frequent lowering and retracting. Furthermore, it also avoids the risk of users getting their hands pinched or accidentally injured due to repeated lowering and retracting of the shielding component.

[0011] After being hijacked, the cleaning robot continues its cleaning task, adjusting the position of the shielding parts according to the material of the operating surface. For carpeted areas, which require deep cleaning, the shielding parts remain in the lowered position to enhance the cleaning power of the roller brush assembly. For non-carpeted areas, such as floors or tiles, the shielding parts can be adjusted to the target position according to the degree of dirt to assist the roller brush assembly in sweeping and vacuuming.

[0012] Optionally, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0013] Thus, by setting a first preset time as the minimum time threshold and a second preset time as the maximum time threshold, we can prevent the cleaning robot from being lifted off the ground due to misoperation, which would cause it to judge as being in a hijacked state and execute hijacking commands, thus affecting normal cleaning tasks.

[0014] Optionally, when the shield is in the first position, it covers part of the ventilation channel so that the ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position; when the shield is in the third position, it covers part of the ventilation channel, and the ventilation area when the shield is in the third position is larger than the ventilation area when the shield is in the first position, but smaller than the ventilation area when the shield is in the second position.

[0015] Thus, the shield has a first position, a second position, and a third position. In the first position, the shield partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing cleaning suction when the cleaning robot is handling carpet areas, aiding in deep cleaning of deep dirt and dust in carpet areas. In the second position, the shield is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the shield's ventilation area is between the ventilation areas of the first and second positions, thus the cleaning suction of the cleaning assembly is between the cleaning suction of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0016] Optionally, when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0017] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0018] Optionally, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area, wherein the target location is a second or third location, including:

[0019] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0020] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0021] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0022] Thus, for non-carpet areas, the target position of the blocking components varies, providing appropriate suction power and cleaning effect based on different cleaning surface types. By using appropriate suction power in different non-carpet areas, the cleaning effect in these areas can be improved. By adjusting the blocking components to the corresponding target positions according to different types of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction power in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0023] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0024] When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shield is controlled to switch from the lowered state to the retracted state. Here, being hijacked means that the cleaning robot leaves the operating surface, the lowered state means that the shield is in the first position, and the retracted state means that the shield is in the second position.

[0025] The cleaning robot resumes its cleaning task after being hijacked. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0026] Thus, when the cleaning robot of this invention is hijacked, to prevent contamination caused by the difference in the state of the shielding component compared to the current ground material when it is placed on the ground to resume cleaning, the shielding component needs to be retracted first. The decision to retract or lower the shielding component is then made based on the ground material upon landing. This invention provides a time threshold from a first preset time to a second preset time. That is, the cleaning robot does not immediately retract the shielding component after being hijacked, but waits until this time threshold is met before retracting it. This avoids frequent retraction and extension of the shielding component, which could affect its lifespan. Furthermore, repeated retraction and extension of the shielding component can increase the risk of users getting their hands caught. Executing the retraction command only after the preset time threshold is met minimizes these drawbacks. Moreover, retracting the shielding component prevents the cleaning robot from getting stuck in difficult environments or on uneven surfaces, and also prevents it from getting wet in humid environments, which could affect subsequent cleaning by wetting carpets.

[0027] Optionally, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0028] Thus, by setting a first preset time as the minimum time threshold and a second preset time as the maximum time threshold, we can prevent the cleaning robot from being lifted off the ground due to misoperation, which would cause it to judge as being in a hijacked state and execute hijacking commands, thus affecting normal cleaning tasks.

[0029] Optionally, when the shield is in the first position, it covers part of the ventilation channel so that the ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position; when the shield is in the third position, it covers part of the ventilation channel, and the ventilation area when the shield is in the third position is larger than the ventilation area when the shield is in the first position, but smaller than the ventilation area when the shield is in the second position.

[0030] Thus, the shield has a first position, a second position, and a third position. In the first position, the shield partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing cleaning suction when the cleaning robot is handling carpet areas, aiding in deep cleaning of deep dirt and dust in carpet areas. In the second position, the shield is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the shield's ventilation area is between the ventilation areas of the first and second positions, thus the cleaning suction of the cleaning assembly is between the cleaning suction of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0031] Optionally, when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0032] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0033] Optionally, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area, wherein the target location is a second or third location, including:

[0034] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0035] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0036] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0037] Thus, for non-carpet areas, the target position of the blocking components varies, providing appropriate suction power and cleaning effect based on different cleaning surface types. By using appropriate suction power in different non-carpet areas, the cleaning effect in these areas can be improved. By adjusting the blocking components to the corresponding target positions according to different types of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction power in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0038] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0039] When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shield is controlled to switch from the lowered state to the retracted state. Hijacking means that the cleaning robot is moved away from the operating surface, the lowered state means that the shield is in the first position, and the retracted state means that the shield is in the second position.

[0040] The cleaning robot was no longer hijacked, and the shielding component remained in the retracted state.

[0041] The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0042] Thus, when the cleaning robot of this invention is hijacked, the hijacking time exceeds a second preset time. To prevent the cover from being easily knocked off course by human touch during long-term removal, the cover is retracted during the hijacking process. When placed on the ground to resume cleaning tasks, to avoid contamination caused by the cover's state differing from the current ground material, the cover needs to remain retracted. The decision to put the cover down or retract it is then made based on the ground material. This invention provides a second preset time threshold. That is, the cleaning robot does not immediately retract the cover after being hijacked, but waits until this time threshold is met before retracting it. This avoids frequent retraction and retraction affecting the cover's lifespan. Furthermore, repeated retraction and retraction increases the risk of users getting their hands pinched. Executing the retraction command only after the second preset time threshold is met minimizes these drawbacks. Furthermore, retracting the cover can prevent the cleaning robot from getting stuck in difficult environments or getting stuck on uneven surfaces when placed on the ground. It can also prevent water stains from getting on the carpet when placed in a humid environment, which would affect subsequent cleaning and make the carpet wet.

[0043] Optionally, the second preset time is 6s-10s.

[0044] Thus, by setting a second preset time with a minimum time threshold, the cleaning robot is prevented from being lifted off the ground due to misoperation, which could cause it to be judged as hijacked and execute hijacking commands, thus affecting normal cleaning tasks.

[0045] Optionally, when the shield is in the first position, it covers part of the ventilation channel so that the ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position; when the shield is in the third position, it covers part of the ventilation channel, and the ventilation area when the shield is in the third position is larger than the ventilation area when the shield is in the first position, but smaller than the ventilation area when the shield is in the second position.

[0046] Thus, the shield has a first position, a second position, and a third position. In the first position, the shield partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing cleaning suction when the cleaning robot is handling carpet areas, aiding in deep cleaning of deep dirt and dust in carpet areas. In the second position, the shield is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the shield's ventilation area is between the ventilation areas of the first and second positions, thus the cleaning suction of the cleaning assembly is between the cleaning suction of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0047] Optionally, when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0048] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0049] Optionally, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area, wherein the target location is a second or third location, including:

[0050] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0051] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0052] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0053] Thus, for non-carpet areas, the target position of the blocking components varies, providing appropriate suction power and cleaning effect based on different cleaning surface types. By using appropriate suction power in different non-carpet areas, the cleaning effect in these areas can be improved. By adjusting the blocking components to the corresponding target positions according to different types of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction power in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0054] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0055] When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. When the cleaning robot performs dust collection tasks, the shield switches from the retracted state to the lowered state.

[0056] Alternatively, when the cleaning robot's shield is in a lowered state on the operating surface to perform a cleaning task, and the cleaning robot is hijacked, the shield is controlled to remain in a lowered state so that the cleaning robot can perform a dust collection task.

[0057] The term "hijacked" refers to the cleaning robot being moved away from the operating surface and transferred to a cleaning base station for charging. The term "lowered" refers to the shield being in a first position, and the term "retracted" refers to the shield being in a second position. The ventilation area of ​​the shield in the first position is smaller than the ventilation area of ​​the shield in the second position.

[0058] Thus, after the cleaning robot of the present invention is hijacked (here, hijacking means the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging), in order to ensure that the shielding component is in the lowered state when the cleaning base station in the cleaning robot performs the dust collection task, the shielding component of the cleaning robot can be switched from the lowered state to the retracted state first, and then switched from the retracted state to the lowered state again when the dust collection task is performed, so as to facilitate the dust collection operation; or, the shielding component of the cleaning robot can be kept in the lowered state to facilitate the direct dust collection task, thereby reducing the frequency of the shielding component's state switching and improving work efficiency.

[0059] Optionally, when the shield is in the first position, it covers part of the ventilation channel so that the ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0060] Thus, the shield has a first position and a second position. When the shield is in the first position, it covers part of the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing the cleaning suction when the cleaning robot is cleaning carpet areas, which helps to deeply clean deep dirt and dust in carpet areas. When the shield is in the second position, it is in a retracted state and does not assist the cleaning of the roller brush assembly. This is suitable for cleaning ordinary dirt and dust, and is also suitable for the cleaning robot to perform dust collection tasks at the cleaning station.

[0061] Optionally, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0062] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0063] Optionally, when the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state.

[0064] Thus, when the cleaning robot is hijacked, it is hijacked in the sense that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. In order to avoid the risk of users' hands being pinched due to the rotation of the roller brush assembly during the transportation process, the roller brush assembly is switched from the rotating state to the stopped state, thereby ensuring the user's transportation safety. At the same time, it can also reduce the operating power consumption of the cleaning robot.

[0065] Optionally, when the cleaning robot performs a dust collection task, the roller brush assembly switches from a stopped state to a rotating state.

[0066] Therefore, when the cleaning robot performs the dust collection task, the roller brush assembly needs to be in a rotating state to ensure that all the dust and dirt cleaned by the roller brush assembly can be collected into the dust collection bag of the cleaning base station. Thus, the roller brush assembly needs to switch from a stopped state to a rotating state to cooperate with the dust collection operation.

[0067] Optionally, when the cleaning robot performs the dust collection task, the rotation state of the roller brush assembly is forward rotation, reverse rotation, or alternating forward and reverse rotation at a preset alternating frequency.

[0068] Thus, when the cleaning robot performs the dust collection task, the dust collection effect of the roller brush assembly can be improved by making the roller brush assembly rotate forward, reverse, or alternately rotate forward and reverse at a preset frequency.

[0069] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0070] When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, and the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance dragged from the first cleaning position to the second cleaning position is greater than a preset drag distance, or the time taken to drag from the first cleaning position to the second cleaning position is greater than a preset drag duration. The lowered state is when the shield is in the first position, and the retracted state is when the shield is in the second position.

[0071] The cleaning robot was no longer hijacked, and the shielding component remained in the retracted state.

[0072] The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0073] Thus, when the cleaning robot determines that it is being hijacked—that is, being dragged on the ground—it can be considered dragging even if the drive wheels are not off the ground or are slightly raised. The cleaning robot will not immediately retract the cover; instead, it will wait until a time or distance threshold is met before retracting it. This is to avoid frequent retraction and extension of the cover, which could affect its lifespan. Furthermore, repeated retraction and extension of the cover can increase the risk of users getting their hands caught. Retracting the cover only after meeting the preset dragging time or distance threshold minimizes these drawbacks. Retracting the cover also prevents it from getting wet during the robot's dragging process (which may involve dragging it off the carpet), thus avoiding any impact on the cleaning effect of the subsequent roller brush components.

[0074] Optionally, the preset drag distance is 1m-2m; or the preset drag duration is 1s-10s.

[0075] Thus, the preset dragging time has a minimum time threshold or the preset dragging distance has a minimum distance threshold, which avoids the cleaning robot being dragged for a short time or distance due to misoperation, causing it to judge as hijacked and execute hijacking commands, thus affecting normal cleaning tasks. It also avoids the robot quickly retracting the cover after a short dragging time or distance, which would lead to an increased failure rate of the cover and affect its service life.

[0076] Optionally, when the shield is in the first position, it covers part of the ventilation channel so that the ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position; when the shield is in the third position, it covers part of the ventilation channel, and the ventilation area when the shield is in the third position is larger than the ventilation area when the shield is in the first position, but smaller than the ventilation area when the shield is in the second position.

[0077] Thus, the shield has a first position, a second position, and a third position. In the first position, the shield partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing cleaning suction when the cleaning robot is handling carpet areas, aiding in deep cleaning of deep dirt and dust in carpet areas. In the second position, the shield is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the shield's ventilation area is between the ventilation areas of the first and second positions, thus the cleaning suction of the cleaning assembly is between the cleaning suction of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0078] Optionally, when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0079] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0080] Optionally, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area, wherein the target location is a second or third location, including:

[0081] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0082] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0083] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0084] Thus, for non-carpet areas, the target position of the blocking components varies, providing appropriate suction power and cleaning effect based on different cleaning surface types. By using appropriate suction power in different non-carpet areas, the cleaning effect in these areas can be improved. By adjusting the blocking components to the corresponding target positions according to different types of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction power in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0085] Optionally, when the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface.

[0086] Therefore, when the cleaning robot is hijacked, in order to prevent the cleaning robot from being dragged out of the carpet and getting wet during the process, and to prevent the roller brush assembly from getting wet as well, thus affecting the subsequent cleaning effect, the roller brush assembly needs to be raised when the cover is retracted to ensure that the roller brush assembly is not affected by dirt during the dragging process.

[0087] Optionally, as the cleaning robot continues to perform the cleaning task, the roller brush assembly descends from a second roller brush position away from the operating surface to a first roller brush position closer to the operating surface.

[0088] Thus, while the cleaning robot continues to perform its cleaning task, the roller brush assembly descends from the second roller brush position to the first roller brush position, thereby performing the cleaning operation of the roller brush assembly.

[0089] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0090] When the cleaning robot's shield is in a lowered state performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot remains in its original position for a period exceeding a third preset time under external force. The lowered state is defined as the shield being in a first position, and the retracted state as the shield being in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0091] The cleaning robot was no longer hijacked, and the shielding remained in the retracted state.

[0092] Thus, when the cleaning robot is hijacked—in this case, hijacked because it is trapped in place for an extended period due to external force—it will not immediately retract its protective cover. Instead, it will wait until a third preset time threshold is met before retracting. This is to prevent frequent retraction and extension of the cover from affecting its lifespan. Furthermore, repeated retraction and extension of the cover can increase the risk of users getting their hands caught. Retracting the cover only after the preset time threshold is met minimizes these drawbacks. Moreover, the cleaning robot only retracts the cover after the third preset time has elapsed, facilitating its subsequent escape and preventing the cover from interfering with the surrounding environment and increasing resistance to escape.

[0093] Optionally, the third preset time is 8s-20s.

[0094] Thus, the third preset time has a minimum time threshold, preventing the cleaning robot from getting stuck due to misoperation, which could lead to it being judged as hijacked and executing hijacking commands, thus affecting normal cleaning tasks. It also prevents the robot from quickly retracting the shielding component after a short period of sticking, which would increase the failure rate of the shielding component and affect its lifespan.

[0095] Optionally, when the shield is in the first position, it covers part of the ventilation channel, so that the shield is at...

[0096] The ventilation area in the first position is smaller than the ventilation area when the shield is in the second position.

[0097] Thus, the shield has a first position and a second position. When the shield is in the first position, it covers part of the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing the cleaning suction when the cleaning robot is cleaning carpet areas, which helps to deeply clean deep dirt and dust in carpet areas. When the shield is in the second position, it is in a retracted state and does not assist the cleaning of the roller brush assembly. This is suitable for cleaning ordinary dirt and dust, and is also suitable for the cleaning robot to perform dust collection tasks at the cleaning station.

[0098] Optionally, the operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

[0099] In this way, with the shielding component in the first position, it can make contact with the first cleaning surface of the carpet area. The shielding component, which is in direct contact with the ground, can apply additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, can significantly improve the cleaning effect on carpets. By optimizing the position of the shielding component, the cleaning robot can improve cleaning efficiency without increasing additional energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0100] Optionally, when the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface, and the roller brush assembly rotates alternately in forward and reverse directions at a preset alternating frequency.

[0101] Thus, when the cleaning robot is hijacked, it is hijacked because the cleaning robot is stuck in place for a long time due to external force. The roller brush assembly is raised from the first roller brush position to the second roller brush position, which helps the cleaning robot to get out of trouble. Furthermore, through the rotation of the roller brush assembly, and the roller brush assembly rotates in both forward and reverse directions at a preset alternating frequency, it helps the roller brush assembly to expel foreign objects, thereby solving the problem of the roller brush assembly being stuck due to foreign objects, and making it easier for the cleaning robot to get out of trouble.

[0102] Optionally, when the cleaning robot is hijacked, the chassis of the cleaning robot is raised from a first chassis position close to the operating surface to a second chassis position far away from the operating surface.

[0103] Thus, when the cleaning robot is hijacked, specifically when it is trapped in place for an extended period due to external forces, in order to prevent the foreign objects discharged by the roller brush assembly from being dragged by the chassis and causing the cleaning robot to be unable to escape, the chassis needs to be raised from the first chassis position to the second chassis position. This will prevent the foreign objects discharged by the roller brush assembly from being dragged by the chassis, making it easier for the cleaning robot to escape.

[0104] Optionally, the second chassis position includes a first chassis working position and a second chassis working position.

[0105] When the operating surface has a first type of lint, the chassis of the cleaning robot is in the first chassis working position; and / or, when the operating surface has a second type of lint, the chassis of the cleaning robot is in the second chassis working position.

[0106] Wherein, the length of the first type of down is shorter than the length of the second type of down, and the working position of the first chassis is lower than the working position of the second chassis.

[0107] In this way, the chassis of the cleaning robot can be raised at different heights depending on the length of the carpet fibers on the operating surface. This ensures that the chassis can be raised to meet the requirements, making it easier for the cleaning robot to get out of trouble, while also avoiding excessive power consumption and extending the robot's operating time.

[0108] Optionally, when the cleaning robot is hijacked, its drive wheels remain rotating within a preset escape time range to escape the hijacked state.

[0109] Thus, when the cleaning robot is hijacked, in order to ensure that the cleaning robot can escape smoothly, the drive wheels will always keep rotating within the preset escape time range, thereby relying on the rotation of the drive wheels to assist in the escape.

[0110] Optionally, if the cleaning robot fails to escape the hijacked state within a preset escape time range, the drive wheels of the cleaning robot will stop rotating after a fourth preset time, and the cleaning robot will issue an alarm.

[0111] Thus, if the cleaning robot fails to escape from a pre-set obstacle within the pre-set time limit, after the fourth pre-set time threshold, in order to avoid power consumption loss, the robot's drive wheels will stop rotating, and an alarm will be triggered to alert the user.

[0112] Optionally, the fourth preset time is 8s-15s.

[0113] Thus, by setting a fourth preset time threshold, the cleaning robot can be kept in the process of repeatedly getting out of trouble for a long time, thereby reducing unnecessary power consumption and noise.

[0114] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0115] When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking means that the cleaning robot is summoned from its original position to a designated position to perform temporary cleaning tasks. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0116] The cleaning robot was no longer hijacked, and the shielding remained in the retracted state.

[0117] Thus, after being hijacked, the cleaning robot of this invention is summoned to move from its original location to a designated location to perform a temporary cleaning task. This summoning includes, but is not limited to, voice summoning and summoning by selecting a location on a cleaning map. The cleaning robot controls the obstruction to switch from a lowered state to a retracted state to prevent the obstruction from getting stuck or getting wet during the robot's movement. Furthermore, this allows the cleaning robot to quickly move from its original location to the designated location to respond to customer needs as quickly as possible.

[0118] Optionally, when the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface, or the roller brush assembly switches from a rotating state to a stopped state.

[0119] Therefore, when the cleaning robot is hijacked, in order to prevent the roller brush assembly from getting stuck or getting wet during the movement of the cleaning robot, which would affect the subsequent cleaning effect, it is necessary to raise the roller brush assembly or stop the roller brush assembly when the shield is retracted, so as to ensure that the roller brush assembly is not affected by dirt during the dragging process and improve the cleaning robot's rapid response efficiency.

[0120] This invention also provides a cleaning method for a cleaning robot, the cleaning robot including a cleaning component, the cleaning component including a shield and a roller brush assembly with a suction chamber, the shield being used to partially block the ventilation channel between the suction chamber and the operating surface, the method including:

[0121] When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, and the cleaning robot is hijacked, the shield is controlled to remain in a lowered state. The operating surface is a carpeted area, and the hijacking occurs when the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0122] The cleaning robot was no longer hijacked, and the shielding component remained in its lowered position.

[0123] Thus, after being hijacked, the cleaning robot of this invention is summoned to move from its original location to a designated location to perform a temporary cleaning task. This summoning includes, but is not limited to, voice summoning and summoning by selecting a location on a cleaning map. The cleaning robot's control shield is in a lowered state, enabling the cleaning robot to clean the area it traverses while simultaneously responding to the summoning command to move from its original location to the designated location.

[0124] Optionally, when the cleaning robot's shield is in a lowered state and performing cleaning tasks on the operating surface, and when the cleaning robot is hijacked, controlling the shield to be in a lowered state further includes controlling the roller brush assembly to be in a rotating state.

[0125] In this way, by controlling the roller brush assembly to be in a rotating state, the roller brush assembly can be used in conjunction with the lowering of the shielding part to efficiently clean the area traversed by the moving path as the cleaning robot moves from its original position to the designated position.

[0126] Optionally, when the cleaning robot's shield is in a lowered state while performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shield to be in a lowered state further includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the shield to switch from a lowered state to a retracted state.

[0127] In this way, when the cleaning robot leaves the carpeted area, the covering part switches from the lowered state to the retracted state to reduce power consumption and improve the efficiency of the cleaning robot's rapid movement.

[0128] Optionally, when the cleaning robot's shield is in a lowered state while performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shield to be in a lowered state further includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state.

[0129] Thus, when the cleaning robot leaves the carpeted area, it switches the roller brush assembly from a rotating state to a stopped state to reduce power consumption and improve the efficiency of the cleaning robot's rapid movement.

[0130] As described above, the cleaning method of the cleaning robot of the present invention has the following beneficial effects:

[0131] By adjusting the state of the shielding parts according to the situation of the cleaning robot being hijacked, the robot can avoid frequent opening and closing of the shielding parts, which would affect their lifespan and prevent users from getting their hands pinched. It can also prevent the shielding parts from getting stuck or getting wet due to unclear ground material conditions. The position of the shielding parts can be adjusted according to the ground material in the future, so that the cleaning robot can still adjust the position of the shielding parts to perform the cleaning tasks that meet the user's intentions even if it is hijacked. Attached Figure Description

[0132] Figure 1 is a flowchart of a cleaning method using a cleaning robot according to an embodiment of the present invention;

[0133] Figure 2 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0134] Figure 3 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0135] Figure 4 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0136] Figure 5 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0137] Figure 6 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0138] Figure 7 is a flowchart of a cleaning method using a cleaning robot according to another embodiment of the present invention;

[0139] Figure 8 is a flowchart of a cleaning method for a cleaning robot according to another embodiment of the present invention. Detailed Implementation

[0140] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0141] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0142] This application provides a control method for a cleaning robot, without specifying the structure of the cleaning robot. For example, the cleaning robot can be a floor washing robot, a floor mopping robot, a floor sweeping robot, or a combined sweeping and mopping robot.

[0143] The cleaning robot may include a robotic device with a control unit, a drive unit, etc. The control unit can control the drive unit to achieve automatic movement of the robot. The robotic device is equipped with cleaning components, and the control unit can control the operation of these cleaning components. The cleaning components may include wet cleaning components and dry cleaning components. Wet cleaning components include a cloth assembly; this should be understood broadly as including flat cloths, roller brush cloths, etc. Dry cleaning components may include roller brush assemblies, side brush assemblies, etc., for sweeping and collecting dry debris on the floor. For example, dry cleaning components can be used to clean carpeted floors; for hardwood or tiled floors, a combination of dry and wet cleaning components can be used.

[0144] The robotic device also features various types of sensor components. The control unit uses the data detected by these sensors to control the cleaning robot to perform corresponding actions, such as moving forward, backward, and turning. These sensor components include, but are not limited to, position sensors, collision sensors, attitude sensors, and drop sensors. Position sensors acquire the robot's coordinates in real time and determine the appropriate cleaning commands based on these coordinates. Collision sensors provide data on the force of collisions to control whether the robot avoids obstacles. Attitude sensors monitor the robot's posture and send posture parameters such as normal, tilted, tilt angle, and tilt time to the control unit. Attitude sensors can be gyroscopes, accelerometers, etc. Drop sensors detect whether the robot is suspended in mid-air to determine if a fall is possible.

[0145] Referring to Figure 1, an embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0146] S11: When the cleaning robot's shielding component is in a lowered state and performing a cleaning task on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding component is controlled to be in a lowered state. The hijacking means that the cleaning robot is moved away from the operating surface, and the lowered state means that the shielding component is in a first position.

[0147] S12: The cleaning robot ends the hijacking and continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding member remains in the lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding member is in the target position to clean the non-carpeted area. The target position is a second position or a third position. The ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second or third position.

[0148] It is understood that the term "lowered state" as used in this invention should be interpreted broadly, referring to the state relative to when the shielding component is retracted. The retracted state can be understood as the shielding component being actively or passively raised. When a cleaning robot performs cleaning tasks, especially in areas requiring deep cleaning, such as carpeted areas, it often needs to work with the shielding component to partially block the ventilation channel between the suction chamber and the operating surface, thereby increasing negative pressure and enhancing the adsorption and cleaning power of the roller brush assembly for debris.

[0149] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S11, the robot's shield remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is "hijacked" by external force. This hijacking means the cleaning robot is completely moved away from the operating surface, i.e., the cleaning robot is not in contact with the operating surface. This hijacking state is determined by the aforementioned sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it has left the ground, it starts timing via an internal timer. If the time spent in the hijacked state is between a first preset time and a second preset time, it is determined to be a short-term hijacking, and the robot's shield remains in the lowered state.

[0150] When the cleaning robot determines that it has been hijacked and the hijacking time falls within the first to second preset time period, it will not retract its protective cover. This minimizes the number of times the cover needs to be retracted and extended, preventing frequent retraction and extension from affecting its lifespan. Furthermore, it also avoids increasing the risk of users' hands being pinched due to repeated retraction and extension of the cover. Additionally, it prevents the roller brush assembly from accidentally unfolding or the suction chamber from being exposed during transport, avoiding damage to internal parts or dust backflow.

[0151] For step S12: the cleaning robot ends the hijacking, it is often necessary to make a judgment through the aforementioned sensor components. When the sensor components determine that the cleaning robot changes from the off-ground state to the ground state within a preset time, the hijacking event is considered to have ended.

[0152] After being hijacked, the cleaning robot continues its cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shield remains lowered to clean the carpeted area; when the operating surface is a non-carpeted area, the shield is positioned at a target location to clean the non-carpeted area, which could be a second or third location. The determination of the operating surface material can be understood using relevant technologies, such as image sensors or optical sensors, and is not limited to these methods. Understandably, for carpeted areas, deep cleaning is often required to meet cleaning needs. Keeping the shield lowered, by partially obstructing the ventilation channel, enhances the negative pressure in the suction chamber, thereby increasing the cleaning power of the roller brush assembly and effectively solving the problem of extracting stubborn dust from deep carpet crevices. For non-carpeted areas, such as hard surfaces like floors or tiles, the shield can be adjusted to a target location according to the degree of dirt, dynamically adjusting the suction distribution to assist the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the state of the shielding component must be controlled according to the material of the operating surface at the current location.

[0153] For example, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0154] The first preset time can be any value between 1s and 2s, such as 1.5s, 1.8s, or 2s. The second preset time can be any value between 4s and 6s, such as 4s, 4.5s, or 5s. Setting the first preset time as the minimum time threshold and the second preset time as the maximum time threshold prevents the cleaning robot from being accidentally lifted off the ground, which could cause it to be judged as a hijacked state and execute hijacking commands, thus affecting normal cleaning tasks.

[0155] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, but smaller than the ventilation area when the shielding member is in the second position.

[0156] The shielding component has three positions: a first position, a second position, and a third position. In the first position (minimum ventilation area), the shielding component covers most of the ventilation channel, enhancing the negative pressure of the suction chamber and concentrating the airflow. This allows the cleaning robot to assist the roller brush assembly in increasing suction power when cleaning carpeted areas, aiding in deep cleaning of deep dirt and dust. In the second position (maximum ventilation area), the shielding component is retracted, with the ventilation channel almost fully open, reducing wind resistance and allowing airflow to cover a wider area. This is suitable for cleaning ordinary dirt, dust, and large particles. In the third position (medium ventilation area), the ventilation area is between the first and second positions, partially blocking the ventilation channel. This results in the cleaning component's suction power being between that of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt, as well as small particles.

[0157] Preferably, when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. By positioning the shielding member in the first position, it allows contact with the first cleaning surface of the carpet area. The shielding member, directly in contact with the ground, applies additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0158] In step S12, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including:

[0159] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0160] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0161] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0162] Specifically, for non-carpet areas, the target position of the masking component is adjusted according to the type of surface to be cleaned. The degree of contamination mentioned here can be understood as contamination in a broad sense, including the area, quantity, and adhesion of dirt. For the first type of dirt, which is relatively light and has larger particles, adjusting the masking component to the second position is sufficient for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the masking component to the third position reduces the ventilation area, allowing the suction of the roller brush assembly to be more concentrated, thus effectively increasing its ability to adsorb stubborn dirt. It is worth noting that the ventilation area of ​​the masking component at the third position is between that of the first and second positions. This means that for non-carpet areas such as floors or tiles, even if the surface is dirty, the cleaning suction is less than that for carpet areas. By adjusting the masking component to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0163] In this embodiment of the invention, when the cleaning robot's shielding component is in a lowered state performing a cleaning task on the operating surface, if it is hijacked and removed from the operating surface for a period between a first preset time and a second preset time, the shielding component is controlled to remain in the lowered state. This is to prevent frequent retraction and retraction of the shielding component from affecting its lifespan, and to avoid increasing the risk of users getting their hands pinched. When the cleaning robot finishes being hijacked and continues performing the cleaning task, the shielding component is then kept in the lowered state or adjusted to a target position according to the material of the operating surface to adapt to the current material of the operating surface.

[0164] Referring to Figure 2, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0165] S21: When the cleaning robot's shielding component is in the lowered state performing a cleaning task on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shielding component is controlled to switch from the lowered state to the retracted state. Here, being hijacked means that the cleaning robot leaves the operating surface, the lowered state means that the shielding component is in the first position, and the retracted state means that the shielding component is in the second position.

[0166] S22: The cleaning robot ends the hijacking and continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0167] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S21, the robot's shield remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is "hijacked" by external force. This hijacking means that the cleaning robot is completely moved away from the operating surface, that is, the cleaning robot is not in contact with the operating surface. The determination of this hijacking state is obtained through the aforementioned sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it has left the ground, it can start timing via an internal timer. When the time in the hijacked state is between a first preset time and a second preset time, it is determined to be a short-term hijacking, and the cleaning robot's shield switches from the lowered state to the retracted state.

[0168] When the cleaning robot detects that it has been hijacked, it will not immediately retract its protective cover. Instead, it will wait until the hijacking period has lasted between a first and a second preset time before retracting the cover. This is to prevent frequent retraction and extension of the cover from affecting its lifespan and to avoid increasing the risk of the user's hand being pinched due to repeated retraction and extension. Furthermore, retracting the cover prevents the cleaning robot from getting stuck in difficult environments or on uneven surfaces, and also prevents it from getting wet in humid environments, which could affect subsequent cleaning by wetting the carpet.

[0169] For step S22: the cleaning robot ends the hijacking, it is often necessary to make a judgment through the aforementioned sensor components. When the sensor components determine that the cleaning robot changes from the off-ground state to the ground state within a preset time, the hijacking event is considered to have ended.

[0170] After being hijacked, the cleaning robot continues its cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is carpeted, the shield switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is non-carpeted, the shield is positioned at a target location to clean the non-carpeted area; the target location is either a second or third position. Understandably, for carpeted surfaces, deep cleaning is often required to meet cleaning needs. Keeping the shield lowered reduces the ventilation area to enhance suction, thereby increasing the cleaning power of the roller brush assembly and ensuring effective removal of deep-seated dust. For non-carpeted surfaces, such as floors or tiles, the shield can be adjusted to the target location based on the level of dirt to assist the roller brush assembly in cleaning and vacuuming. Therefore, to ensure the cleaning robot executes the correct cleaning instructions after being hijacked, the state of the shield must be controlled according to the material of the operating surface at the current location. By adjusting the position of the shield in real time, the cleaning effect is prevented from decreasing due to changes in the floor material. Switch to high suction mode (first position) only when necessary (such as for carpet cleaning), and use the second / third position to reduce air resistance in non-carpet areas, thus reducing overall energy consumption.

[0171] For example, the first preset time is 1s-2s, and the second preset time is 4s-6s.

[0172] The first preset time can be any value between 1s and 2s, such as 1.3s, 1.5s, or 2s. The second preset time can be any value between 4s and 6s, such as 4s, 4.5s, or 5s. Setting the first preset time as the minimum time threshold and the second preset time as the maximum time threshold prevents the cleaning robot from being accidentally lifted off the ground, which could cause it to be judged as a hijacked state and execute hijacking commands, thus affecting normal cleaning tasks.

[0173] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, but smaller than the ventilation area when the shielding member is in the second position.

[0174] The shielding component has three positions: a first position, a second position, and a third position. In the first position, the shielding component partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shielding component to assist the roller brush assembly in increasing suction power when the cleaning robot is handling carpeted areas, aiding in deep cleaning of deep dirt and dust. In the second position, the shielding component is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the ventilation area of ​​the shielding component is between the ventilation areas of the first and second positions, thus the suction power of the cleaning assembly is between that of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0175] Preferably, when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. By positioning the shielding member in the first position, it allows contact with the first cleaning surface of the carpet area. The shielding member, directly in contact with the ground, applies additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0176] In step S22, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including:

[0177] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0178] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0179] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0180] Specifically, for non-carpet areas, the target position of the masking component is adjusted according to the type of surface to be cleaned. The degree of contamination mentioned here can be understood as contamination in a broad sense, including the area, quantity, and adhesion of dirt. For the first type of dirt, which is relatively light and has larger particles, adjusting the masking component to the second position is sufficient for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the masking component to the third position reduces the ventilation area, allowing the suction of the roller brush assembly to be more concentrated, thus effectively increasing its ability to adsorb stubborn dirt. It is worth noting that the ventilation area of ​​the masking component at the third position is between that of the first and second positions. This means that for non-carpet areas such as floors or tiles, even if the surface is dirty, the cleaning suction is less than that for carpet areas. By adjusting the masking component to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0181] In this embodiment of the invention, when the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, once it is hijacked away from the operating surface and the hijacking time is between a first preset time and a second preset time, the shield switches from the lowered state to the retracted state. This is to prevent the shield from getting stuck or contaminated with water when it is put back on the ground due to unclear ground material conditions (for example, if placed in a difficult environment causing the shield to get stuck or uneven ground causing it to get stuck, resulting in subsequent movement of the shield; or if placed in a humid environment causing the shield to get contaminated with water, resulting in wetting the carpet during subsequent cleaning). When the cleaning robot finishes being hijacked and continues to perform the cleaning task, the shield is then lowered or adjusted to the target position according to the material of the operating surface to adapt to the current operating surface material.

[0182] Referring to Figure 3, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0183] S31: When the cleaning robot's shielding component is in the lowered state performing a cleaning task on the operating surface, if the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shielding component is controlled to switch from the lowered state to the retracted state. Here, being hijacked means that the cleaning robot is moved away from the operating surface, the lowered state means that the shielding component is in the first position, and the retracted state means that the shielding component is in the second position.

[0184] S32: The cleaning robot ends the hijacking, and the shielding component remains in the retracted state;

[0185] S33: The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0186] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S31, the robot's shield remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is "hijacked" by external force. This hijacking means that the cleaning robot is completely moved away from the operating surface, that is, the cleaning robot is not in contact with the operating surface. The determination of this hijacking state is obtained through the aforementioned sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it has left the ground, it can start timing via an internal timer. If the time in the hijacked state exceeds a second preset time, it is determined to be a long-term hijacking, and the cleaning robot's shield switches from the lowered state to the retracted state.

[0187] When the cleaning robot detects that it has been hijacked, it will not immediately retract its cover. Instead, it will wait until the hijacking period exceeds a second preset time before retracting the cover. This is to avoid frequent retraction and extension of the cover, which could shorten its lifespan and increase the risk of users getting their hands pinched. Furthermore, retracting the cover prevents damage to the cover from collisions or friction during prolonged transport; it also facilitates quick equalization of internal and external air pressure, preventing dust backflow and excessive power consumption from prolonged idling; and it prevents the cover from getting stuck in difficult environments or on uneven surfaces, as well as from getting wet in humid environments, which could affect subsequent cleaning of carpets.

[0188] For step S32: the cleaning robot ends the hijacking, it is often necessary to make a judgment through the aforementioned sensor components. When the sensor components determine that the cleaning robot changes from the off-ground state to the ground state within a preset time, the hijacking event is considered to have ended.

[0189] After the cleaning robot is no longer hijacked, the shield remains retracted. This means that the shield will retract regardless of the ground material when the cleaning robot lands, to prevent the shield from getting stuck due to unclear ground material conditions (to prevent the shield from getting stuck due to uneven ground or obstacles) or getting wet.

[0190] For step S33: The cleaning robot continues to perform the cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area; when the operating surface is a non-carpeted area, the shielding component is in the target position to clean the non-carpeted area, which is either the second or third position. It is understandable that for carpeted areas, deep cleaning is often required to meet cleaning needs. Keeping the shielding component in the lowered state reduces the ventilation area to enhance suction, thereby increasing the cleaning power of the roller brush assembly on the operating surface and solving the problem of difficult extraction of deep dust from carpets. For non-carpeted areas, such as floors or tiles, the shielding component can be adjusted to the target position according to the degree of dirt to assist the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the state of the shielding component must be controlled according to the material of the operating surface at the current position.

[0191] For example, the second preset time is 6s-10s.

[0192] The second preset time has a minimum time threshold, which can be any value between 6s and 10s, such as 6s, 7s, 8.3s, 9s, 9.6s, 10s, etc. This is to prevent accidental lifting of the cleaning robot off the ground, which could cause it to be identified as hijacked and execute hijacking commands, thus affecting normal cleaning tasks.

[0193] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, but smaller than the ventilation area when the shielding member is in the second position.

[0194] The shielding component has three positions: a first position, a second position, and a third position. In the first position, the shielding component partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shielding component to assist the roller brush assembly in increasing suction power when the cleaning robot is handling carpeted areas, aiding in deep cleaning of deep dirt and dust. In the second position, the shielding component is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the ventilation area of ​​the shielding component is between the ventilation areas of the first and second positions, thus the suction power of the cleaning assembly is between that of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0195] Preferably, when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. By positioning the shielding member in the first position, it allows contact with the first cleaning surface of the carpet area. The shielding member, directly in contact with the ground, applies additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0196] In step S33, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including:

[0197] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0198] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0199] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0200] Specifically, for non-carpet areas, the target position of the masking component is adjusted according to the type of surface to be cleaned. The degree of contamination mentioned here can be understood as contamination in a broad sense, including the area, quantity, and adhesion of dirt. For the first type of dirt, which is relatively light and has larger particles, adjusting the masking component to the second position is sufficient for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the masking component to the third position reduces the ventilation area, allowing the suction of the roller brush assembly to be more concentrated, thus effectively increasing its ability to adsorb stubborn dirt. It is worth noting that the ventilation area of ​​the masking component at the third position is between that of the first and second positions. This means that for non-carpet areas such as floors or tiles, even if the surface is dirty, the cleaning suction is less than that for carpet areas. By adjusting the masking component to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0201] In this embodiment of the invention, when the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, if it is hijacked away from the operating surface and the hijacking time exceeds a second preset time, the shield switches from the lowered state to the retracted state. This prevents the user from touching the shield and causing it to deviate from its position during prolonged handling of the cleaning robot. It also prevents the shield from getting stuck or getting wet when placed back on the ground due to unclear ground material conditions (avoiding the shield getting trapped in difficult environments or stuck on uneven ground, or getting wet in humid environments, which could wet the carpet during subsequent cleaning). When the cleaning robot finishes being hijacked and continues performing the cleaning task, the shield is lowered or adjusted to the target position according to the material of the operating surface to adapt to the current operating surface material.

[0202] Referring to Figure 4, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0203] S41: When the cleaning robot's shielding component is in the lowered state and performing a cleaning task on the operating surface, if the cleaning robot is hijacked, the shielding component is controlled to switch from the lowered state to the retracted state; the hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging, and when the cleaning robot performs a dust collection task, the shielding component switches from the retracted state to the lowered state.

[0204] Wherein, the lowered state is when the shielding component is in a first position, and the retracted state is when the shielding component is in a second position; the ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second position; or...

[0205] S42: When the shield of the cleaning robot is in the lowered state and performing a cleaning task on the operating surface, if the cleaning robot is hijacked, control the shield to remain in the lowered state so that the cleaning robot can perform a dust collection task;

[0206] The lowered state refers to the shielding component being in a first position, and the retracted state refers to the shielding component being in a second position. The ventilation area of ​​the shielding component in the first position is smaller than the ventilation area of ​​the shielding component in the second position.

[0207] When the cleaning robot performs a cleaning task, it follows a preset cleaning route. In step S41, the blocking part of the cleaning robot remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked by external force. This hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. The determination of this hijacking state is obtained by the above sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it has been moved to the cleaning base station, the shielding part switches from the lowered state to the retracted state to protect the shielding part and prevent mechanical interference between the shielding part and the base station's charging contacts or dust collection port, ensuring the reliability of the charging connection. During charging, keeping the shielding part retracted reduces airflow resistance and standby power consumption, allowing the cleaning robot to perform other tasks at the cleaning base station besides dust collection. When the cleaning robot needs to perform a dust collection task, the shielding part is lowered (first position) to enable efficient dust collection. By reducing the ventilation area, the negative pressure intensity of the dust collection airflow is enhanced, improving the efficiency of dust transfer from the cleaning robot's dust box to the cleaning base station's dust collection bag. Furthermore, it prevents dust from overflowing during the dust collection process, maintaining the cleanliness of the cleaning base station.

[0208] For step S42: The shielding component of the cleaning robot remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is hijacked under the action of external force. This hijacking means that the cleaning robot is moved away from the operating surface and transferred to the cleaning base station for charging. The determination of this hijacking state is obtained through the above-mentioned sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses that it has been transferred to the cleaning base station, the shielding component remains in the lowered state so that it can directly perform the subsequent dust collection task. This eliminates the state switching step of the shielding component, avoids mechanical wear caused by frequent state switching, reduces the risk of dust collection interruption due to mechanism failure, saves the motor drive energy consumption required for state switching, and improves work efficiency. The cleaning robot can start dust collection operation immediately after being moved to the cleaning base station, which is particularly suitable for scenarios that require urgent and rapid cleaning.

[0209] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0210] The shielding component has a first position and a second position. In the first position, the shielding component partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the cleaning robot to assist the roller brush assembly in increasing cleaning suction when dealing with carpeted areas, which helps to deeply clean deep dirt and dust in carpeted areas. It is also suitable for cleaning robots to perform dust collection tasks at the cleaning station. By reducing the ventilation area, it enhances the negative pressure of the dust collection duct, forming a more closed duct system during the dust collection process, improving the efficiency of dust transfer from the dust box to the dust bag, and preventing dust from overflowing during the dust collection process. In the second position, the shielding component is in a retracted state, suitable for cleaning ordinary dirt and dust.

[0211] Preferably, the operating surface is a carpet area, and when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. By positioning the shielding member in the first position, it allows contact with the first cleaning surface of the carpet area. The shielding member, directly in contact with the ground, applies additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0212] Understandably, when the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state. Specifically, when the cleaning robot is hijacked, to avoid the risk of the roller brush assembly pinching the user's hand during transportation, the roller brush assembly switches from a rotating state to a stopped state, thereby ensuring the user's safety during the process of transporting the cleaning robot to the cleaning base station. At the same time, it can also reduce the operating power consumption of the cleaning robot.

[0213] Understandably, when the cleaning robot performs dust collection tasks, the roller brush assembly switches from a stopped state to a rotating state. Specifically, when the cleaning robot performs dust collection tasks, the roller brush assembly is in a rotating state. The rotation of the roller brush assembly can remove stubborn dust adhering to the inner wall of the dust box and the filter screen. The rotation of the roller brush assembly can break up clumps of dust (such as damp dust), preventing large particles from clogging the dust collection channel and reducing the need for manual cleaning. The rotating roller brush assembly can form a vortex in the suction chamber, making the airflow distribution more even. Furthermore, when the roller brush assembly rotates, the bristles can clean the air duct inlet area, preventing airflow attenuation caused by hair entanglement.

[0214] For example, when the cleaning robot performs a dust collection task, the roller brush assembly rotates in a forward, reverse, or alternating forward and reverse rotation at a preset frequency. Specifically, when rotating forward, the roller brush conveys dust towards the dust collection port, improving the recycling efficiency of large particles (such as cat litter and food scraps), suitable for collecting general dust / particulate matter. Reverse rotation generates a mechanical force opposite to that used during cleaning, effectively shaking off clumps of dust (damp and sticky), fibrous debris (carpet lint and pet hair), or sticky substances (sugar stains and dirt) stuck in the gaps of the roller brush. When rotating in reverse, dust accumulated at the base of the bristles is forcefully flung out, and combined with the dust collection airflow, deep cleaning of the roller brush can be achieved. Reversing the rotation changes the direction of hair entanglement, and alternating forward and reverse rotation can prevent excessive unidirectional entanglement and hair from becoming tangled. Thus, when the cleaning robot performs a dust collection task, by making the roller brush assembly rotate forward, reverse, or alternate forward and reverse rotation at a preset frequency, the dust collection effect of the roller brush assembly can be improved.

[0215] In this embodiment of the invention, when the shielding component of the cleaning robot is in the lowered state performing a cleaning task on the operating surface, once it is hijacked away from the operating surface and transferred to the cleaning base station for charging, the shielding component switches from the lowered state to the retracted state. The shielding component is then lowered again when the dust collection task is performed, so that the cleaning robot can protect the shielding component when performing other non-dust collection tasks at the cleaning base station. Alternatively, when the shielding component of the cleaning robot is in the lowered state performing a cleaning task on the operating surface, once it is hijacked away from the operating surface and transferred to the cleaning base station for charging, the shielding component remains in the lowered state so that the dust collection task can be performed directly, thereby reducing the frequency of state switching of the shielding component and improving work efficiency.

[0216] Referring to Figure 5, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0217] S51: When the cleaning robot's shield is in the lowered state performing a cleaning task on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance dragged from the first cleaning position to the second cleaning position is greater than a preset drag distance, or the time taken to drag from the first cleaning position to the second cleaning position is greater than a preset drag duration. The lowered state is when the shield is in the first position, and the retracted state is when the shield is in the second position.

[0218] S52: The cleaning robot ends the hijacking, and the shielding component remains in the retracted state;

[0219] S53: The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

[0220] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S51, the robot's shield remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is "hijacked" by external force. This hijacking refers to the cleaning robot being dragged from a first position to a second position. The determination of this hijacking state is obtained through the aforementioned sensors or other conventional sensors, which will not be elaborated here. Once the cleaning robot senses being dragged, it can start timing via an internal timer and simultaneously record its position via a position sensor. If the hijacking time exceeds a preset dragging duration, or the hijacking distance exceeds a preset dragging distance, the cleaning robot's shield switches from the lowered state to the retracted state.

[0221] By dragging a preset distance threshold or a preset duration threshold, the cleaning robot can accurately distinguish between manual intervention and normal obstacle crossing, reducing the probability of false triggering and ensuring that normal turning or small-scale movement during cleaning tasks is not affected.

[0222] When the cleaning robot detects that it has been hijacked, it will not immediately retract its shield. Instead, it will wait until a time or distance threshold is met before retracting it. This is to avoid frequent retraction and extension of the shield, which could shorten its lifespan. Furthermore, repeated retraction and extension of the shield can increase the risk of users getting their hands caught. Retracting the shield also prevents it from being damaged, jammed (getting stuck in carpet or floor gaps), or getting wet due to friction with the floor (especially carpet) while being dragged by the robot (which may be pulled off carpets). This would affect the cleaning effectiveness of the subsequent roller brush components.

[0223] For step S52: the cleaning robot ends the hijacking, it is often necessary to make a judgment through the aforementioned sensor components. When the sensor components determine that the state of the cleaning robot being dragged has ended, the hijacking event is considered to have ended.

[0224] After the cleaning robot finishes being hijacked, the cover remains retracted. That is, when the cleaning robot finishes dragging, the cover is retracted regardless of the ground material. This avoids mechanical wear or energy waste caused by frequent switching actions, and also prevents the cover from getting water stains due to unclear ground material conditions.

[0225] For step S53: The cleaning robot continues to perform the cleaning task, executing corresponding instructions based on the material of the operating surface. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area; when the operating surface is a non-carpeted area, the shielding component is in the target position to clean the non-carpeted area, which is either the second or third position. It is understandable that for carpeted areas, deep cleaning is often required to meet cleaning needs. Keeping the shielding component in the lowered state enhances the sealing of the suction chamber, thereby increasing the cleaning power of the roller brush assembly on the operating surface and improving the suction efficiency of deep carpet dust. For non-carpeted areas, such as hard surfaces like wood floors or tiles, the shielding component can be adjusted to the target position according to the degree of dirt, balancing ventilation efficiency and dust prevention, avoiding excessive obstruction that could lead to airflow loss, and assisting the roller brush assembly in cleaning and vacuuming. Therefore, in order for the cleaning robot to execute the correct cleaning instructions after being hijacked, the state of the shielding component must be controlled according to the material of the operating surface at the current position.

[0226] For example, the preset drag distance is 1m-2m; or the preset drag duration is 1s-10s.

[0227] Specifically, the preset dragging distance has a minimum distance threshold, such as any value between 1m and 2m, which can be 1m, 1.2m, 1.5m, 1.8m, etc. This avoids accidental dragging of the cleaning robot, which could cause it to be judged as hijacked and execute hijacking commands, affecting normal cleaning tasks. It also prevents the robot from quickly retracting the shielding parts after a short drag, which would increase the failure rate of the shielding parts and affect their service life.

[0228] The preset dragging duration has a minimum time threshold, for example, any value between 1s and 10s, such as 1s, 2s, 3s, 4s, 5s, 6s, 7s, 8s, 9s, 10s, etc. This avoids accidental dragging of the cleaning robot, which could cause it to interpret the dragging as a hijacking and execute hijacking commands, thus affecting normal cleaning tasks. It also prevents the robot from quickly retracting its covering after a short dragging period, as this would increase the failure rate of the covering and shorten its lifespan.

[0229] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position, but smaller than the ventilation area when the shielding member is in the second position.

[0230] The shielding component has three positions: a first position, a second position, and a third position. In the first position, the shielding component partially covers the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shielding component to assist the roller brush assembly in increasing suction power when the cleaning robot is handling carpeted areas, aiding in deep cleaning of deep dirt and dust. In the second position, the shielding component is retracted and does not assist the roller brush assembly in cleaning, suitable for cleaning ordinary dirt and dust. In the third position, the ventilation area of ​​the shielding component is between the ventilation areas of the first and second positions, thus the suction power of the cleaning assembly is between that of the first and second positions, suitable for cleaning dirt between ordinary and deep dirt.

[0231] Preferably, when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. By positioning the shielding member in the first position, it allows contact with the first cleaning surface of the carpet area. The shielding member, directly in contact with the ground, applies additional physical pressure, helping to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0232] In step S53, when the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including:

[0233] When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or,

[0234] When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area;

[0235] Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

[0236] Specifically, for non-carpet areas, the target position of the masking component is adjusted according to the type of surface to be cleaned. The degree of contamination mentioned here can be understood as contamination in a broad sense, including the area, quantity, and adhesion of dirt. For the first type of dirt, which is relatively light and has larger particles, adjusting the masking component to the second position is sufficient for cleaning. For the second type of dirt, which is more severe and has smaller particles, adjusting the masking component to the third position reduces the ventilation area, allowing the suction of the roller brush assembly to be more concentrated, thus effectively increasing its ability to adsorb stubborn dirt. It is worth noting that the ventilation area of ​​the masking component at the third position is between that of the first and second positions. This means that for non-carpet areas such as floors or tiles, even if the surface is dirty, the cleaning suction is less than that for carpet areas. By adjusting the masking component to the corresponding target position based on the type of dirt, the cleaning robot ensures effective cleaning of different types of dirt. Furthermore, by ensuring appropriate suction in different non-carpet areas, unnecessary energy consumption can be avoided, extending operating time.

[0237] In this embodiment of the invention, when the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, if it is hijacked and dragged on the ground for a period of time or a preset distance, the shield switches from the lowered state to the retracted state. This is to prevent the shield from getting stuck or contaminated with water during the process of being dragged by the cleaning robot (which may drag out carpets) due to unclear ground material conditions, which could cause the shield to become stuck or affect the cleaning effect of the subsequent roller brush assembly. When the cleaning robot finishes being hijacked and continues to perform the cleaning task, the shield is lowered or adjusted to the target position according to the material of the operating surface to adapt to the current operating surface material.

[0238] Referring to Figure 6, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0239] S61: When the cleaning robot's shield is in the lowered state performing a cleaning task on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot remains in its original position for a time longer than a third preset time under external force. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0240] S62: The cleaning robot ends the hijacking, and the shield remains in the retracted state.

[0241] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S61, the robot's shield remains in the lowered state to assist the roller brush assembly in performing the cleaning task. At this time, it is "hijacked" under external force. This hijacking refers to the cleaning robot being pressed down or trapped in its original position for a period exceeding a third preset time. The determination of this hijacking state is obtained through the aforementioned sensors or other conventional sensors, which will not be elaborated here. The cleaning robot being pressed down could be due to an elderly person not knowing how to use it or a child playing with it, who might directly press the cleaning robot into place. The cleaning robot being trapped could be due to foreign objects in the operating surface, causing the roller brush assembly or shield to become entangled. The cleaning robot being pressed down or trapped can be timed by an internal timer. When the hijacking time exceeds the third preset time, the cleaning robot's shield switches from the lowered state to the retracted state.

[0242] The term "hijacked" refers to the cleaning robot being held in place by an external force. "Holding in place" means that the cleaning robot is held within a 1cm-5cm radius around its body. It does not necessarily mean that the robot is fixed in place. This is because when the cleaning robot is held down or trapped, it will control the drive wheels to accelerate and escape. It is difficult for external force to keep the robot completely still, so the position will be slightly offset.

[0243] When the cleaning robot is hijacked, it will not immediately retract its obstruction mechanism. Instead, it will wait until a third preset time threshold is met before retracting it. This is to prevent frequent retraction and extension of the obstruction mechanism from affecting its lifespan. Furthermore, repeated retraction and extension of the obstruction mechanism can increase the risk of users getting their hands caught. After the third preset time has elapsed, the cleaning robot retracts the obstruction mechanism to prevent overload damage to the mechanical structure (such as the obstruction mechanism or motor) due to continuous obstruction. Retracting the obstruction mechanism also reduces ventilation resistance between the suction chamber and the operating surface, mitigating the risk of motor stalling due to external force, and reducing ineffective energy consumption. Additionally, it facilitates the cleaning robot's subsequent escape from the obstruction mechanism, preventing interference with the surrounding environment and increased escape resistance.

[0244] For step S62, the cleaning robot ends the hijacking, which often requires judgment through the aforementioned sensor components. When the sensor components determine that the hijacking state of the cleaning robot has ended (e.g., external force is released), the hijacking event is considered to have ended.

[0245] After the cleaning robot is no longer hijacked, the shield remains retracted to prevent repeated switching due to incomplete environmental recovery (such as the presence of obstacles), reduce mechanical wear or energy waste, and avoid water stains on the shield due to unclear ground material conditions.

[0246] For example, the third preset time is 8s-20s.

[0247] The third preset time has a minimum time threshold, for example, any value between 8s and 20s, such as 8s, 9s, 10s, 11s, 12s, 13s, 14s, or 20s. Using this time threshold (the third preset time) as a judgment condition prevents the cleaning robot from being misjudged and stuck due to accidental operation, or from being briefly paused (such as overcoming obstacles or turning), leading to a false triggering of a response and affecting normal cleaning tasks. It also prevents the robot from quickly retracting its shielding parts after a short period of jamming, which would increase the failure rate of the shielding parts and affect their lifespan.

[0248] It should be noted that when the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

[0249] The shield has a first position and a second position. When the shield is in the first position, it covers part of the ventilation channel, reducing the ventilation area and increasing the negative pressure in the suction chamber. This allows the shield to assist the roller brush assembly in increasing the cleaning suction when the cleaning robot is cleaning carpet areas, which helps to deeply clean deep dirt and dust in carpet areas. When the shield is in the second position, it is in a retracted state and does not assist the cleaning of the roller brush assembly. It is suitable for cleaning ordinary dirt and dust, and is also suitable for the cleaning robot to perform dust collection tasks at the cleaning base station.

[0250] Preferably, the operating surface is a carpet area, and when the shielding member is in the first position, it contacts the first cleaning surface corresponding to the carpet area. The shielding member being in the first position allows it to contact the first cleaning surface of the carpet area. The shielding member in direct contact with the ground applies additional physical pressure, which helps to loosen and extract deep-seated dirt. This physical action, combined with enhanced suction, significantly improves the cleaning effect on carpets. By optimizing the position of the shielding member, the cleaning robot can improve cleaning efficiency without increasing energy consumption, making it more efficient when dealing with complex surfaces such as carpets.

[0251] Understandably, when the cleaning robot is hijacked, the roller brush assembly rises from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, and the roller brush assembly rotates alternately in forward and reverse directions at a preset alternating frequency. Specifically, raising the roller brush assembly from the first roller brush position to the second roller brush position avoids continuous friction between the roller brush and the operating surface (especially carpets or areas with accumulated hair), reduces mechanical resistance between the roller brush assembly and the operating surface, lowers the motor load, and thus facilitates the cleaning robot's escape. Furthermore, the alternating forward and reverse rotation of the roller brush assembly at the preset alternating frequency helps to expel foreign objects, actively releasing hair, cables, and other debris entangled on the roller brush, reducing the risk of blockage, and resolving roller brush assembly jamming caused by foreign objects, thus facilitating the cleaning robot's escape. The raising of the roller brush and the retraction of the shielding parts can be performed simultaneously to jointly reduce the cleaning robot's movement resistance.

[0252] Understandably, when the cleaning robot is hijacked, its chassis is raised from a first chassis position close to the operating surface to a second chassis position away from the operating surface. Specifically, to prevent foreign objects discharged by the roller brush assembly from being dragged by the chassis and causing difficulty in escaping, the chassis needs to be raised from the first chassis position to the second chassis position. This ensures that foreign objects discharged by the roller brush assembly are not dragged along with the chassis, facilitating the cleaning robot's escape. Furthermore, after the chassis is raised, the overall contact area between the cleaning robot and the operating surface is reduced, lowering movement resistance. The raised chassis also prevents secondary jamming by low obstacles. The chassis raising can be triggered simultaneously with the raising of the roller brush assembly and the retraction of the shielding components, forming multiple layers of protection and minimizing movement resistance and the risk of component damage.

[0253] In the above embodiments, the second chassis position includes a first chassis working position and a second chassis working position. When the operating surface has a first type of fluff, the chassis of the cleaning robot is in the first chassis working position; and / or, when the operating surface has a second type of fluff, the chassis of the cleaning robot is in the second chassis working position; wherein, the length of the first type of fluff is shorter than the length of the second type of fluff, and the first chassis working position is lower than the second chassis working position.

[0254] Specifically, the lifting height of the cleaning robot's chassis varies depending on the length of the carpet fibers on the operating surface. This ensures that the chassis lifting height meets the requirements. Adjusting the height for different fiber lengths reduces the probability of hair entanglement on the roller brush assembly, facilitating the cleaning robot's escape from obstacles, and also avoids excessive power consumption, extending the robot's operating time. The lifting height can be dynamically adjusted to balance protection and cleaning effectiveness for different fiber lengths.

[0255] Understandably, when the cleaning robot is hijacked, its drive wheels remain rotating within a preset escape time range to escape the hijacking. Thus, to ensure the cleaning robot can escape successfully, the drive wheels remain rotating throughout the preset escape time range, thereby relying on the rotation of the drive wheels to assist in escaping the situation.

[0256] Furthermore, if the cleaning robot fails to escape the hijacked state within the preset escape time range, its drive wheels will stop rotating after a fourth preset time, and the cleaning robot will issue an alarm. Specifically, if the cleaning robot fails to escape within the preset escape time range, its drive wheels will stop rotating after the set fourth preset time threshold to avoid power consumption, and an alarm will be issued to alert the user.

[0257] For example, the fourth preset time is 8s-15s. By setting a fourth preset time threshold, the cleaning robot can be in the process of repeatedly getting out of trouble for a longer period of time, thereby reducing unnecessary power consumption and noise.

[0258] In this embodiment of the invention, when the cleaning robot's shielding component is in a lowered state performing a cleaning task on the operating surface, if it is hijacked and remains stationary for a period exceeding a third preset time, the shielding component switches from the lowered state to the retracted state. This facilitates the subsequent escape of the cleaning robot and prevents the shielding component from interfering with the surrounding environment and increasing escape resistance. When the cleaning robot is no longer hijacked, the shielding component remains in the retracted state.

[0259] Referring to Figure 7, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0260] S71: When the cleaning robot's shield is in the lowered state and performing a cleaning task on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. The hijacking means that the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task. The lowered state is when the shield is in the first position, and the retracted state is when the shield is in the second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0261] S72: The cleaning robot ends the hijacking, and the shielding component remains in the retracted state.

[0262] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S71, the robot's shield remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, the cleaning robot is "hijacked." "Hijacked" should be interpreted broadly; in this embodiment, it means the cleaning robot is summoned from its original position to a designated location to perform a temporary cleaning task. This summoning includes, but is not limited to, voice summoning and summoning by selecting a location on the cleaning map. The designated location can be a user-specified cleaned area (for supplementary cleaning) or an uncleaned area (for temporary cleaning). The cleaning map includes multiple cleaning areas, each displaying its cleaning status for the user to view.

[0263] When the cleaning robot detects that it has been hijacked, it switches the control panel from a lowered state to a retracted state to prevent the panel from getting stuck or wet during the robot's movement. This would not affect the robot's efficiency in responding quickly and subsequent cleaning operations. It also allows the robot to move quickly from its original position to the designated location to respond to customer needs as soon as possible.

[0264] For step S72: the end of the hijacking of the cleaning robot often requires judgment through the aforementioned sensor components. When the sensor components determine that the cleaning robot has moved from its original position to the designated position, the hijacking event is considered to have ended. The obstruction remains in the retracted state, and its position is adjusted according to the ground material when the cleaning task continues.

[0265] Optionally, when the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position away from the operating surface, or the roller brush assembly switches from a rotating state to a stopped state. Thus, when the cleaning robot is hijacked, to prevent the roller brush assembly from getting stuck or contaminated with water during the robot's movement, which could affect subsequent cleaning results, it is necessary to raise the roller brush assembly or stop its rotation when the obstruction is retracted. This ensures that the roller brush assembly is not affected by dirt during dragging and improves the cleaning robot's rapid response efficiency.

[0266] In this embodiment of the invention, when the shielding component of the cleaning robot is in the lowered state performing a cleaning task on the operating surface, if it is hijacked, that is, the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task, the shielding component is controlled to switch from the lowered state to the retracted state. This is to prevent the shielding component from getting stuck or getting wet during the movement of the cleaning robot, so as to facilitate the cleaning robot to move quickly from its original position to the designated position and respond to customer needs as soon as possible.

[0267] Referring to Figure 8, another embodiment of the present invention provides a cleaning method for a cleaning robot. The cleaning robot includes a cleaning assembly, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes:

[0268] S81: When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, and the cleaning robot is hijacked, the shield is controlled to be in a lowered state. The operating surface is a carpet area, and the hijacking means that the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position.

[0269] S82: The cleaning robot ends the hijacking, and the shield remains in the lowered state.

[0270] When performing a cleaning task, the cleaning robot follows a preset cleaning route. In step S81, the robot's shield remains in a lowered state to assist the roller brush assembly in performing the cleaning task. At this time, the cleaning robot is "hijacked." "Hijacked" should be interpreted broadly; in this embodiment, it means the cleaning robot is summoned from its original position to a designated location to perform a temporary cleaning task. This summoning includes, but is not limited to, voice summoning and summoning by selecting a location on the cleaning map. The designated location can be a user-specified cleaned area (for supplementary cleaning) or an uncleaned area (for temporary cleaning). The cleaning map includes multiple cleaning areas, each displaying its cleaning status for the user to view.

[0271] When the cleaning robot determines that it has been hijacked, it controls the shielding parts to be in a lowered state to avoid the shielding parts being frequently retracted and extended, which would affect their service life. It also enables the cleaning robot to move from its original position to a designated position in response to a call command, while also cleaning the area it passes through along the moving path.

[0272] For step S82: the end of the hijacking of the cleaning robot often requires judgment through the aforementioned sensor components. When the sensor components determine that the cleaning robot has moved from its original position to the designated position, the hijacking event is considered to have ended. The blocking component remains in the lowered state, and when the cleaning task is resumed later, the position of the blocking component is adjusted according to the ground material.

[0273] In the above embodiment, when the cleaning robot's shield is in a lowered state performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shield to be in the lowered state further includes controlling the roller brush assembly to rotate. Thus, by controlling the roller brush assembly to rotate, the roller brush assembly can efficiently clean the area traversed by the movement path of the cleaning robot as it moves from its original position to a designated position, in conjunction with the lowering of the shield.

[0274] It should be noted that when the cleaning robot's shield is in the lowered state while performing cleaning tasks on the operating surface, controlling the shield to remain in the lowered state when the cleaning robot is hijacked also includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the shield to switch from the lowered state to the retracted state. Thus, switching the shield from the lowered state to the retracted state when the cleaning robot leaves the carpet area reduces power consumption and improves the efficiency of the cleaning robot's rapid movement. The cleaning task is then initiated as needed after the cleaning robot is summoned and moves from its original position to the user-designated location.

[0275] Understandably, when the cleaning robot's shield is in a lowered state while performing cleaning tasks on the operating surface, controlling the shield to remain in the lowered state when the cleaning robot is hijacked also includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state. Thus, when the cleaning robot leaves the carpet area, switching the roller brush assembly from a rotating state to a stopped state reduces power consumption and improves the efficiency of the cleaning robot's rapid movement. The cleaning task is then initiated as needed after the cleaning robot is summoned and moves from its original position to the user-designated location.

[0276] In this embodiment of the invention, when the shielding component of the cleaning robot is in a lowered state and performing a cleaning task on the operating surface, if it is hijacked, that is, if the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task, the shielding component is controlled to be in a lowered state. This enables the cleaning robot to clean the area it passes through while responding to the summoning command to move from its original position to the designated position.

[0277] In summary, the cleaning method for the cleaning robot provided by this invention adjusts the state of the shielding component according to the situation of the cleaning robot being hijacked, so as to avoid the frequent opening and closing of the shielding component affecting its service life and avoiding the risk of the user's hand being pinched; it also avoids the shielding component getting stuck or contaminated with water stains due to unclear ground material conditions; and it allows the cleaning robot to adjust the position of the shielding component according to the ground material after being hijacked, so as to continue to perform the cleaning task that meets the user's intention.

[0278] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shield is controlled to be in a lowered state. Hijacking means the cleaning robot is moved away from the operating surface, and the lowered state means the shield is in a first position. After the cleaning robot is no longer hijacked, it continues to perform the cleaning task. When the operating surface is a carpeted area, the shield remains in the lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shield is in a target position to clean the non-carpeted area. The target position is a second position or a third position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second or third position.

2. The cleaning method of the cleaning robot according to claim 1, characterized in that, The first preset time is 1s-2s, and the second preset time is 4s-6s.

3. The cleaning method of the cleaning robot according to claim 1, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position and smaller than the ventilation area when the shielding member is in the second position.

4. The cleaning method of the cleaning robot according to claim 1, characterized in that, When the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

5. The cleaning method of the cleaning robot according to claim 1, characterized in that, When the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

6. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked and the hijacking time is between a first preset time and a second preset time, the shield is controlled to switch from the lowered state to the retracted state. Here, being hijacked means that the cleaning robot leaves the operating surface, the lowered state means that the shield is in the first position, and the retracted state means that the shield is in the second position. The cleaning robot resumes its cleaning task after being hijacked. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

7. The cleaning method of the cleaning robot according to claim 6, characterized in that, The first preset time is 1s-2s, and the second preset time is 4s-6s.

8. The cleaning method of the cleaning robot according to claim 6, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position and smaller than the ventilation area when the shielding member is in the second position.

9. The cleaning method of the cleaning robot according to claim 6, characterized in that, When the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

10. The cleaning method of the cleaning robot according to claim 6, characterized in that, When the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

11. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked and the hijacking time is greater than a second preset time, the shield is controlled to switch from the lowered state to the retracted state. Hijacking means that the cleaning robot is moved away from the operating surface, the lowered state means that the shield is in the first position, and the retracted state means that the shield is in the second position. The cleaning robot was no longer hijacked, and the shielding component remained in the retracted state. The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

12. The cleaning method of the cleaning robot according to claim 11, characterized in that, The second preset time is 6s-10s.

13. The cleaning method of the cleaning robot according to claim 11, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position and smaller than the ventilation area when the shielding member is in the second position.

14. The cleaning method of the cleaning robot according to claim 11, characterized in that, When the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

15. The cleaning method of the cleaning robot according to claim 11, characterized in that, When the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; And / or, when the operating surface is a non-carpet area and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

16. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. When the cleaning robot performs dust collection tasks, the shield switches from the retracted state to the lowered state. Alternatively, when the cleaning robot's shield is in a lowered state on the operating surface to perform a cleaning task, and the cleaning robot is hijacked, the shield is controlled to remain in a lowered state so that the cleaning robot can perform a dust collection task. The term "hijacked" refers to the cleaning robot being moved away from the operating surface and transferred to a cleaning base station for charging. The term "lowered" refers to the shield being in a first position, and the term "retracted" refers to the shield being in a second position. The ventilation area of ​​the shield in the first position is smaller than the ventilation area of ​​the shield in the second position.

17. The cleaning method of the cleaning robot according to claim 16, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

18. The cleaning method of the cleaning robot according to claim 16, characterized in that, The operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

19. The cleaning method of the cleaning robot according to claim 16, characterized in that, When the cleaning robot is hijacked, the roller brush assembly switches from a rotating state to a stopped state.

20. The cleaning method of the cleaning robot according to claim 16, characterized in that, When the cleaning robot performs the dust collection task, the roller brush assembly switches from a stopped state to a rotating state.

21. The cleaning method of the cleaning robot according to claim 20, characterized in that, When the cleaning robot performs the dust collection task, the rotation state of the roller brush assembly is forward rotation, reverse rotation, or alternating forward and reverse rotation at a preset alternating frequency.

22. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, and the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot is dragged from a first cleaning position to a second cleaning position, and the distance dragged from the first cleaning position to the second cleaning position is greater than a preset drag distance, or the time taken to drag from the first cleaning position to the second cleaning position is greater than a preset drag duration. The lowered state is when the shield is in the first position, and the retracted state is when the shield is in the second position. The cleaning robot was no longer hijacked, and the shielding component remained in the retracted state. The cleaning robot continues to perform the cleaning task. When the operating surface is a carpeted area, the shielding component switches from a retracted state to a lowered state to clean the carpeted area. When the operating surface is a non-carpeted area, the shielding component is in a target position to clean the non-carpeted area. The target position is either the second position or the third position. The ventilation area when the shielding component is in the first position is smaller than the ventilation area when the shielding component is in the second or third position.

23. The cleaning method of the cleaning robot according to claim 22, characterized in that, The preset drag distance is 1m-2m; or the preset drag duration is 1s-10s.

24. The cleaning method of the cleaning robot according to claim 22, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position; when the shielding member is in the third position, it covers part of the ventilation channel, and the ventilation area when the shielding member is in the third position is larger than the ventilation area when the shielding member is in the first position and smaller than the ventilation area when the shielding member is in the second position.

25. The cleaning method of the cleaning robot according to claim 22, characterized in that, When the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

26. The cleaning method of the cleaning robot according to claim 22, characterized in that, When the operating surface is a non-carpet area, the shielding member is positioned at a target location to clean the non-carpet area. The target location is either a second location or a third location, including: When the operating surface is a non-carpet area, and there is a first type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the second position to clean the non-carpet area; and / or, When the operating surface is a non-carpet area, and there is a second type of dirt on the second cleaning surface corresponding to the non-carpet area, the shielding member is in the third position to clean the non-carpet area; Wherein, the degree of contamination of the second type of dirt is greater than that of the first type of dirt, and / or, the particle size of the second type of dirt is smaller than that of the first type of dirt.

27. The cleaning method of the cleaning robot according to claim 22, characterized in that, When the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface.

28. The cleaning method of the cleaning robot according to claim 22, characterized in that, As the cleaning robot continues to perform the cleaning task, the roller brush assembly descends from a second roller brush position away from the operating surface to a first roller brush position closer to the operating surface.

29. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in a lowered state performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking occurs when the cleaning robot remains in its original position for a period exceeding a third preset time under external force. The lowered state is defined as the shield being in a first position, and the retracted state as the shield being in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position. The cleaning robot was no longer hijacked, and the shielding remained in the retracted state.

30. The cleaning method of the cleaning robot according to claim 29, characterized in that, The third preset time is 8s-20s.

31. The cleaning method of the cleaning robot according to claim 29, characterized in that, When the shielding member is in the first position, it covers part of the ventilation channel so that the ventilation area when the shielding member is in the first position is smaller than the ventilation area when the shielding member is in the second position.

32. The cleaning method of the cleaning robot according to claim 29, characterized in that, The operating surface is a carpet area, and when the shielding member is in the first position, the shielding member is in contact with the first cleaning surface corresponding to the carpet area.

33. The cleaning method of the cleaning robot according to claim 29, characterized in that, When the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface, and the roller brush assembly rotates alternately in forward and reverse directions at a preset alternating frequency.

34. The cleaning method of the cleaning robot according to claim 29, characterized in that, When the cleaning robot is hijacked, the chassis of the cleaning robot is raised from a first chassis position close to the operating surface to a second chassis position far away from the operating surface.

35. The cleaning method of the cleaning robot according to claim 34, characterized in that, The second chassis position includes the first chassis working position and the second chassis working position. When the operating surface has a first type of lint, the chassis of the cleaning robot is in the first chassis working position; and / or, when the operating surface has a second type of lint, the chassis of the cleaning robot is in the second chassis working position. Wherein, the length of the first type of down is shorter than the length of the second type of down, and the working position of the first chassis is lower than the working position of the second chassis.

36. The cleaning method of the cleaning robot according to claim 29, characterized in that, When the cleaning robot is hijacked, its drive wheels remain rotating within a preset escape time range in order to escape the hijacked state.

37. The cleaning method of the cleaning robot according to claim 36, characterized in that, If the cleaning robot fails to escape the hijacked state within the preset escape time range, the drive wheels of the cleaning robot will stop rotating after the fourth preset time, and the cleaning robot will issue an alarm.

38. The cleaning method of the cleaning robot according to claim 37, characterized in that, The fourth preset time is 8s-15s.

39. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, if the cleaning robot is hijacked, the shield is controlled to switch from the lowered state to the retracted state. Hijacking means that the cleaning robot is summoned from its original position to a designated position to perform temporary cleaning tasks. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position. The cleaning robot was no longer hijacked, and the shielding remained in the retracted state.

40. The cleaning method of the cleaning robot according to claim 39, characterized in that, When the cleaning robot is hijacked, the roller brush assembly is raised from a first roller brush position close to the operating surface to a second roller brush position far away from the operating surface, or the roller brush assembly switches from a rotating state to a stopped state.

41. A cleaning method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning component, which includes a shield and a roller brush assembly with a suction chamber. The shield is used to partially block the ventilation channel between the suction chamber and the operating surface. The method includes: When the cleaning robot's shield is in a lowered state performing a cleaning task on the operating surface, and the cleaning robot is hijacked, the shield is controlled to remain in a lowered state. The operating surface is a carpeted area, and the hijacking occurs when the cleaning robot is summoned to move from its original position to a designated position to perform a temporary cleaning task. The lowered state is when the shield is in a first position, and the retracted state is when the shield is in a second position. The ventilation area when the shield is in the first position is smaller than the ventilation area when the shield is in the second position. The cleaning robot was no longer hijacked, and the shielding component remained in its lowered position.

42. The cleaning method of the cleaning robot according to claim 41, characterized in that, When the cleaning robot's shielding component is in a lowered state and performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shielding component to be in a lowered state also includes controlling the roller brush assembly to be in a rotating state.

43. The cleaning method of the cleaning robot according to claim 41 or 42, characterized in that, When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shield to be in the lowered state also includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the shield to switch from the lowered state to the retracted state.

44. The cleaning method of the cleaning robot according to claim 43, characterized in that, When the cleaning robot's shield is in the lowered state and performing cleaning tasks on the operating surface, and the cleaning robot is hijacked, controlling the shield to be in the lowered state also includes: when the cleaning robot leaves the carpet area, the cleaning robot controls the roller brush assembly to switch from a rotating state to a stopped state.

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