CN114794980A

CN114794980A - Cleaning method and cleaning robot

Info

Publication number: CN114794980A
Application number: CN202210354160.0A
Authority: CN
Inventors: 李伟
Original assignee: Shenzhen Umouse Technology Development Co Ltd
Current assignee: Shenzhen Umouse Technology Development Co Ltd
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-07-29

Abstract

The invention relates to the technical field of cleaning robots, in particular to a cleaning method and a cleaning robot. The cleaning method comprises the following steps: in the cleaning process of the cleaning robot, the walking direction of the cleaning robot is a preset angle with the wall, when the cleaning robot meets the condition that the low wall is cleaned for a preset number of times, the cleaning robot is judged to perform reciprocating cleaning on the low wall, the current cleaning area is abandoned, the condition that the low wall is cleaned comprises a first condition, the first condition is that the cleaning robot walks along a zigzag path, and the difference value of the average values of the preset electrical parameters of the motions in two adjacent opposite directions reaches a preset range. The method can automatically judge whether the cleaning robot is in the condition of repeatedly cleaning the short wall, thereby avoiding the phenomenon that the cleaning robot is ineffectively and repeatedly cleaned or crashes. The cleaning robot is beneficial to improving the cleaning efficiency of the cleaning robot and avoiding the phenomenon of dead halt by the cleaning method.

Description

Cleaning method and cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning method and a cleaning robot.

Background

With the development of the technology, the cleaning robot is widely applied to the life of people, and brings convenience to the life of people.

Among the prior art, cleaning machines people includes main part, response module and control module, and the response module sets up in the main part, and is located the place ahead of main part, and control module sets up inside the main part to be connected with the response module electricity, and control module can control cleaning machines people's motion, and the response module is used for responding to cleaning machines people place ahead barrier, makes control module can control cleaning machines people to continue to advance or turn to.

However, in the working process of the cleaning robot, the sensing module cannot sense the short wall, and the cleaning robot cannot recognize the collision of the short wall, so that the cleaning robot cannot automatically avoid when encountering the short wall, and the cleaning robot has the problem of walking back and forth on the short wall.

In order to solve the above problems, it is desirable to provide a cleaning method and a cleaning robot.

Disclosure of Invention

One object of the present invention is to provide a cleaning method to achieve the effect of recognizing that a cleaning robot encounters a low wall.

Another object of the present invention is to provide a cleaning robot, which can automatically avoid the cleaning robot from performing ineffective repeated cleaning or dead halt at the low wall by using the above cleaning method.

In order to achieve the purpose, the invention adopts the following technical scheme:

a cleaning robot comprises a main body and a sensing module, wherein the sensing module is arranged on the main body and is used for sensing the obstacle condition in front of the main body, and a wall edge lower than the setting height of the sensing module is a low wall edge, and the cleaning method comprises the following steps:

in the cleaning process of the cleaning robot, the cleaning robot walks along a bow-shaped path, the walking direction of the cleaning robot is at a preset angle with a wall, the cleaning robot is 0 degree towards the wall walking direction, the cleaning robot returns along the bow-shaped direction and is 180 degrees, when the cleaning robot meets the low wall cleaning condition and reaches a preset number of times, the cleaning robot is judged to perform reciprocating cleaning on the low wall, the current cleaning area is abandoned, the low wall cleaning condition comprises a first condition, the first condition is that the difference value of the average values of preset electrical parameters of two adjacent opposite-direction movements reaches a preset range in the walking process of the cleaning robot along the bow-shaped path, and the preset electrical parameters are related to the resistance change of the cleaning robot.

As an alternative, the preset electrical parameter is a current of a driving wheel motor of the cleaning robot.

As an alternative, the preset number is greater than five.

As an alternative, the cleaning robot is a long side along a traveling path of 0 ° or 180 °, the path along which the sweeper turns at the limit position is a short side traveling transversely, the low wall side cleaning condition further includes a second condition that the short side traveling transversely at the positions of 0 ° and 180 ° by the cleaning robot includes traveling along the wall.

As an alternative, the preset number of times is equal to or greater than three.

As an alternative, after discarding the current sweeping area, the sweeping method further comprises the steps of:

and searching whether a missing scanning area exists or not, and performing corresponding action according to a judgment result.

As an alternative, if it is determined that the missed-scan area exists, the cleaning robot proceeds to the missed-scan area for cleaning.

As an alternative, if it is determined that the missed-sweep area does not exist, the cleaning robot enters the last round to sweep along the wall.

As an alternative, the cleaning robot makes a turn during walking in the 0 ° or 180 ° direction if it meets an obstacle or travels a displacement up to a preset distance.

A cleaning robot for performing the sweeping method as described above, the cleaning robot comprising:

a main body;

the control module is arranged on the main body and is used for controlling the main body to move;

a detection module electrically connected with the control module, the detection module configured to detect a preset electrical parameter of the cleaning robot; and

the sensing module is arranged on the main body and electrically connected with the control module, and the sensing module is configured to sense the obstacle condition in front of the main body.

The invention has the beneficial effects that:

the invention provides a cleaning method, which comprises the following steps: in the cleaning process of the cleaning robot, the cleaning robot travels along a zigzag path, the traveling direction of the cleaning robot forms a preset angle with a wall edge, the traveling direction of the cleaning robot towards the wall edge is 0 degree, the direction of the cleaning robot returning along the zigzag path is 180 degrees, when the cleaning robot meets the condition that the low wall edge cleaning reaches a preset number of times, the cleaning robot is judged to perform reciprocating cleaning on the low wall edge, a current cleaning area is abandoned, the low wall edge cleaning condition comprises a first condition, the first condition is that the difference value of the average values of preset electrical parameters of two adjacent opposite-direction motions reaches a preset range in the process that the cleaning robot travels along the zigzag path, and the preset electrical parameters and the electrical parameters related to the resistance change of the cleaning robot are preset. Through the steps, when the cleaning robot runs into the short wall, whether the cleaning robot is in the repeated cleaning condition of the short wall or not can be automatically judged, and the cleaning area can be automatically abandoned, so that the cleaning efficiency of the cleaning robot is improved and the service life of the cleaning robot is ensured by avoiding the phenomenon that the cleaning robot does invalid repeated cleaning or crashes on the short wall.

The invention also provides a cleaning robot, which can automatically avoid the phenomenon that the cleaning robot does ineffective repeated cleaning or crashes at the low wall edge by the cleaning method.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic diagram of a walking path of a cleaning robot in a conventional case provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a walking path of the cleaning robot in case of a short wall according to the embodiment of the present invention;

FIG. 3 is a first flowchart of a cleaning method according to an embodiment of the present invention;

fig. 4 is a second flowchart of a cleaning method according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only the structures related to the present invention are shown in the drawings, not the entire structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be structurally related or interoperable between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to be limiting.

The present embodiment provides a cleaning robot including a main body, a cleaning module, a control module, and a detection module. The cleaning module is arranged on the main body and used for cleaning the ground, the control module is arranged on the main body and used for controlling the main body to move. The detection module is electrically connected with the control module, and is configured to detect a preset electrical parameter of the cleaning robot, wherein the preset electrical parameter is an electrical parameter related to resistance change of the cleaning robot. For example, in this embodiment, the detection module is configured to detect parameters such as current or voltage of a driving wheel motor of the cleaning robot, and can feed back a detection result to the control module, and the control module can make a corresponding determination according to the received detection result.

It can be understood that the cleaning robot further comprises a sensing module arranged on the main body, the sensing module is electrically connected with the control module, and the sensing module is used for sensing the obstacle condition in front of the main body. When the sensing module senses that the front surface of the cleaning robot has the obstacle, the sensing module can feed the sensing result back to the control system, and the control system drives the main body to avoid the obstacle.

However, in the actual working process of the cleaning robot, the cleaning robot often encounters a short wall, the height of the short wall is lower than the sensing height of the sensing module, the sensing module cannot sense the existence of the short wall, and the cleaning robot cannot recognize the short wall, for example, when the height of the short wall is lower than the recognition height of the infrared obstacle avoidance sensor (sensing module), the robot cannot sense the obstacle (the short wall) in advance and is not provided with a mechanical collision switch, the robot which identifies the collision state through an electronic collision sensor such as a gyroscope and the like has small collision inclination degree due to a short wall and can not reach the data acquisition threshold value of the gyroscope, when the robot runs into a short wall, the robot cannot be recognized to be in a collision state immediately, and the phenomenon of rubbing while walking can occur, so that the robot cannot automatically avoid when running into the short wall, and the robot runs back and forth along the short wall. The wall edge lower than the setting height of the induction module is a low wall edge.

In order to solve the above problem, the present embodiment provides a cleaning method, including:

as shown in fig. 1, in a conventional case, the cleaning robot travels along a zigzag path, i.e., sequentially travels in the direction of a 'C' E 'G' a ″, during cleaning. Wherein, the walking paths of the C 'E' section and the G 'A' section are short sides. The walking paths of the A 'C' section and the E 'G' section are long edges, the robot determines that the A 'C' direction is a 0-degree direction and the E 'G' direction is a 180-degree direction according to a self navigation system. Illustratively, in a conventional case, the cleaning robot travels a distance of 12cm (a distance of one body or less) in a short side and a distance of 5m in a long side.

As an alternative, the moving distance of the cleaning robot reaches the preset distance of the long side or the short side, and the turning condition is two conditions, one condition is that the cleaning robot meets an obstacle, the other condition is that the walking distance of the cleaning robot reaches the preset maximum distance, namely the walking distance of the short side is 12cm, and the walking distance of the long side is 5m, so that the cleaning robot can clean in modules.

As shown in fig. 2, when the initial walking direction AB of the cleaning robot has an included angle with the short wall with a preset angle, the distance of the cleaning robot walking along the direction AB is less than 12cm, and the cleaning robot encounters the obstacle of the short wall and collides with the short wall, and at this time, the cleaning robot cannot recognize the front short wall as the obstacle through the sensing module and the like. At this time, the AB direction is the 0 ° direction recorded by the cleaning robot. However, the cleaning robot cannot continue to walk, even if the cleaning robot cannot sense the low wall, the cleaning robot rubs the edge of the low wall, which can be understood as the distance BC in fig. 2, and the sum of the displacements of the two sections AB and BC is a displacement of a long edge of the cleaning robot, which is equivalent to a 'C' in fig. 1. When the cleaning robot runs to the point C, the cleaning robot turns to the right to move by a machine body according to the zigzag walking path, and the movement is CD end movement. Illustratively, due to the limited size of the cleaning robot body, the steering process, the cleaning robot walks about 0.25 seconds for about 5 cm. And when the robot body is positioned at the point D, the direction of the robot body is perpendicular to the line AB and faces the direction of the wall, and the robot body walks towards the direction. But is hindered by a low wall edge, so that the cleaning robot cannot walk actually. Therefore, the cleaning robot continues to walk on the low wall after turning, and the walking distance is the displacement of the DE section, namely the walking displacement of one short edge. At this time, the body of the cleaning robot is still oriented in a direction perpendicular to the line AB and toward the wall, and therefore the cleaning robot still walks by rubbing against the wall. After the short edge walking is finished and the short edge walking reaches the point E, the cleaning robot turns right again, the right turning process reaches the point F, and the cleaning robot defaults that the direction AB is the 0-degree direction recorded by the cleaning robot, the FG direction returned by the cleaning robot is the 180-degree direction, and the direction is opposite to the direction AB. In the prior art, the cleaning robot cannot identify the low wall, so that the cleaning robot can repeat the walking process in the path and cannot finish the walking process automatically, and the cleaning robot is easily damaged.

In the process, the preset angle between the cleaning robot and the wall edge is 5-20 degrees.

The cleaning robot has the advantages that the preset electrical parameters of the cleaning robot do not change greatly during normal driving, or a single-point peak value only occurs when a small obstacle is met. When the cleaning robot encounters an obstacle or friction, the preset electrical parameters of the drive wheel motor are increased in order to overcome the frictional resistance. And in the moving process of the cleaning robot, the detection module can continuously detect the preset electrical parameters of the driving wheel motor and calculate the average value of the preset electrical parameters detected in the distance. When resistance such as friction or obstacle is met, the value of the preset electrical parameter measured by the detection module is increased. Therefore, in the walking path process, the cleaning robot walks along the 0-degree direction at the BC distance while rubbing, so that the average value of the preset electrical parameters detected in the ABC section walking process is larger than the average value of the preset electrical parameters detected in the EFG section. The preset electrical parameter may be a voltage or a current of the drive wheel motor.

In this embodiment, the current of the driving wheel motor is detected. If the cleaning robot meets the low wall, the cleaning robot rubs the edge to advance under the blocking of the low wall, the cleaning robot is abraded with the wall, and the friction resistance causes the current to increase. Specifically, the preset range is 10mA to 50mA according to the size design of a general cleaning robot. Of course, when the size of the cleaning robot or the working scene is largely changed, the preset range may be different from the above range. It will be appreciated that when the cleaning robot does not encounter a low wall edge, it is back-fed with a normal current. And as shown in fig. 2, in this embodiment, when the cleaning robot travels along the ABC segment, the cleaning robot travels along the BC segment with rubbing, which increases the average value of the current acquired by the detection module during the ABC segment displacement. And the return-to-180-degree direction displacement of the return stroke is only that EF section displacement is twitching walking, the average value of the current acquired by the FG section displacement detection module is a normal value, and the displacement of the BC section is greater than that of the EF section, so that the average value of the current acquired by the detection module in the displacement process of the ABC section is greater than that of the current acquired by the detection module in the displacement process of the EFG section. Therefore, the difference value of the currents obtained by the ABC section displacement detection module and the EFG section displacement detection module is beneficial to judging that the condition that the cleaning robot moves back is that the cleaning robot meets an obstacle which cannot be identified by the sensing module, but the movement distance reaches the maximum distance. Of course, in the process of wall side walking, the voltage will also change, and the operator can also judge by detecting the difference of the voltage.

The cleaning method of the embodiment includes, as shown in fig. 3, when the cleaning robot satisfies the condition of cleaning the short wall side shown in fig. 2 for a preset number of times, determining that the cleaning robot performs reciprocating cleaning on the short wall side, and abandoning a current cleaning area, where the condition of cleaning the short wall side includes a first condition that a difference value of average values of preset electrical parameters of two adjacent motions in opposite directions reaches a preset range during a process that the cleaning robot travels along a zigzag path, and the two adjacent motions in opposite directions are a motion in an ABC direction and a motion in an EFG direction. When the cleaning robot moves along the ABC direction or the EFG direction, the two obtained average values are the average values of the preset electrical parameters of the two adjacent opposite-direction movements, and the average current in the walking process in the ABC direction is larger than the average current in the walking process in the EFG direction.

It can be seen that, this embodiment receives great frictional force through judging that cleaning machines people receives great frictional force in the higher section stroke of the electric current average value calculated to whether automatic judgement is in the situation of repeatedly cleaning at low wall limit, and can abandon this area of cleaning automatically, avoids cleaning machines people to do invalid repeated cleaning or the phenomenon of dying appears at low wall limit, is favorable to improving cleaning machines people's cleaning efficiency, guarantees cleaning machines people's life.

It will be appreciated that where a cleaning robot is skidding or has small obstacles during its travel, a single satisfaction of the first condition does not directly preclude whether the cleaning robot is traveling along the ABCDEFG path due to skidding or small obstacles. Only when the cleaning robot moves for a preset number of times under the working condition, whether the cleaning robot is in the state of repeatedly cleaning the wall of the low wall can be judged. The scheme is beneficial to improving the accuracy of judging whether the cleaning robot carries out reciprocating cleaning along the short wall, and the problem that the cleaning robot cannot judge when the method breaks down is avoided. The method is beneficial to improving the accuracy of the judgment result of the cleaning robot.

Specifically, the detection module monitors the preset electrical parameter at any time during the movement of the cleaning robot, for example, once per second. When the cleaning robot walks along the wall, the preset electrical parameters of the cleaning robot can be increased under the action of the friction and the resistance of the wall, and when the cleaning robot walks without the wall resistance, the preset electrical parameters of the cleaning robot are relatively stable. In this embodiment, the cleaning robot calculates an average preset electrical parameter value during the walking process along the ABC direction, and compares the average preset electrical parameter value with the preset electrical parameter value calculated during the walking process along the EFG direction, if the difference value of the comparison result reaches the preset range. And when the walking times of the cleaning robot in the ABCDEFG walking path shown in fig. 2 reach the preset times, it indicates that the cleaning robot enters a cycle, and this embodiment, through the preset, makes the cleaning robot avoid repeating the above cycle for an infinite number of times.

Furthermore, the cleaning robot drives the main body to move through the control module, and feeds a detection result back to the control module through the detection module, so that the control module can judge according to the detection result.

Optionally, in order to ensure the accuracy of the judgment result, and when the cleaning robot walks along the wall, that is, the ABC section is parallel to the short wall, the number of times of collision or friction between the cleaning robot and the wall is reduced, so that the number of times that the preset difference of the preset electrical parameters meets the first condition is reduced. Or when the cleaning robot slips, the cleaning robot may enter the circulation walking process along the ABCDEFG direction, but the next circulation path can return to normal walking, so that the judgment of walking along the low wall cannot be directly made when the first condition is met for a few times. Therefore, when only the first condition exists, the preset number of times is more than five, that is, the difference between the currents of the cleaning robot reciprocating to the limit positions at 0 ° and 180 ° is 10mA to 50mA more than five times, the cleaning robot is considered to repeatedly sweep the low wall side.

As an alternative, the cleaning robot takes a long side along a traveling path of 0 degrees or 180 degrees, the sweeper takes a turning traveling path at the limit position as a short side traveling transversely, the low wall side sweeping condition further comprises a second condition, the second condition is that the short side traveling transversely at the positions of 0 degrees and 180 degrees by the cleaning robot comprises wall traveling, that is, the stroke of the DE section in FIG. 2 is that the cleaning robot walks along the wall, because the stroke of the CD section does not reach the requirement of the walking distance of the short edge of the bow-shaped path, that is, the distance of the CD section is less than the distance of the C 'E' section and the G 'A' section, so that the robot executes the wall-following action according to the default instruction to complement the walking distance of the short edge of the unworn bow-shaped path, executes the wall-following action from the D point, the wall following behavior is that the wheel speed difference of the robot is controlled to walk along the wall edge until the E point, and the sum of the strokes of the CD section and the DE section reaches the distance requirement of the walking of the short edge of the bow-shaped path. And when the first condition and the second condition are simultaneously met and the preset times are reached, judging that the cleaning robot cleans the low wall in a reciprocating manner. The cleaning robot may also turn or enter a cycle of walking along the ABCDEFG path as it slips. However, in the event the cleaning robot slips, the number of cleaning robot cycles is small, and the cleaning robot may travel a short distance along the ABC segment while slipping. Therefore, the first condition and the second condition are met simultaneously, the accuracy of judging that the cleaning robot meets a short wall is improved, the phenomenon that the cleaning robot cleans the short wall repeatedly in an invalid manner or crashes is avoided, the cleaning efficiency of the cleaning robot is improved, and the service life of the cleaning robot is ensured. It is understood that the predetermined electrical parameter is current, and the predetermined range is 10mA to 50 mA.

When the cleaning robot works, after the cleaning robot moves to a certain distance along a long edge, the cleaning robot changes the direction under the resistance action of a low wall edge, walks for the width of the cleaning robot along a short edge, then turns for 180 degrees and cleans in the opposite direction, and the turning of the cleaning robot is judged to be performed under the condition of encountering an obstacle by detecting the difference value of the average values of the preset electrical parameters of the cleaning robot in two directions of ABC and EFG. And the working condition of walking of the short edge of the sweeper is judged simultaneously, and the two conditions are used for judging whether the cleaning robot cleans along the short wall edge or not simultaneously, so that the judgment efficiency and the judgment accuracy are improved.

Meanwhile, the cleaning robot can judge whether the cleaning robot is in the state of going out of the short edge wall of the prison through parameters such as current and voltage.

Exemplarily, the detection module is used for detecting a current value, and the detection module feeds back the current value of the cleaning robot in the reciprocating motion process of 0 ° and 180 ° and a difference value of a current average value calculated by the detection result to the control module, and then the control module makes a corresponding judgment according to a result of the current difference value.

Optionally, when the first condition and the second condition are satisfied, the judgment result is more rigorous because it is judged that the cleaning robot satisfies the condition of reciprocating cleaning of the low wall, and the preset times are more than or equal to three times, so that the determination can be made. When judging whether the current difference and the short edge movement of the cleaning robot in the stroke of the reciprocating movement of 0 degree and 180 degrees are along the movement of the short edge, the problem of reciprocating cleaning of the short edge of the wall can be judged only by three times of the above working conditions, and the problems of ineffective cleaning or crash of the cleaning robot and the like are avoided.

As an alternative, after abandoning the current sweeping area, the sweeping method further comprises the following steps:

and searching whether a missing scanning area exists or not, and performing corresponding action according to a judgment result. According to the method, after the short wall is abandoned, the cleaning robot can search the area which is not swept, and the cleaning effect of the cleaning robot is improved. Particularly, when the cleaning robot cleans the ground, the cleaning robot continuously establishes a map in the working process so as to be capable of rapidly cleaning in the later cleaning process and be beneficial to avoiding omission. After the cleaning robot judges that the cleaning robot moves along the short wall, whether a map established by the cleaning robot is in a closed state or not is judged. If the closed state is adopted, no missing scanning area exists, and if the closed state is not adopted, the missing scanning area exists.

As an alternative, when the cleaning robot confirms that the cleaning is repeated at the side of the short wall, and the control module gives up cleaning the area, the control system searches to judge whether the area is missed. If the area of missing sweeping exists in the judgment, the cleaning robot goes to the area of missing sweeping to clean, so that the cleaning efficiency of the cleaning robot is guaranteed, and the area of missing sweeping is avoided. Further, after the cleaning robot goes to the area which is not cleaned, the cleaning robot continues to carry out the arch-shaped cleaning, and meanwhile, the current low wall side is set to be the cleaned area or the forbidden area.

If the area of missing sweeping does not exist in the judgment, the cleaning robot enters the last circle to sweep along the wall, so that the missing position of the wall is avoided, and the cleaning effect of the cleaning robot is improved. Illustratively, the last turn is closed along the edge of the map as indicated by the completion of the wall sweep.

It is noted that the foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.

Claims

1. A cleaning method is characterized in that a cleaning robot comprises a main body and a sensing module, the sensing module is arranged on the main body and is used for sensing the obstacle condition in front of the main body, and a wall edge lower than the setting height of the sensing module is a low wall edge, and the cleaning method comprises the following steps:

in the cleaning process of the cleaning robot, the cleaning robot walks along a zigzag path, the walking direction of the cleaning robot is at a preset angle with the wall, the cleaning robot is 0 degree towards the wall walking direction, the cleaning robot returns along the zigzag direction and is 180 degrees, when the cleaning robot meets the low wall cleaning condition and reaches a preset number of times, the cleaning robot is judged to perform reciprocating cleaning on the low wall, the current cleaning area is abandoned, the low wall cleaning condition comprises a first condition, the first condition is that the difference value of the average values of preset electrical parameters of two adjacent opposite-direction movements reaches a preset range in the walking process of the cleaning robot along the zigzag path, and the preset electrical parameters are electrical parameters related to the resistance change of the cleaning robot.

2. The sweeping method according to claim 1, wherein the preset electrical parameter is a current of a driving wheel motor of the cleaning robot.

3. The sweeping method according to claim 1, wherein the preset number is more than five times.

4. The sweeping method according to claim 1, wherein the path of travel of the cleaning robot along 0 ° or 180 ° is a long side, the path of travel of the sweeper while turning at the extreme position is a short side of lateral travel, and the low wall side sweeping condition further includes a second condition that the short side of lateral travel of the cleaning robot at the 0 ° and 180 ° positions includes wall travel.

5. The cleaning method according to claim 4, wherein the predetermined number of times is three or more.

6. The sweeping method according to any one of claims 1 to 5, further comprising the step of, after discarding the current sweeping area:

7. The sweeping method according to claim 6, wherein if it is judged that the missing sweep area exists, the cleaning robot proceeds to the missing sweep area for sweeping.

8. The sweeping method according to claim 6, wherein if it is judged that the no-sweep region exists, the cleaning robot enters a final round of sweeping along the wall.

9. The sweeping method according to any one of claims 1 to 5, wherein the cleaning robot makes a turn during traveling in the 0 ° or 180 ° direction if encountering an obstacle or traveling displacement up to a predetermined distance.

10. A cleaning robot for performing the sweeping method according to any one of claims 1 to 9, the cleaning robot comprising:

a main body;