CN114947610A

CN114947610A - Cleaning robot, control method and control device thereof, and readable storage medium

Info

Publication number: CN114947610A
Application number: CN202210421239.0A
Authority: CN
Inventors: 姚云志; 潘宇; 顾学乔; 孙涛
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2022-08-30

Abstract

The invention provides a cleaning robot, a control method and a control device thereof, and a readable storage medium, wherein the control method of the cleaning robot comprises the following steps: acquiring a working mode of the cleaning robot; determining the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly according to the working mode of the cleaning robot; and controlling the sweeper to operate according to the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly. The cleaning robot is in different operating condition, and the operating condition of mopping subassembly, the subassembly of sweeping the floor, moisturizing subassembly and dust absorption subassembly is different, consequently can be through switching over cleaning robot's operating condition to the cooperation is used between the different subassemblies of control. After the working modes are switched, all the components do not need to be disassembled and assembled, and the operation of a user is simplified.

Description

Cleaning robot, control method and control device thereof, and readable storage medium

Technical Field

The invention belongs to the technical field of intelligent cleaning equipment, and particularly relates to a control method of a cleaning robot, a control device of the cleaning robot, the cleaning robot and a readable storage medium.

Background

Cleaning robots are increasingly widely used because they can automatically clean a user's room.

After cleaning the ground, the current cleaning robot needs a worker to detach the cleaning component, then install the floor mopping component, and then control the robot to perform the floor mopping function. The cleaning component and the mopping component are manually assembled and disassembled, which brings great inconvenience to users.

Disclosure of Invention

The present invention is directed to solving one of the technical problems of the prior art or the related art.

In view of the above, in a first aspect, the present invention provides a control method of a cleaning robot, the cleaning robot including: the sweeper, the sweeper includes: the water replenishing assembly is used for replenishing water to the mopping assembly. The control method comprises the following steps: acquiring a working mode of the cleaning robot; determining the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly according to the working mode of the cleaning robot; and controlling the sweeper to operate according to the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly.

According to the control method of the cleaning robot, the cleaning robot comprises the sweeping component and the dust collection component, when the sweeping component runs, the sweeping component can sweep the ground, and when the dust collection component runs, the dust collection component can adsorb dust on the ground. Consequently, the subassembly and the dust absorption subassembly of sweeping the floor can cooperate the use, and the subassembly of sweeping the floor sweeps the subaerial dust towards the dust absorption subassembly, and the dust absorption subassembly will sweep the dust of subassembly gathering and adsorb to accomplish the process of cleaning on ground.

The cleaning robot also comprises a mopping assembly, and the mopping assembly can further wipe the ground after being wetted, so that the cleaning effect on the ground is improved. Because the cleaning robot is provided with the sweeping component and the mopping component, after the cleaning robot sweeps the ground, the working mode of the cleaning robot can be switched, and then the ground is wiped through the mopping component. When the floor sweeping mode and the floor mopping mode are switched, the floor sweeping assembly and the floor mopping assembly do not need to be frequently disassembled by workers, and the use convenience of a user for the cleaning robot is improved. Moreover, the floor sweeping assembly and the floor mopping assembly do not need to be frequently disassembled, so that the structural abrasion of the connecting part can be reduced, and the service life of the cleaning robot is prolonged.

The cleaning robot also includes a refill assembly that is capable of refilling the mopping assembly. The mop assembly cleans ground in-process, along with the increase of wiping time length, the moisture on the mop assembly can reduce gradually, and the moisturizing subassembly can carry out the moisturizing to the mop assembly this moment for the mop assembly can keep moist state for a long time, thereby can guarantee to drag the effect of cleaning of ground of assembly.

When a user needs to use the cleaning robot, the working mode of the cleaning robot can be set, after the working mode is determined, the working states of the floor mopping assembly, the floor sweeping assembly, the water supplementing assembly and the dust collecting assembly are determined according to the working mode, and after the working states of the components are obtained, the floor sweeping robot is controlled to operate.

The cleaning robot is in different operating condition, and the operating condition of mopping subassembly, the subassembly of sweeping the floor, moisturizing subassembly and dust absorption subassembly is different, consequently can be through switching over cleaning robot's operating condition to the cooperation is used between the different subassemblies of control. For example, in the sweeping mode, the sweeping assembly and the dust collection assembly are used in cooperation. In the mopping mode, the mopping assembly and the water replenishing assembly are matched for use. After the working mode is switched, all the components do not need to be disassembled and assembled, and the operation of a user is simplified.

And in addition, in the operation process of the mopping assembly, the water replenishing assembly can automatically replenish water to the mopping assembly, so that the cleaning robot does not need to be controlled to frequently move to the base station to wet the mopping assembly, and the working efficiency of the cleaning robot can be effectively improved on the basis of ensuring the mopping effect of the mopping assembly. Compared with the related art, the mopping area of the robot in the same time is improved by adding the water replenishing assembly, and the cruising ability of the cleaning robot is improved.

In addition, according to the control method of the cleaning robot in the above technical solution provided by the present invention, the following additional technical features may be further provided:

in the above technical solution, the working mode includes: a sweeping mode, a mopping mode, a sweeping and mopping integrated mode and a sweeping and mopping-after mode.

In the technical scheme, when the user controls the cleaning robot to operate in a floor sweeping mode, the floor sweeping assembly and the dust collection assembly work. The sweeping component and the dust collection component are matched for use, dust on the ground is swept towards the dust collection component by the sweeping component, and the dust collected by the sweeping component is adsorbed by the dust collection component, so that the sweeping process of the ground is completed.

When the user controls the cleaning robot to operate in the mopping mode, the mopping assembly and the water absorbing assembly operate, and when the mopping assembly operates, the water absorbing assembly can replenish water for the mopping assembly.

When the cleaning robot is controlled by a user to operate in the sweeping and mopping integrated mode, the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly operate simultaneously. Along with the movement of the cleaning robot, the floor sweeping component and the dust absorption component are matched to firstly sweep the ground, and then the floor mopping component and the water replenishing component are matched to wipe the ground. The sweeping component, the mopping component, the dust collection component and the water replenishing component operate simultaneously, so that the sweeping step and the mopping step can be performed synchronously, and the cleaning efficiency of the ground is improved.

When the cleaning robot controls the cleaning robot to operate in a first-sweeping and then-mopping mode, the sweeping component and the dust absorption component sweep the ground firstly, and after the cleaning robot cleans a target sweeping area, the mopping component and the water replenishing component are matched to wipe the ground. Under the mode of sweeping first and then mopping, after the cleaning robot cleans the ground, the mode can be automatically switched to the mode of mopping, the user is not required to control the switching of the working mode, the operation of the user is simplified, and the problem that the user forgets to control the cleaning robot to mopping the ground after the cleaning robot finishes the ground cleaning is avoided.

The user can select the working mode of the cleaning robot according to the use requirement of the user, and the use requirement of the user can be fully met, so that the use convenience of the user on the cleaning robot is improved.

In any one of the above technical solutions, the sweeping assembly includes: side brush subassembly and round brush subassembly, according to cleaning machines people's mode, the operating condition who confirms subassembly of sweeping the floor, round brush subassembly includes: in a sweeping mode, the rolling brush assembly is controlled to operate, the side brush assembly operates at a first rotating speed, and the mopping assembly operates at a second rotating speed; in the mopping mode, the rolling brush assembly is controlled to stop running, the side brush assembly runs at a third rotating speed, and the mopping assembly runs at a fourth rotating speed; under the sweeping and mopping integrated mode, the side brush assembly, the rolling brush assembly and the mopping assembly work simultaneously; in the sweeping-first and mopping-later mode, after the side brush assembly and the rolling brush assembly complete the sweeping task, the mopping assembly works; the first rotating speed is greater than the third rotating speed, and the second rotating speed is less than the fourth rotating speed.

In this technical scheme, user control cleaning machines people is when sweeping the ground mode operation, and round brush subassembly and limit brush subassembly all are in the running state, and round brush subassembly and limit brush subassembly all can be raised the dust on ground to adsorb dust through dust absorption component. The round roller-shaped rolling brush component can fully clean the ground passing by the sweeper, the side brush component is located on the side of the bottom of the sweeper, and the side brush component can effectively clean corners, table corners and other positions. In the sweeping mode, the mopping assembly rotates at the second rotating speed, so that the operation of the mopping assembly is controlled in the sweeping mode, the mopping assembly can move relative to the ground, the friction force between the mopping assembly and the ground can be reduced, the situation that the mopping assembly blocks the movement of the sweeper is avoided, and the movement stability of the sweeper is improved. Similarly, when the cleaning robot operates in the mopping mode, the edge brush assembly operates at a third rotating speed, so that the edge brush assembly can operate relative to the ground, friction between the edge brush assembly and the ground is reduced, and the edge brush assembly is prevented from blocking the movement of the sweeper.

Specifically, in the sweeping mode, the side brush assembly rotates at a first rotating speed, and in the mopping mode, the side brush assembly rotates at a third rotating speed, and the first rotating speed is higher than the third rotating speed. Therefore, under the floor sweeping mode, the side brush assembly runs at a high speed, the floor sweeping effect is guaranteed, and under the floor mopping mode, the side brush assembly runs at a low speed, so that the energy consumption is reduced on the basis of avoiding interference on the movement of the floor sweeper.

In the sweeping mode, the mopping assembly rotates at a second rotating speed, and in the mopping mode, the mopping assembly rotates at a fourth rotating speed, wherein the second rotating speed is lower than the fourth rotating speed. Therefore, under the floor sweeping mode, the floor mopping assembly runs at a low speed, the energy consumption is reduced on the basis of avoiding the interference on the movement of the floor sweeping machine, and under the floor mopping mode, the floor mopping assembly runs at a high speed, so that the floor wiping effect is ensured.

When the cleaning robot operates in a sweeping and mopping integrated mode, the side brush assembly, the rolling brush assembly and the mopping assembly operate simultaneously, so that the sweeping step and the mopping step can be performed synchronously, and the cleaning efficiency of the ground is improved.

When the cleaning robot operates in a first-sweeping and then-mopping mode, the side brush assembly and the rolling brush assembly firstly clean the ground, and when the cleaning robot cleans a target cleaning area, the mopping assembly cleans the ground. Under the mode of sweeping first and then mopping, after the cleaning robot cleans the ground, the mode can be automatically switched to the mode of mopping, the user is not required to control the switching of the working mode, the operation of the user is simplified, and the problem that the user forgets to control the cleaning robot to mopping the ground after the cleaning robot finishes the ground cleaning is avoided.

In any of the above technical schemes, according to the working mode of the cleaning robot, the working state of the sweeping component is determined, and the method further comprises the following steps: in the sweeping mode or the sweeping and mopping integrated mode, the rolling brush assembly is in a descending state; in the mopping mode, the rolling brush assembly is in a rising state; in the first-sweeping and second-mopping mode, the rolling brush assembly is in a rising state based on the operation of the mopping assembly.

In the technical scheme, when the cleaning robot runs in a floor sweeping mode or in a sweeping and mopping integrated mode, the rolling brush assembly is in a descending state, so that the rolling brush assembly can sweep the ground. When the cleaning robot operates in a mopping mode, the rolling brush assembly is in a rising state, and when the sweeper moves, the rolling brush assembly cannot be in contact with the ground, so that the rolling brush assembly is prevented from blocking the sweeper and the moving stability of the sweeper is improved.

The cleaning robot is in sweeping earlier and drags the mode down, when carrying out and clean the task, and the round brush subassembly is in the decline state, and the round brush subassembly can clean ground this moment. When the floor mopping task is executed, the rolling brush assembly is in a rising state, the rolling brush assembly cannot obstruct the movement of the sweeper, and the movement stability of the sweeper is improved.

In any one of the above technical solutions, determining the working states of the dust collection assembly and the water supplement assembly according to the working mode of the cleaning robot includes: in a sweeping mode, the dust collection assembly operates, and the water replenishing assembly stops operating; in the mopping mode, the dust collection assembly stops running, and the water replenishing assembly runs at intervals or continuously; in the sweeping and mopping integrated mode, the dust collection assembly runs, and the water replenishing assembly runs at intervals or continuously; under the mode of sweeping first and then dragging, the dust collection assembly and the water replenishing assembly stop running when the side brush assembly and the rolling brush assembly run, and the dust collection assembly stops running and the water replenishing assembly runs at intervals or continuously when the floor mopping assembly runs.

In the technical scheme, when the cleaning robot operates in a floor sweeping mode, the dust collection assembly is in an operating state, so that the dust collection assembly can adsorb dust on the ground. And the water replenishing assembly is in a running stop state, and the water replenishing assembly cannot replenish water to the mopping assembly. In the sweeping mode, the mopping assembly runs at a low speed so as to avoid interference on the movement of the sweeper, and the water replenishing assembly stops running so as to avoid wetting of the mopping assembly. The floor mopping component is in a dry state, the ground cannot be wetted, dust on the ground cannot be lifted by the floor sweeping component, and therefore the floor sweeping effect is guaranteed.

When the cleaning robot operates in the mopping mode, the water replenishing assembly needs to replenish water to the mopping assembly, and the water replenishing assembly can operate at intervals or continuously. In the interval operation mode, the water replenishing assembly operates at a first power, and in the continuous operation mode, the water replenishing assembly operates at a second power, wherein the first power is larger than the second power.

When the cleaning robot operates in a sweeping and mopping integrated mode, the dust collection assembly is in an operating state, so that the dust collection assembly can adsorb dust on the ground. Meanwhile, the water replenishing assemblies run at intervals or continuously, so that the water replenishing assemblies can replenish water to the mopping assembly in time.

When the cleaning robot operates in a sweeping-before-mopping mode, the dust collection assembly is in an operating state when a sweeping task is executed, so that the dust collection assembly can adsorb dust on the ground. When the floor mopping task is executed, dust on the ground does not need to be adsorbed, the dust collection assembly is controlled to stop running, and the water replenishing assembly is controlled to run at intervals or continuously run, so that the water replenishing assembly can timely replenish water for the floor mopping assembly.

In any one of the above technical solutions, the cleaning robot further includes: the base station is used for cleaning the floor mopping assembly, supplementing water to the water supplementing assembly and charging the sweeper; before or after acquiring the working mode of the cleaning robot, the control method further comprises: under the condition that the sweeper is positioned in the base station, collecting the water amount in the water replenishing assembly; and under the condition that the water quantity is lower than the preset value, controlling the base station to supplement water into the water supplementing assembly.

In this technical scheme, the basic station can wash mopping subassembly, specifically, at the execution task in-process of mopping, the machine of sweeping the floor can remove to the basic station in, wash mopping subassembly through the basic station, guarantee to mopping the clean nature of subassembly to be favorable to improving the effect of cleaning on ground. Because the base station can wash the mopping assembly automatically, the workload of a user for washing the mopping assembly is saved, and the use convenience of the user for the cleaning robot is improved.

The basic station can also charge the sweeper, and when the sweeper electric quantity is lower or the sweeping task is completed, the sweeper moves to the basic station, and the basic station charges the sweeper, so that the sweeper can operate stably.

The basic station can also carry out the moisturizing to the moisturizing subassembly in the machine of sweeping the floor, guarantees that the moisturizing subassembly can carry out the moisturizing to the subassembly that drags the ground steadily.

When the sweeper needs to clean the mopping assembly, or the electric quantity of the sweeper is low, or the cleaning robot completes a sweeping task, the sweeper can move into the base station, and the base station can detect the water quantity in the water replenishing assembly. And when the water amount in the water replenishing assembly is lower than the preset value, the base station replenishes water for the water replenishing assembly, which indicates that the water amount in the water replenishing assembly is lower.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: and controlling the base station to clean the mopping assembly based on whether the working mode is the mopping mode or the sweeping and mopping integrated mode.

In the technical scheme, if the working mode received by the cleaning robot is the floor mopping mode, the base station can clean the floor mopping component, so that the cleanness of the floor mopping component is guaranteed, the floor mopping component can be sufficiently wetted, and the floor mopping effect of the floor mopping component is guaranteed. After cleaning the floor sweeping assembly, the sweeper is moved out of the base station to perform the floor sweeping task.

If the working mode received by the cleaning robot is a sweeping and mopping integrated mode, the base station also needs to clean the mopping assembly, so that the mopping assembly is fully wetted, and the mopping effect of the mopping assembly on the ground is ensured. After cleaning the floor sweeping assembly, the sweeper is moved out of the base station to perform the floor sweeping task.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: under the sweeping mode, under the condition that the input of switching to the mopping mode is received, controlling the sweeper to move to the base station; and controlling the base station to clean the mopping assembly.

In the technical scheme, when the cleaning robot operates in the floor sweeping mode, if an instruction for switching to the floor sweeping mode is received, the floor sweeping machine needs to be controlled to move into the base station, and the floor sweeping assembly is cleaned through the base station.

The machine of sweeping the floor is when carrying out the task of sweeping the floor, and the subassembly of dragging the floor can the low-speed operation, and the subassembly of dragging the floor can be stained with dirty exemptedly, consequently, when needing to move with the subassembly of dragging the floor, the machine of sweeping the floor removes and washs in basic station, improves the cleanliness factor of the subassembly of dragging the floor, avoids dragging the subassembly of dragging the floor and leads to the fact muddy region subaerially, guarantees the effect of wiping on ground.

Also, when switching to the mopping mode, since the base station can wash the mopping assembly, the mopping assembly can be quickly wetted, so that the cleaning efficiency can be improved.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: acquiring the sweeping area and/or the working time of the cleaning robot in a mopping mode or a sweeping and mopping integrated mode; controlling the sweeper to move to a base station based on the cleaning area and/or the working time of the cleaning robot meeting the set conditions; controlling the base station to clean the floor mopping assembly; in a first-sweeping and second-mopping mode, based on the operation of the mopping assembly, the sweeping area and/or the working time of the mopping assembly are/is obtained; controlling the sweeper to move to the base station based on the condition that the sweeping area and/or the working time of the mopping assembly meet the set conditions; and controlling the base station to clean the floor mopping assembly.

In the technical scheme, when the cleaning robot operates in the floor mopping mode, the working time and/or the cleaning area of the cleaning robot need to be acquired, and when the working time reaches the preset time and/or the cleaning area reaches the preset area, the sweeper is controlled to move towards the base station, so that the base station can clean the floor mopping assembly.

When the working time of the sweeper reaches the preset time and/or the sweeping area reaches the preset area, the fact that the sweeper works for a long time is indicated, the mopping assembly is cleaned at the moment, the cleanness of the mopping assembly can be guaranteed, the wiping effect of the mopping assembly on the ground is improved, automatic control of a cleaning robot is achieved, and the problem that the detoxification assembly becomes dirty and dry due to long mopping time is solved.

Under sweeping and dragging integrative mode, also need to acquire cleaning robot's operating time and/or clean the area, when operating time reaches to predetermine for a long time and/or clean the area and reach the condition of predetermineeing the area, control the machine of sweeping the floor and move to the basic station for the basic station can wash mopping subassembly.

Similarly, when the cleaning robot operates in the first-sweeping and then-mopping mode, when a mopping task is performed, the working time and/or the mopping area of the mopping assembly needs to be determined, and when the working time reaches the preset time and/or the mopping area reaches the preset area, the floor sweeping machine is controlled to move to the base station, so that the base station can clean the mopping assembly.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: acquiring the working state of a base station in a mopping mode, a sweeping and mopping integrated mode or a sweeping-first-mopping-later mode; after the base station cleans the floor mopping assembly, timing the operation duration of the floor mopping assembly; and controlling the water replenishing assembly to operate under the condition that the operation time length reaches the set time length.

In the technical scheme, when the cleaning robot is controlled to operate, if the working mode of the cleaning robot is the floor mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode, the floor mopping assembly needs to be cleaned when the sweeper starts to work or the floor mopping assembly runs for a long time. After the mopping assembly is cleaned, the water content of the mopping assembly is large, and at the moment, the water replenishing part does not need to be started, so that a large amount of water stains on the ground are avoided.

Specifically, after the base station cleans the floor mopping assembly, the operation duration of the floor mopping assembly is obtained, and if the operation duration of the floor mopping assembly does not reach the set duration, it indicates that the floor mopping assembly has just completed cleaning, and at this time, the water content of the floor mopping assembly is higher. If the operation duration of the mopping assembly reaches the set duration, the water content of the mopping assembly is reduced, and the water supplementing assembly is controlled to start to operate, so that the mopping assembly is supplemented with water in time, and the wiping effect of the mopping assembly on the ground is guaranteed.

By timing the time length after the mopping assembly is cleaned, the water content of the mopping assembly is not too much or too little, and the cleaning effect is improved.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: in the mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode, in response to an instruction of the sweeper to pause operation, stopping timing of the operation time of the mopping assembly; and responding to the operation instruction of the sweeper, and recovering the timing of the operation time of the mopping assembly.

In this technical solution, when the working mode of the cleaning robot is the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping mode, the time length after the mopping component is cleaned needs to be timed. In the timing process, if an instruction for controlling the operation of the sweeper is received, timing of the cleaned time length is stopped, and when the instruction for controlling the operation of the sweeper is received, timing of the cleaned time length is resumed.

Compared with the water loss when the floor mopping component mops the floor, the water loss speed on the floor mopping component is lower when the floor sweeping machine stops running, so that the timing of the cleaning time duration needs to be stopped in the process that the floor sweeping machine stops running, and the water supplementing component is prevented from supplementing water to the floor mopping component with sufficient water due to continuous timing in the stopping process. The influence on the water flow loss of the mopping assembly is small when the floor sweeping machine is in pause, the condition that the water content of the mopping assembly is large due to the fact that the water is supplemented to the mopping assembly by the water supplementing assembly at the moment is avoided, and a large amount of water stains on the ground are prevented.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: in the sweeping mode, after the sweeping machine finishes a sweeping task, the sweeping machine is controlled to move to the base station; in the mopping mode, the sweeping and mopping integrated mode or the sweeping first and then mopping mode, after the floor sweeping machine finishes a mopping task, the floor sweeping machine is controlled to move to the base station; and controlling the base station to clean and dry the mopping assembly.

In the technical scheme, when the cleaning robot operates in the sweeping mode, if the sweeper finishes sweeping the target area, the sweeper finishes sweeping tasks, and the sweeper is controlled to move to the base station at the moment. Under the condition that no cleaning task exists, the sweeper is located in the base station, and the influence of the sweeper on the walking of a user is avoided. After the sweeper moves into the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time.

Under the condition that the cleaning robot runs in a mopping mode, a sweeping integrated mode or a sweeping-first and mopping-later mode, the mopping assembly is used, after a target area is wiped, a cleaning task is completed, the sweeper is controlled to move towards the base station, and under the condition that the sweeping task is not performed, the sweeper is located in the base station, so that the influence of the sweeper on the walking of a user is avoided. After the sweeper moves into the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time. The basic station can also wash mopping subassembly, guarantees mopping subassembly's cleanliness nature, and after the washing is accomplished, the basic station carries out drying process to mopping subassembly, ensures to mopping the subassembly and is in dry state, avoids mopping the subassembly and produces the peculiar smell.

In any of the above technical solutions, before obtaining the working mode of the cleaning robot, the method further includes: controlling the sweeper to move to obtain a map of an area to be swept; the side brush assembly runs at a fifth rotating speed, the mopping assembly runs at a sixth rotating speed, the first rotating speed is greater than the fifth rotating speed, and the sixth rotating speed is less than the fourth rotating speed.

In the technical scheme, before the cleaning robot works, a map of an area to be cleaned needs to be acquired, namely, a step of establishing the map needs to be executed, at the moment, the sweeping machine moves in a room of a user, the position of an obstacle in the room is identified, and the area needing to be cleaned is determined. In the process of drawing construction, the sweeping assembly and the mopping assembly are kept in a running state, so that the sweeping assembly and the mopping assembly can slide relative to the ground, the static sweeping assembly and the mopping assembly are prevented from interfering the movement of the sweeping machine, and the sweeping machine can be stably moved.

When sweeping the floor subassembly and mopping the ground subassembly and rotating, limit brush subassembly rotates with the fifth rotational speed, drags the ground subassembly to rotate with the sixth rotational speed, and first rotational speed is greater than the fifth rotational speed, and fifth rotational speed is less promptly, therefore limit brush subassembly with less rotational speed operation. The sixth rotational speed is less than the fourth rotational speed, i.e., the sixth rotational speed is less, so the mopping assembly operates at a lower rotational speed. The side brush assembly and the floor mopping assembly can effectively save electric energy on the basis of ensuring that the movement of the sweeper is not easily interfered.

In any of the above technical solutions, after obtaining the map of the area to be cleaned, the method further includes: controlling the sweeper to move to a base station; and controlling the base station to clean the mopping assembly.

In the technical scheme, the mopping assembly runs at a low ground speed in the drawing building process, dust can be stained on the mopping assembly, and therefore after the drawing building process is completed, the mopping assembly is cleaned through the base station, mud is prevented from being formed after the dust on the mopping assembly is wetted, and the cleaning effect of the mopping assembly on the ground is favorably guaranteed.

In addition, after the sweeper moves into the base station, the base station can also check the electric quantity of the sweeper and the water quantity of the water distribution assembly.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: receiving an operation instruction of a care mode in a mopping mode, a sweeping and mopping integrated mode or a sweeping and mopping mode; collecting the type information of a sweeping area of the sweeper; and controlling the water replenishing assembly to stop running under the condition that the type information of the cleaning area is preset information.

In the technical scheme, when the cleaning robot operates in a mopping mode, a sweeping and mopping integrated mode or a sweeping and mopping mode, if an instruction for operating a nursing mode is received, the type information of a cleaning area needs to be collected, so that whether the type information of the cleaning information is preset information is judged. When the type information of the cleaning area belongs to preset information, the water supplementing assembly is controlled to stop running, so that the water supplementing assembly does not supplement water to the mopping assembly any more.

When the cleaning robot is operated in a mopping mode, a sweeping-mopping integrated mode or a sweeping-first-then-mopping mode, the mopping assembly cleans a target area. If the type of the cleaning area belongs to the type which needs to be prevented from being wetted by water, the water replenishing assembly is stopped to replenish water to the mopping assembly, and a large amount of water on the mopping assembly is prevented from remaining on the cleaning area.

For example, the preset information may be wool product information, the wool product has strong water absorption, when the sweeper moves to the surface of the wool product, the wool product absorbs moisture on the mopping assembly, so that the wool product is soaked, a large amount of moisture on the wool product remains for a long time, odor is easily generated, and discomfort is caused when a user treads on the wool product. Therefore, when the sweeper moves to the surface of the wool product, the water replenishing assembly stops replenishing water to the mopping assembly, and the water absorption capacity of the wool product is reduced.

Illustratively, the wool product may be a carpet, a foot mat, or the like.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: and responding to the dust collection speed adjustment instruction, and adjusting the working frequency of the dust collection assembly.

In this technical scheme, when the machine of sweeping the floor cleaned ground, the user can adjust the operating frequency of dust absorption subassembly to change dust absorption assembly's dust absorption speed, be favorable to improving the use flexibility of user to cleaning machines people.

For example, if the user feels that the dust is poorly adsorbed, the operating frequency of the dust suction assembly may be increased. The operating frequency of the suction assembly can be reduced if there is less dirt on the floor.

In any one of the above technical solutions, after obtaining the working mode of the cleaning robot, the method further includes: and responding to the water supplementing speed adjusting instruction, and adjusting the working frequency of the water supplementing assembly.

In the technical scheme, when the sweeper cleans the ground, the user can adjust the working frequency of the water supplementing assembly, so that the water supplementing speed of the water supplementing assembly to the mopping assembly is changed, and the use flexibility of the cleaning robot is improved for the user.

For example, the frequency of operation of the refill assembly may be reduced if the moisture level on the ground is greater and increased if the ground is drier.

In a second aspect, the present invention provides a control device of a cleaning robot, the cleaning robot including: the sweeper, the sweeper includes: the water replenishing assembly is used for replenishing water to the mopping assembly. The control device includes: the acquisition module acquires the working mode of the cleaning robot; the determining module is used for determining the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly according to the working mode of the cleaning robot; and the control module controls the sweeper to operate according to the working states of the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly.

The cleaning robot comprises a sweeping component and a dust collection component, the sweeping component can sweep the ground when the sweeping component runs, and the dust collection component can adsorb dust on the ground when the dust collection component runs. Consequently, the subassembly and the dust absorption subassembly of sweeping the floor can cooperate the use, and the subassembly of sweeping the floor sweeps the subaerial dust towards the dust absorption subassembly, and the dust absorption subassembly will sweep the dust of subassembly gathering and adsorb to accomplish the process of cleaning on ground.

The cleaning robot also includes a refill assembly that is capable of refilling the mopping assembly. Drag the ground subassembly and clean the in-process to ground, along with clean long increase of duration, drag moisture on the ground subassembly and can reduce gradually, the moisturizing subassembly can carry out the moisturizing to dragging the ground subassembly this moment for drag the ground subassembly and can keep moist state for a long time, thereby can guarantee to drag the effect of cleaning of ground subassembly to ground.

When a user needs to use the cleaning robot, the working mode of the cleaning robot can be set, after the working mode is determined, the working states of the floor mopping assembly, the floor sweeping assembly, the water replenishing assembly and the dust collection assembly are determined according to the working mode, and after the working states of the components are obtained, the floor sweeping robot is controlled to run.

In the above technical solution, the working modes include: a sweeping mode, a mopping mode, a sweeping and mopping integrated mode and a sweeping and mopping-after mode.

When the cleaning robot is controlled by a user to operate in the sweeping and mopping integrated mode, the sweeping assembly, the mopping assembly, the dust collection assembly and the water replenishing assembly operate simultaneously. Along with the movement of the cleaning robot, the floor sweeping component and the dust absorption component are matched to firstly sweep the ground, and then the floor mopping component and the water replenishing component are matched to wipe the ground. The sweeping component, the mopping component, the dust absorption component and the water supplementing component operate simultaneously, so that the sweeping step and the mopping step can be performed synchronously, and the cleaning efficiency of the ground is improved.

When the cleaning robot controls the cleaning robot to operate in a first-sweeping and then-mopping mode, the sweeping component and the dust absorption component sweep the ground firstly, and after the cleaning robot cleans a target sweeping area, the mopping component and the water replenishing component are matched to wipe the ground. Under sweeping first and then dragging the mode, after cleaning machine people cleaned ground, can automatic switch over to dragging the ground mode, do not need the user to control the switching of working mode, simplify user's operation, avoid accomplishing ground at cleaning machine people and clean the back, the problem that the user forgot to control cleaning machine people and drag ground takes place.

In any one of the above technical solutions, the sweeping assembly includes: the side brush assembly and the rolling brush assembly are specifically used for: in a sweeping mode, the rolling brush assembly is controlled to operate, the side brush assembly operates at a first rotating speed, and the mopping assembly operates at a second rotating speed; in the mopping mode, the rolling brush assembly is controlled to stop running, the side brush assembly runs at a third rotating speed, and the mopping assembly runs at a fourth rotating speed; under the sweeping and mopping integrated mode, the side brush assembly, the rolling brush assembly and the mopping assembly work simultaneously; in the sweeping-first and mopping-later mode, after the side brush assembly and the rolling brush assembly complete the sweeping task, the mopping assembly works; the first rotating speed is greater than the third rotating speed, and the second rotating speed is less than the fourth rotating speed.

In this technical scheme, user control cleaning machines people is when sweeping the ground mode operation, and round brush subassembly and limit brush subassembly all are in the running state, and round brush subassembly and limit brush subassembly all can be raised the dust on ground to adsorb dust through dust absorption component. The round brush subassembly is the roller form for the round brush subassembly can be fully cleaned the ground of sweeping the floor machine process, and the limit brush subassembly is located the bottom avris of sweeping the floor machine, and to positions such as corner, table corner, the limit brush subassembly can be cleaned effectively. In the sweeping mode, the mopping assembly rotates at the second rotating speed, so that the operation of the mopping assembly is controlled in the sweeping mode, the mopping assembly can move relative to the ground, the friction force between the mopping assembly and the ground can be reduced, the situation that the mopping assembly blocks the movement of the sweeper is avoided, and the movement stability of the sweeper is improved. Similarly, when the cleaning robot operates in the mopping mode, the edge brush assembly operates at a third rotating speed, so that the edge brush assembly can operate relative to the ground, friction between the edge brush assembly and the ground is reduced, and the edge brush assembly is prevented from blocking the movement of the sweeper.

In the sweeping mode, the mopping assembly rotates at a second rotating speed, and in the mopping mode, the mopping assembly rotates at a fourth rotating speed, wherein the second rotating speed is lower than the fourth rotating speed. Therefore, under the floor sweeping mode, the floor mopping assembly runs at a low speed, the energy consumption is reduced on the basis of avoiding interference on the movement of the floor sweeping machine, and under the floor mopping mode, the floor mopping assembly runs at a high speed, so that the floor mopping effect is ensured.

When the cleaning robot operates in a first-sweeping and then-mopping mode, the side brush assembly and the rolling brush assembly firstly clean the ground, and when the cleaning robot cleans a target cleaning area, the mopping assembly cleans the ground. Under sweeping first and then dragging the mode, after cleaning machine people cleaned ground, can automatic switch over to dragging the ground mode, do not need the user to control the switching of working mode, simplify user's operation, avoid accomplishing ground at cleaning machine people and clean the back, the problem that the user forgot to control cleaning machine people and drag ground takes place.

In any of the above technical solutions, the determining module is further configured to: in the sweeping mode or the sweeping and mopping integrated mode, the rolling brush assembly is in a descending state; in the mopping mode, the rolling brush assembly is in a rising state; under sweep earlier and drag the mode afterwards, when dragging ground subassembly and working, the round brush subassembly is in the rising state.

In the technical scheme, when the cleaning robot runs in a floor sweeping mode or in a sweeping and mopping integrated mode, the rolling brush assembly is in a descending state, so that the rolling brush assembly can sweep the ground. When the cleaning robot operates in a mopping mode, the rolling brush assembly is in a rising state, and when the sweeper moves, the rolling brush assembly cannot be in contact with the ground, so that the rolling brush assembly is prevented from blocking the sweeper, and the moving stability of the sweeper is improved.

The cleaning robot is in the mode of sweeping first and then dragging, and when the cleaning task is executed, the rolling brush assembly is in a descending state, and the rolling brush assembly can clean the ground. When the floor mopping task is executed, the rolling brush component is in a rising state, the rolling brush component cannot block the movement of the sweeper, and the movement stability of the sweeper is improved.

In any of the above technical solutions, the determining module is further configured to: in a sweeping mode, the dust collection assembly operates, and the water replenishing assembly stops operating; in the mopping mode, the dust collection assembly stops running, and the water replenishing assembly runs at intervals or continuously; in the sweeping and mopping integrated mode, the dust collection assembly runs, and the water replenishing assembly runs at intervals or continuously; under the mode of sweeping first and then dragging, the dust collection assembly and the water replenishing assembly stop running when the side brush assembly and the rolling brush assembly run, and the dust collection assembly stops running and the water replenishing assembly runs at intervals or continuously when the floor mopping assembly runs.

When the cleaning robot operates in a sweeping-before-mopping mode, the dust collection assembly is in an operating state when a cleaning task is executed, so that the dust collection assembly can adsorb dust on the ground. When the task of dragging to the bottom is executed, dust on the ground does not need to be adsorbed, the dust collection assembly is controlled to stop running, and the water replenishing assembly is controlled to run at intervals or continuously run, so that the water replenishing assembly can timely replenish water to the component for dragging the ground.

In any of the above technical solutions, the cleaning robot further includes: the base station is used for cleaning the floor mopping assembly, supplementing water to the water supplementing assembly and charging the sweeper; the control device further includes: the collection module and the water replenishing module are used for collecting the water amount in the water replenishing assembly before or after the working mode of the cleaning robot is acquired and under the condition that the sweeper is positioned in the base station; and the water supplementing module controls the base station to supplement water into the water supplementing assembly under the condition that the water quantity is lower than the preset value.

When the sweeper needs to clean the mopping assembly, or the electric quantity of the sweeper is low, or the cleaning robot completes a sweeping task, the sweeper can move into the base station, and the base station can detect the water quantity in the water replenishing assembly. And when the water amount in the water replenishing assembly is lower than the preset value, the water amount in the water replenishing assembly is lower, and the base station replenishes water for the water replenishing assembly.

In any one of the above technical solutions, after the working mode of the cleaning robot is obtained, the control module controls the base station to clean the floor mopping assembly based on whether the working mode is the floor mopping mode or the sweeping and mopping integrated mode.

In any of the above technical solutions, after the working mode of the cleaning robot is obtained, the control module is configured to control the sweeper to move to the base station in the sweeping mode and under the condition that the input of switching to the mopping mode is received; and controlling the base station to clean the mopping assembly.

In any of the above technical solutions, after the working mode of the cleaning robot is obtained, the obtaining module is further configured to: acquiring the sweeping area and/or the working time of the cleaning robot in a mopping mode or a sweeping and mopping integrated mode; the control module is further configured to: controlling the sweeper to move to a base station based on the cleaning area and/or the working time of the cleaning robot meeting the set conditions; controlling the base station to clean the floor mopping assembly;

after acquiring the working mode of the cleaning robot, the acquisition module is further configured to: in a first-sweeping and second-mopping mode, based on the operation of the mopping assembly, the sweeping area and/or the working time of the mopping assembly are/is obtained; the control module is further configured to: controlling the sweeper to move to the base station based on the condition that the sweeping area and/or the working time of the mopping assembly meet the set conditions; and controlling the base station to clean the mopping assembly.

Under sweeping and dragging integrative mode, also need to acquire cleaning machines people's operating time and/or clean the area, reach when operating time and predetermine duration and/or clean the area and reach the condition of predetermineeing the area under, control the machine of sweeping the floor and move to the basic station for the basic station can wash mopping the ground subassembly.

In any of the above technical solutions, after the working mode of the cleaning robot is obtained, the obtaining module is further configured to: acquiring the working state of the base station in a mopping mode, a sweeping and mopping integrated mode or a sweeping and mopping mode;

the control device of the cleaning robot further includes: the timing module is used for timing the operation duration of the floor mopping assembly after the base station cleans the floor mopping assembly;

the control module is further configured to: and controlling the water replenishing assembly to operate under the condition that the operation time length reaches the set time length.

In the technical scheme, when the cleaning robot is controlled to operate, if the working mode of the cleaning robot is the floor mopping mode, the sweeping and mopping integrated mode or the sweeping-first and mopping-later mode, the floor mopping assembly needs to be cleaned when the sweeper starts to work or the floor mopping assembly is long in operation time. After the mopping assembly is cleaned, the water content of the mopping assembly is large, and at the moment, the water replenishing part does not need to be started, so that a large amount of water stains on the ground are avoided.

In any of the above technical solutions, after obtaining the working mode of the cleaning robot, the timing module is further configured to: in a mopping mode, a sweeping and mopping integrated mode or a sweeping-first-mopping-later mode, in response to an instruction of the sweeper to pause operation, stopping timing of the operation time of the mopping assembly;

and responding to the operation instruction of the sweeper, and recovering the timing of the operation time of the mopping assembly.

In this technical solution, when the working mode of the cleaning robot is the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping mode, the time length after the mopping component is cleaned needs to be timed. In the timing process, if an instruction for controlling the sweeper to operate is received, timing of the cleaned time length is stopped, and when the instruction for controlling the sweeper to operate is received, timing of the cleaned time length is resumed.

In any of the above technical solutions, after obtaining the working mode of the cleaning robot, the control module is further configured to: in the sweeping mode, after the sweeping machine finishes a sweeping task, the sweeping machine is controlled to move to the base station;

in the mopping mode, the sweeping and mopping integrated mode or the sweeping first and then mopping mode, after the floor sweeping machine finishes a mopping task, the floor sweeping machine is controlled to move to the base station; and controlling the base station to clean and dry the mopping assembly.

In the technical scheme, when the cleaning robot operates in the sweeping mode, if the sweeper finishes sweeping the target area, the sweeper finishes sweeping tasks, and the sweeper is controlled to move to the base station at the moment. Under the condition that no cleaning task exists, the sweeper is located in the base station, and the influence of the sweeper on the walking of a user is avoided. After the sweeper moves to the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time.

In any of the above technical solutions, before obtaining the working mode of the cleaning robot, the control module is further configured to: controlling the sweeper to move so that the acquisition module acquires a map of an area to be swept; the side brush assembly runs at a fifth rotating speed, the mopping assembly runs at a sixth rotating speed, the first rotating speed is greater than the fifth rotating speed, and the sixth rotating speed is less than the fourth rotating speed.

In any of the above technical solutions, after obtaining the map of the area to be cleaned, the control module is further configured to: controlling the sweeper to move to the base station; and controlling the base station to clean the mopping assembly.

In any one of the above technical solutions, the control device of the cleaning robot further includes: the acquisition module receives an operation instruction of a nursing mode in a mopping mode, a sweeping and mopping integrated mode or a sweeping-first-mopping-later mode after acquiring the working mode of the cleaning robot; the acquisition module acquires the type information of a sweeping area of the sweeper; the control module controls the water replenishing assembly to stop running under the condition that the type information of the cleaning area is preset information.

In the technical scheme, when the cleaning robot operates in a mopping mode, a sweeping and mopping integrated mode or a sweeping-first and mopping-later mode, if an instruction of operating a nursing mode is received, the type information of a cleaning area needs to be collected, so that whether the type information of the cleaning information is preset information is judged. When the type information of the cleaning area belongs to the preset information, the water supplementing assembly is controlled to stop running, so that the water supplementing assembly does not supplement water to the floor mopping assembly any more.

When the cleaning robot operates in a mopping mode, a sweeping and mopping integrated mode, or a sweeping and mopping mode, the mopping assembly cleans the target area. If the type of the cleaning area belongs to the type which needs to be prevented from being wetted by water, the water replenishing assembly is stopped to replenish water to the mopping assembly, and a large amount of water on the mopping assembly is prevented from remaining on the cleaning area.

Illustratively, the wool product may be a carpet, a foot mat, or the like.

In any one of the above technical solutions, the control device of the cleaning robot further includes: and the adjusting module is used for responding to the dust collection speed adjusting instruction and adjusting the working frequency of the dust collection assembly after acquiring the working mode of the cleaning robot.

In the technical scheme, when the sweeper cleans the ground, the working frequency of the dust collection assembly can be adjusted by a user, so that the dust collection speed of the dust collection assembly is changed, and the use flexibility of the cleaning robot for the user is improved.

In any one of the above technical solutions, the control device of the cleaning robot further includes: and the adjusting module is used for responding to the water supplementing speed adjusting instruction and adjusting the working frequency of the water supplementing assembly after the working mode of the cleaning robot is obtained.

In the technical scheme, when the sweeper cleans the ground, the user can adjust the working frequency of the water supplementing assembly, so that the water supplementing speed of the water supplementing assembly to the ground mopping assembly is changed, and the use flexibility of the cleaning robot is improved for the user.

In a third aspect, the present invention provides a control device for a cleaning robot, comprising: a controller and a memory, wherein the memory stores programs or instructions, and the controller implements the steps of the method according to any of the above-mentioned technical solutions when executing the programs or instructions in the memory. And the same technical effects can be realized, which are not described herein again.

In a fourth aspect, the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to any one of the above-mentioned embodiments. And the same technical effects can be realized, which are not described herein again.

In a fifth aspect, the present invention provides a cleaning robot, including: sweeper and basic station, the sweeper includes: a body; the sweeping component is arranged on the body; the mopping assembly is arranged on the body; the dust collection component is arranged on the body; the water replenishing assembly is arranged on the body and is used for replenishing water to the mopping assembly; the base station is used for cleaning the floor mopping assembly, supplementing water to the water supplementing assembly and charging the sweeper.

In above-mentioned technical scheme, sweep the floor the subassembly and include: the side brush assembly and the rolling brush assembly.

In this technical scheme, when user control cleaning machines people ran with the mode of sweeping the ground, round brush subassembly and limit brush subassembly all were in the running state, and round brush subassembly and limit brush subassembly all can be raised the dust on ground to adsorb dust through dust collection component. The round roller-shaped rolling brush component can fully clean the ground passing by the sweeper, the side brush component is located on the side of the bottom of the sweeper, and the side brush component can effectively clean corners, table corners and other positions.

In any one of the above technical solutions, the sweeper further includes: the lifting assembly is arranged on the body and used for driving the rolling brush assembly to lift.

In this technical scheme, the lifting unit can control the round brush subassembly and go up and down, when need not using the round brush subassembly, the lifting unit drives the round brush subassembly and rises, avoids the round brush subassembly to produce the hindrance to the removal of machine of sweeping the floor, improves the mobility stability of machine of sweeping the floor.

In a sixth aspect, the present invention provides a cleaning robot comprising: the control device in the above technical solution; and/or a readable storage medium as in the above solutions. And the same technical effects can be realized, which are not described herein again.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of flowcharts of a control method of a cleaning robot in an embodiment of the invention;

fig. 2 shows a second flowchart of a control method of the cleaning robot in the embodiment of the present invention;

fig. 3 shows a third flowchart of a control method of the cleaning robot in the embodiment of the invention;

fig. 4 shows a fourth flowchart of a control method of the cleaning robot in the embodiment of the invention;

fig. 5 shows a fifth flowchart of a control method of the cleaning robot in the embodiment of the invention;

fig. 6 shows one of schematic block diagrams of a control device of the cleaning robot in the embodiment of the present invention;

fig. 7 shows a second schematic block diagram of a control device of the cleaning robot in the embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A cleaning robot, a control method and a control apparatus thereof, and a readable storage medium thereof provided according to some embodiments of the present invention are described below with reference to fig. 1 to 7.

In some embodiments of the present invention, the present invention provides a control method of a cleaning robot, wherein the cleaning robot includes: the sweeper is used for cleaning the ground.

The sweeper comprises: the water replenishing assembly can replenish water to the floor mopping assembly.

As shown in fig. 1, the control method includes:

102, receiving a working mode of the cleaning robot;

104, obtaining the working states of the sweeping assembly, the dust collection assembly, the mopping assembly and the water replenishing assembly based on the working mode of the cleaning robot;

and 106, controlling the sweeper to operate based on the working states of the sweeping component, the dust suction component, the mopping component and the water replenishing component.

According to the control method of the cleaning robot, the cleaning robot comprises the sweeping component and the dust collection component, when the sweeping component operates, the sweeping component can sweep the ground, and when the dust collection component operates, the dust collection component can adsorb dust on the ground. Consequently, the subassembly and the dust absorption subassembly of sweeping the floor can cooperate the use, and the subassembly of sweeping the floor sweeps the subaerial dust towards the dust absorption subassembly, and the dust absorption subassembly will sweep the dust of subassembly gathering and adsorb to accomplish the process of cleaning on ground.

Moreover, in the operation process of the mopping assembly, the water supplementing assembly can automatically supplement water to the mopping assembly, so that the cleaning robot does not need to be controlled to frequently move to the base station to moisten the mopping assembly, and the working efficiency of the cleaning robot can be effectively improved on the basis of ensuring the mopping effect of the mopping assembly. Compared with the related art, the mopping area of the robot in the same time is improved by adding the water replenishing assembly, and the cruising ability of the cleaning robot is improved.

In the above embodiment, the operation mode includes: a mopping mode, a sweeping and mopping integrated mode, and a sweeping and mopping-after-mopping mode.

In this embodiment, when the user controls the cleaning robot to operate in the sweeping mode, the sweeping assembly and the dust collection assembly operate. The sweeping component and the dust collection component are matched for use, dust on the ground is swept towards the dust collection component by the sweeping component, and the dust collected by the sweeping component is adsorbed by the dust collection component, so that the sweeping process of the ground is completed.

When the cleaning robot is controlled by a user to operate in the mopping mode, the mopping assembly and the water absorbing assembly operate, and when the mopping assembly operates, the water absorbing assembly can supplement water for the mopping assembly.

Through the mode of sweeping first and then dragging, the swept position can be dragged once again, and the dirt can be greatly reduced when the dust is more.

In any of the above embodiments, the sweeping assembly comprises: side brush subassembly and round brush subassembly, based on cleaning machines people's mode of operation, obtain the step of sweeping the floor the subassembly and mopping the operating condition of ground subassembly, include: on the basis of the sweeping mode, controlling the rolling brush assembly to run, the side brush assembly to rotate at a first rotating speed and the mopping assembly to rotate at a second rotating speed; controlling the rolling brush assembly to stop running, the side brush assembly to rotate at a third rotating speed and the mopping assembly to rotate at a fourth rotating speed under the condition of the mopping mode; on the basis of the sweeping and mopping integrated mode, the rolling brush assembly, the side brush assembly and the mopping assembly are controlled to work simultaneously; on the basis of the mode of sweeping first and then mopping, when the side brush assembly and the rolling brush assembly finish the sweeping task, the mopping assembly is controlled to work; the third rotating speed is less than the first rotating speed, and the fourth rotating speed is greater than the second rotating speed.

In this embodiment, when the user controlled cleaning robot ran in the mode of sweeping the floor, the round brush subassembly and the limit brush subassembly all were in the running state, and the round brush subassembly and the limit brush subassembly all can be raised the dust on ground to adsorb dust through dust absorption assembly. The round roller-shaped rolling brush component can fully clean the ground passing by the sweeper, the side brush component is located on the side of the bottom of the sweeper, and the side brush component can effectively clean corners, table corners and other positions. In the sweeping mode, the mopping assembly rotates at the second rotating speed, so that the operation of the mopping assembly is controlled in the sweeping mode, the mopping assembly can move relative to the ground, the friction force between the mopping assembly and the ground can be reduced, the situation that the mopping assembly blocks the movement of the sweeper is avoided, and the movement stability of the sweeper is improved. Similarly, when the cleaning robot operates in the mopping mode, the edge brush assembly operates at a third rotating speed, so that the edge brush assembly can operate relative to the ground, friction between the edge brush assembly and the ground is reduced, and the edge brush assembly is prevented from blocking the movement of the sweeper.

In one possible application, in the sweeping mode, the mopping assembly rotates at the slowest speed, avoiding affecting the navigation action of the cleaning robot, as well as the barrier requirements. In the mopping mode, the side brush assembly rotates at the slowest speed and the mopping assembly works at full force.

In any of the above embodiments, the step of obtaining the working state of the sweeping assembly based on the working mode of the cleaning robot further includes: controlling the rolling brush assembly to descend on the basis of the sweeping mode or the sweeping and mopping integrated mode; controlling the rolling brush assembly to ascend based on the condition of the mopping mode; and controlling the rolling brush assembly to ascend when the mopping assembly works based on the mode of sweeping first and then mopping second.

In this embodiment, when the cleaning robot operates in the sweeping mode or in the sweeping-mopping integrated mode, the drum brush assembly is in a descending state so that the drum brush assembly can sweep the floor. When the cleaning robot operates in a mopping mode, the rolling brush assembly is in a rising state, and when the sweeper moves, the rolling brush assembly cannot be in contact with the ground, so that the rolling brush assembly is prevented from blocking the sweeper and the moving stability of the sweeper is improved.

In any of the above embodiments, the step of obtaining the working states of the dust collection assembly and the water replenishing assembly based on the working mode of the cleaning robot includes: controlling the dust collection assembly to run and the water supplement assembly to stop running based on the sweeping mode; controlling the dust collection assembly to stop running and the water supplement assembly to run continuously or at intervals under the condition of the floor mopping mode; on the basis of the sweeping and mopping integrated mode, controlling the dust collection assembly to run and the water replenishing assembly to run continuously or at intervals; on the basis of the mode of sweeping firstly and then mopping, when the side brush assembly and the rolling brush assembly run, the dust collection assembly is controlled to run and the water replenishing assembly is controlled to stop running, and when the floor mopping assembly runs, the dust collection assembly is controlled to stop running and the water replenishing assembly is controlled to run continuously or at intervals.

In this embodiment, when the cleaning robot operates in the floor sweeping mode, the dust suction assembly is in an operating state so that the dust suction assembly can suck dust on the floor. And the water replenishing assembly is in a running stop state, and the water replenishing assembly cannot replenish water to the mopping assembly. In the sweeping mode, the mopping assembly runs at a low speed so as to avoid interference on the movement of the sweeper, and the water replenishing assembly stops running so as to avoid the mopping assembly from being wetted. The mopping component is in a dry state, the ground cannot be wetted, and the dust on the ground cannot be lifted by the sweeping component, so that the cleaning effect on the ground is guaranteed.

When the cleaning robot operates in a sweeping-before-mopping mode, the dust collection assembly is in an operating state when a sweeping task is executed, so that the dust collection assembly can adsorb dust on the ground. When the task of dragging to the bottom is executed, dust on the ground does not need to be adsorbed, the dust collection assembly is controlled to stop running, and the water replenishing assembly is controlled to run at intervals or continuously run, so that the water replenishing assembly can timely replenish water to the component for dragging the ground.

In any of the above embodiments, the cleaning robot further comprises: the basic station, the basic station can wash and drag ground subassembly, carry out the moisturizing to the moisturizing subassembly and charge to the machine of sweeping the floor.

Before or after the step of acquiring the operation mode of the cleaning robot, the control method further includes: acquiring the water amount in the water supplementing assembly based on the fact that the sweeper is located in the base station; and controlling the base station to supplement water in the water supplementing assembly based on the water quantity lower than the preset value.

In this embodiment, the basic station can wash the subassembly of mopping ground, specifically, in carrying out the task in-process of mopping ground, the machine of sweeping the floor can remove to the basic station in, wash the subassembly of mopping ground through the basic station, guarantee to drag the clean nature of subassembly of ground to be favorable to improving the effect of wiping ground. Because the base station can wash the mopping assembly automatically, the workload of a user for washing the mopping assembly is saved, and the use convenience of the user for the cleaning robot is improved.

Specifically, in the sweeping and mopping integrated mode, the sweeping component and the mopping component work simultaneously, and the side brush component, the rolling brush component, the dust collection component, the mopping component and the water replenishing component work fully, wherein the working conditions of the dust collection component and the water replenishing component depend on parameters manually configured by a user.

In the sweeping mode, the main working force is the side brush assembly, the rolling brush assembly and the dust collection assembly, the water supplementing assembly does not work at the moment, and the mopping assembly rotates at the slowest speed.

Under the mopping mode, the main working force is the water replenishing assembly and the mopping assembly, the rolling brush assembly is in a rising state and does not work at the moment, the side brush assembly rotates at the slowest speed, and the dust collection assembly does not work.

In the first sweeping and then mopping mode, sweeping is firstly carried out and then mopping is carried out, the sweeping machine returns to the base station to clean the mopping assembly and add water to the water supplementing assembly after sweeping is completed, and then the mopping process is started.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: and under the condition that the working mode is the mopping mode or the sweeping and mopping integrated mode, the base station is controlled to clean the mopping assembly.

In this embodiment, if the working mode received by the cleaning robot is the floor mopping mode, the base station can clean the floor mopping assembly, so that the cleanness of the floor mopping assembly is ensured, the floor mopping assembly can be sufficiently wetted, and the floor mopping effect of the floor mopping assembly is ensured. After cleaning the floor sweeping assembly, the sweeper is moved out of the base station to perform the floor sweeping task.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: controlling the sweeper to move to the base station when receiving an input of switching to the mopping mode based on the sweeping mode; and controlling the base station to clean the mopping assembly.

In this embodiment, when the cleaning robot operates in the floor sweeping mode, if an instruction for switching to the floor mopping mode is received, the floor sweeping machine needs to be controlled to move into the base station, and the floor mopping assembly is cleaned through the base station.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: receiving the working time length and/or the sweeping area of the cleaning robot based on the condition of the mopping mode or the sweeping and mopping integrated mode; when the working time length and/or the cleaning area of the cleaning robot meet set conditions, controlling the sweeper to move towards the base station; controlling the base station to clean the mopping assembly; receiving the working time length and/or the cleaning area of the mopping assembly when the mopping assembly runs under the condition of a mode of sweeping first and then mopping; when the working time length and/or the cleaning area of the floor mopping assembly meet set conditions, the floor sweeping machine is controlled to move towards the base station; and controlling the base station to clean the mopping assembly.

In this embodiment, when the cleaning robot operates in the floor mopping mode, the working time and/or the cleaning area of the cleaning robot needs to be acquired, and when the working time reaches the preset time and/or the cleaning area reaches the preset area, the sweeper is controlled to move to the base station, so that the base station can clean the floor mopping assembly.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: receiving the working state of the base station based on the floor mopping mode, the sweeping and mopping integrated mode or the sweeping-first and mopping-later mode; timing the operation time of the mopping assembly after the base station cleans the mopping assembly; and controlling the water replenishing assembly to operate based on the fact that the operating time reaches the set time.

In this embodiment, when the cleaning robot is controlled to operate, if the working mode of the cleaning robot is the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping mode, the mopping assembly needs to be cleaned when the sweeper starts to operate or the mopping assembly operates for a long time. After the mopping assembly is cleaned, the water content of the mopping assembly is large, and at the moment, the water replenishing part does not need to be started, so that a large amount of water stains on the ground are avoided.

The embodiment provides a design of the water replenishing component for delaying water replenishing, and the time length of the delaying water replenishing can be 5 minutes.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: based on the floor mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode, timing of the operation duration of the floor mopping assembly is suspended according to an instruction of the floor sweeper for suspending operation; and recovering the timing of the operation duration of the floor sweeping assembly according to the operation instruction of the floor sweeping machine.

In this embodiment, in the case that the operation mode of the cleaning robot is the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping mode, the time length after the mopping component is cleaned needs to be counted. In the timing process, if an instruction for controlling the operation of the sweeper is received, timing of the cleaned time length is stopped, and when the instruction for controlling the operation of the sweeper is received, timing of the cleaned time length is resumed.

In the pause state, the time for timing is not consumed.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: based on the sweeping mode, after the sweeping machine finishes a sweeping task, controlling the sweeping machine to move to the base station; controlling the sweeper to move to the base station after the sweeper finishes a mopping task based on the mopping mode, the sweeping and mopping integrated mode or the sweeping-first-mopping-second mode; and controlling the base station to clean and dry the mopping assembly.

In this embodiment, when the cleaning robot operates in the sweeping mode, if the sweeper finishes sweeping the target area, it indicates that the sweeper finishes sweeping, and at this time, the sweeper is controlled to move to the base station. Under the condition that no cleaning task exists, the sweeper is located in the base station, and the influence of the sweeper on the walking of a user is avoided. After the sweeper moves into the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time.

Under the condition that the cleaning robot runs in a mopping mode, a sweeping integrated mode or a sweeping-first and mopping-later mode, the mopping assembly is used, after a target area is wiped, a cleaning task is completed, the sweeper is controlled to move towards the base station, and under the condition that the sweeping task is not performed, the sweeper is located in the base station, so that the influence of the sweeper on the walking of a user is avoided. After the sweeper moves to the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time. The basic station can also wash mopping subassembly, guarantees mopping subassembly's cleanliness nature, and after the washing is accomplished, the basic station carries out drying process to mopping subassembly, ensures to mopping the subassembly and is in dry state, avoids mopping the subassembly and produces the peculiar smell.

In any of the above embodiments, before the step of obtaining the working mode of the cleaning robot, the method further includes: and controlling the sweeper to move and acquiring a map of the area to be cleaned. The sweeping assembly rotates at a fifth rotating speed, the mopping assembly rotates at a sixth rotating speed, the fifth rotating speed is smaller than the first rotating speed, and the fourth rotating speed is larger than the sixth rotating speed.

In this embodiment, before the cleaning robot works, a map of an area to be cleaned needs to be acquired, that is, a mapping step needs to be performed, at this time, the sweeping machine moves in a room of a user, the position of an obstacle in the room is identified, and the area needing to be cleaned is determined. In the process of drawing construction, the sweeping assembly and the mopping assembly are kept in a running state, so that the sweeping assembly and the mopping assembly can slide relative to the ground, the static sweeping assembly and the mopping assembly are prevented from interfering the movement of the sweeping machine, and the sweeping machine can be stably moved.

When the sweeping component and the mopping component rotate, the sweeping component rotates at a fifth rotating speed, the mopping component rotates at a sixth rotating speed, the first rotating speed is greater than the fifth rotating speed, namely the fifth rotating speed is smaller, and therefore the sweeping component operates at a smaller rotating speed. The sixth rotational speed is less than the fourth rotational speed, i.e., the sixth rotational speed is less, so the mopping assembly operates at a lower rotational speed. The sweeping component and the mopping component can effectively save electric energy on the basis of ensuring that the movement of the sweeper is not easily interfered.

In the process of drawing construction, the side brush assembly and the floor mopping assembly work at the slowest speed, and other motor peripheral devices do not work.

In any of the above embodiments, after the step of obtaining the map of the area to be cleaned, the method further includes: controlling the sweeper to move towards the base station; and controlling the base station to clean the mopping assembly.

In the embodiment, in the drawing establishing process, the floor mopping component runs at a low ground speed, dust can be stained on the floor mopping component, and therefore after drawing establishing is completed, the floor mopping component is cleaned through the base station, mud is prevented from being formed after the dust on the floor mopping component is wetted, and the floor mopping component is beneficial to ensuring the cleaning effect of the floor mopping component on the ground.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: acquiring an operation instruction of a care mode under the conditions of a mopping mode, a sweeping and mopping integrated mode or a sweeping-first and mopping-later mode; collecting the type information of a sweeping area of the sweeper; and when the type information of the cleaning area belongs to preset information, controlling the water replenishing assembly to stop running.

In this embodiment, when the cleaning robot operates in the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping after mopping mode, if an instruction to operate the care mode is received, it is necessary to collect the type information of the cleaning area, so as to determine whether the type information of the cleaning information is the preset information. When the type information of the cleaning area belongs to the preset information, the water supplementing assembly is controlled to stop running, so that the water supplementing assembly does not supplement water to the floor mopping assembly any more.

Illustratively, the wool product may be a carpet, a foot mat, or the like.

In the care mode, the sweeper can move to the surface of the wool product for cleaning.

In a possible embodiment, after the step of obtaining the working mode of the cleaning robot, the method further includes: collecting the type information of a cleaning area of the sweeper when the operation instruction of the nursing mode is not acquired on the basis of the mopping mode, the sweeping and mopping integrated mode or the sweeping-first-then-mopping mode; when the type information of the cleaning area belongs to the preset information, the sweeper leaves the current cleaning area.

When the instruction of the care mode is not received, the condition that the cleaning on the surface of the wool product is not needed is indicated, and therefore, the sweeper is not allowed to move to the surface of the carpet.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: and adjusting the working frequency of the dust collection component according to the dust collection speed adjustment instruction.

In this embodiment, when the sweeper cleans the ground, the user can adjust the working frequency of the dust collection assembly, so that the dust collection speed of the dust collection assembly is changed, and the use flexibility of the cleaning robot for the user is improved.

In any of the above embodiments, after the step of obtaining the operation mode of the cleaning robot, the method further includes: and adjusting the working frequency of the water supplementing assembly according to the water supplementing speed adjusting instruction.

In the embodiment, when the sweeper cleans the ground, the working frequency of the water supplementing assembly can be adjusted by a user, so that the water supplementing speed of the water supplementing assembly to the mopping assembly is changed, and the use flexibility of the cleaning robot by the user is improved.

By adjusting the dust collection speed and the water replenishing speed, a user can select an optimal scheme suitable for a scene at home.

As shown in fig. 2, in one possible embodiment, a control method of a cleaning robot includes:

step 202, sweeping the whole house;

step 204, finishing the whole house cleaning;

step 206, backwashing the mopping assembly;

step 208, starting the whole house to drag the floor;

step 210, finishing the whole house mopping;

step 212, backwashing and washing the mopping assembly;

and step 214, drying and charging the mopping assembly.

After the sweeper moves into the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time. The basic station can also wash mopping subassembly, guarantees mopping subassembly's cleanliness nature, and after the washing is accomplished, the basic station carries out drying process to mopping subassembly, ensures to mopping the subassembly and is in dry state, avoids mopping the subassembly and produces the peculiar smell.

As shown in fig. 3, in one possible embodiment, a control method of a cleaning robot includes:

step 302, starting cleaning;

304, delaying to set a water outlet timing by the water replenishing assembly;

step 306, updating the working frequency of the water replenishing assembly;

step 308, stopping the machine, if so, executing step 310, otherwise, executing step 316;

step 310, delaying the water outlet timing to pause;

step 312, stopping the work of the mopping component and the water replenishing component;

step 314, the water outlet timing is recovered, if yes, step 316 is executed, otherwise, step 312 is executed;

at step 316, the purge is complete.

When the sweeper cleans the ground, the user can adjust the working frequency of the water supplementing assembly, so that the water supplementing speed of the water supplementing assembly to the mopping assembly is changed, and the use flexibility of the cleaning robot is improved for the user.

As shown in fig. 4, in one possible embodiment, a control method of a cleaning robot includes:

step 402, operating a sweeping and mopping integrated mode or a sweeping mode;

step 404, when the water outlet count-down reaches a set time length, if yes, step 406 is executed, and if not, step 404 is executed;

step 406, destroying the timer;

step 408, resetting timing parameters;

and step 410, setting the working frequency of the water replenishing assembly.

And after the base station cleans the floor mopping assembly, acquiring the operation time of the floor mopping assembly, and if the operation time of the floor mopping assembly does not reach the set time, indicating that the floor mopping assembly just completes cleaning, wherein the water content of the floor mopping assembly is higher at the moment. If the operation duration of the mopping assembly reaches the set duration, the water content of the mopping assembly is reduced, and the water supplementing assembly is controlled to start to operate, so that the mopping assembly is supplemented with water in time, and the wiping effect of the mopping assembly on the ground is guaranteed.

As shown in fig. 5, in one possible embodiment, a control method of a cleaning robot includes:

step 502, setting the working frequency of a water replenishing assembly;

step 504, updating parameters of the water replenishing assembly;

step 506, the mopping assembly is in a working state, if so, step 508 is executed, otherwise, the step is finished;

step 508, the sweeper is not on the carpet, if yes, step 510 is executed, otherwise, the process is ended;

step 510, when the water outlet countdown reaches a set time length, if so, executing step 512, otherwise, ending;

and step 512, the water replenishing assembly works.

If the type of the cleaning area belongs to the type which needs to be prevented from being wetted by water, the water replenishing assembly is stopped to replenish water to the mopping assembly, and a large amount of water on the mopping assembly is prevented from remaining on the cleaning area.

In some embodiments of the present invention, a control apparatus 600 of a cleaning robot is presented, wherein the cleaning robot comprises: the sweeper is used for cleaning the ground.

As shown in fig. 6, the control device 600 of the cleaning robot includes:

an acquisition module 610 that receives a working mode of the cleaning robot;

the determining module 620 obtains the working states of the sweeping component, the dust collection component, the mopping component and the water replenishing component based on the working mode of the cleaning robot;

the control module 630 controls the sweeper to operate based on the working states of the sweeping assembly, the dust collecting assembly, the mopping assembly and the water replenishing assembly.

When the cleaning robot is in different working states, the floor mopping assembly, the floor sweeping assembly, the water supplementing assembly and the dust collecting assembly are in different working states, so that the working states of the cleaning robot can be switched, and the different assemblies are controlled to be matched for use. For example, in the sweeping mode, the sweeping assembly and the dust collection assembly are used in cooperation. In the mopping mode, the mopping assembly and the water replenishing assembly are matched for use. After the working mode is switched, all the components do not need to be disassembled and assembled, and the operation of a user is simplified.

In any of the above embodiments, the sweeping assembly comprises: limit brush subassembly and round brush subassembly, the module of confirming is specifically used for: on the basis of the sweeping mode, controlling the rolling brush assembly to run, the side brush assembly to rotate at a first rotating speed and the mopping assembly to rotate at a second rotating speed; under the condition of the mopping mode, controlling the rolling brush assembly to stop running, the side brush assembly to rotate at a third rotating speed and the mopping assembly to rotate at a fourth rotating speed; on the basis of the sweeping and mopping integrated mode, the rolling brush assembly, the side brush assembly and the mopping assembly are controlled to work simultaneously; on the basis of the mode of sweeping first and then mopping, when the side brush assembly and the rolling brush assembly finish the sweeping task, the mopping assembly is controlled to work; the third rotating speed is less than the first rotating speed, and the fourth rotating speed is greater than the second rotating speed.

In this embodiment, when the user controlled cleaning robot ran in the mode of sweeping the floor, the round brush subassembly and the limit brush subassembly all were in the running state, and the round brush subassembly and the limit brush subassembly all can be raised the dust on ground to adsorb dust through dust absorption assembly. The round roller-shaped rolling brush component can fully clean the ground passing by the sweeper, the side brush component is located on the side of the bottom of the sweeper, and the side brush component can effectively clean corners, table corners and other positions. In the sweeping mode, the mopping assembly rotates at the second rotating speed, so that the operation of the mopping assembly is controlled in the sweeping mode, the mopping assembly can move relative to the ground, the friction force between the mopping assembly and the ground can be reduced, the situation that the mopping assembly blocks the movement of the sweeper is avoided, and the movement stability of the sweeper is improved. In a similar way, when the cleaning robot operates in a mopping mode, the edge brush assembly operates at a third rotating speed, so that the edge brush assembly can operate relative to the ground, friction force between the edge brush assembly and the ground is reduced, and the edge brush assembly is prevented from blocking the movement of the sweeper.

In any of the above embodiments, the determining module is further configured to: controlling the rolling brush assembly to descend on the basis of the sweeping mode or the sweeping and mopping integrated mode; controlling the rolling brush assembly to ascend based on the condition of the mopping mode; and controlling the rolling brush assembly to ascend when the mopping assembly works based on the mode of sweeping first and then mopping second.

In this embodiment, when the cleaning robot operates in the sweeping mode or in the sweeping-mopping integrated mode, the drum brush assembly is in a descending state so that the drum brush assembly can sweep the floor. When the cleaning robot operates in a mopping mode, the rolling brush assembly is in a rising state, and when the sweeper moves, the rolling brush assembly cannot be in contact with the ground, so that the rolling brush assembly is prevented from blocking the sweeper, and the moving stability of the sweeper is improved.

In any of the above embodiments, the determining module is further configured to: controlling the dust collection assembly to run and the water supplement assembly to stop running based on the sweeping mode; controlling the dust collection assembly to stop running and the water supplement assembly to run continuously or at intervals under the condition of the floor mopping mode; on the basis of the sweeping and mopping integrated mode, controlling the dust collection assembly to run and the water replenishing assembly to run continuously or at intervals; on the basis of the mode of sweeping first and then dragging, when the side brush assembly and the rolling brush assembly operate, the dust collection assembly is controlled to operate and the water replenishing assembly stops operating, and when the floor mopping assembly operates, the dust collection assembly stops operating and the water replenishing assembly continuously operates or operates at intervals.

In this embodiment, when the cleaning robot operates in the floor sweeping mode, the dust suction assembly is in an operating state so that the dust suction assembly can suck dust on the floor. And the water replenishing assembly is in a running stop state, and the water replenishing assembly cannot replenish water to the mopping assembly. In the sweeping mode, the mopping assembly runs at a low speed so as to avoid interference on the movement of the sweeper, and the water replenishing assembly stops running so as to avoid wetting of the mopping assembly. The mopping component is in a dry state, the ground cannot be wetted, and the dust on the ground cannot be lifted by the sweeping component, so that the cleaning effect on the ground is guaranteed.

When the cleaning robot runs in the sweeping and mopping integrated mode, the dust collection assembly is in a running state, so that the dust collection assembly can adsorb dust on the ground. Meanwhile, the water replenishing assemblies run at intervals or continuously, so that the water replenishing assemblies can replenish water to the mopping assembly in time.

In any of the above embodiments, the cleaning robot further comprises: basic station, basic station can wash and drag ground subassembly, carry out moisturizing and charge to sweeping the floor machine to the moisturizing subassembly.

The control device further includes: the cleaning robot comprises an acquisition module and a water replenishing module, wherein the acquisition module acquires the water amount in a water replenishing assembly before or after the working mode of the cleaning robot is acquired and is positioned in a base station based on a sweeper; the water replenishing module controls the base station to replenish water in the water replenishing assembly based on the fact that the water amount is lower than a preset value.

In any of the above embodiments, after the working mode of the cleaning robot is obtained, the control module controls the base station to clean the floor mopping assembly when the working mode is the floor mopping mode or the sweeping and mopping integrated mode.

In any of the above embodiments, after obtaining the operating mode of the cleaning robot, the control module is configured to: controlling the sweeper to move to the base station when receiving an input of switching to the mopping mode based on the sweeping mode; and controlling the base station to clean the mopping assembly.

In this embodiment, when the cleaning robot operates in the floor sweeping mode, if an instruction for switching to the floor mopping mode is received, the floor sweeper needs to be controlled to move into the base station, and the floor mopping assembly is cleaned through the base station.

When the sweeper executes a sweeping task, the mopping component can run at a low speed, and the mopping component can be stained with dirt inevitably, so that the sweeper moves into the base station to clean when the mopping component is required to run, the cleanliness of the mopping component is improved, the mopping component is prevented from causing a muddy area on the ground, and the wiping effect on the ground is ensured.

Moreover, when switching to the mopping mode, since the base station can wash the mopping assembly, the mopping assembly can be quickly wetted, and thus cleaning efficiency can be improved.

In any of the above embodiments, after acquiring the operation mode of the cleaning robot, the acquisition module is further configured to: receiving the working time length and/or the sweeping area of the cleaning robot based on the condition of the mopping mode or the sweeping and mopping integrated mode; when the working time length and/or the cleaning area of the cleaning robot meet set conditions, controlling the sweeper to move towards the base station; controlling the base station to clean the mopping assembly; receiving the working time length and/or the cleaning area of the mopping assembly when the mopping assembly runs under the condition of a first-sweeping and second-sweeping mode; when the working time length and/or the cleaning area of the floor mopping assembly meet set conditions, controlling the sweeper to move towards the base station; and controlling the base station to clean the mopping assembly.

Similarly, when the cleaning robot operates in the first-sweeping and then-mopping mode, when the mopping task is executed, the working time and/or the cleaning area of the mopping assembly needs to be determined, and when the working time reaches the preset time and/or the cleaning area reaches the preset area, the floor sweeper is controlled to move towards the base station, so that the base station can clean the mopping assembly.

In any of the above embodiments, after acquiring the operation mode of the cleaning robot, the acquisition module is further configured to: receiving the working state of the base station based on the condition of a mopping mode, a sweeping and mopping integrated mode or a sweeping and mopping mode;

the control device of the cleaning robot further includes: the timing module is used for timing the operation time of the mopping assembly after the base station cleans the mopping assembly;

the control module is further configured to: and controlling the water replenishing assembly to operate based on the fact that the operating time reaches the set time.

In this embodiment, when the cleaning robot is controlled to operate, if the working mode of the cleaning robot is the mopping mode, the sweeping and mopping integrated mode, or the sweeping and mopping mode, the mopping assembly needs to be cleaned when the sweeper starts to operate or the mopping assembly operates for a long time. After the floor mopping assembly is cleaned, the water content of the floor mopping assembly is high, and at the moment, a water replenishing component does not need to be started, so that a large amount of water stains on the floor are avoided.

In any of the above embodiments, after obtaining the operating mode of the cleaning robot, the timing module is further configured to: based on the floor mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode, timing of the operation duration of the floor mopping assembly is suspended according to an instruction of the floor sweeper for suspending operation; and recovering the timing of the operation duration of the floor sweeping assembly according to the operation instruction of the floor sweeping machine.

In any of the above embodiments, after obtaining the operating mode of the cleaning robot, the control module is further configured to: based on the sweeping mode, after the sweeping machine finishes a sweeping task, controlling the sweeping machine to move to the base station; controlling the sweeper to move to the base station after the sweeper finishes a mopping task based on the mopping mode, the sweeping and mopping integrated mode or the sweeping-first-mopping-second mode; and controlling the base station to clean and dry the mopping assembly.

Under the condition that the cleaning robot runs in a mopping mode, a sweeping integrated mode or a sweeping-first and mopping-later mode, the mopping assembly is used, after a target area is wiped, a cleaning task is completed, the sweeper is controlled to move towards the base station, and under the condition that the sweeping task is not performed, the sweeper is located in the base station, so that the influence of the sweeper on the walking of a user is avoided. After the sweeper moves into the base station, the base station can charge the sweeper, and sufficient electric quantity is guaranteed to be available when the sweeper is used next time. The basic station can also wash the subassembly of mopping ground, guarantees the clean nature of the subassembly of mopping ground, and after wasing the completion, the basic station carries out drying process to the subassembly of mopping ground, guarantees to drag the subassembly of mopping ground and is in dry state, avoids dragging the subassembly of mopping ground and produces the peculiar smell.

In any of the above embodiments, before obtaining the operation mode of the cleaning robot, the control module is further configured to: and controlling the sweeper to move and acquiring a map of the area to be cleaned. The sweeping assembly rotates at a fifth rotating speed, the mopping assembly rotates at a sixth rotating speed, the fifth rotating speed is smaller than the first rotating speed, and the fourth rotating speed is larger than the sixth rotating speed.

In any of the above embodiments, after obtaining the map of the area to be cleaned, the control module is further configured to: controlling the sweeper to move towards the base station; and controlling the base station to clean the mopping assembly.

In any of the above embodiments, the control device of the cleaning robot further includes: the acquisition module acquires an operation instruction of the nursing mode under the condition of a mopping mode, a sweeping and mopping integrated mode or a sweeping-first-mopping-later mode after acquiring the working mode of the cleaning robot; the acquisition module acquires the type information of a sweeping area of the sweeper; and when the type information of the cleaning area belongs to the preset information, the control module controls the water replenishing assembly to stop running.

In this embodiment, when the cleaning robot operates in the mopping mode, the sweeping and mopping integrated mode, or the sweeping-then-mopping mode, if an instruction to operate the care mode is received, it is necessary to collect the type information of the cleaning area, so as to determine whether the type information of the cleaning information is the preset information. When the type information of the cleaning area belongs to the preset information, the water supplementing assembly is controlled to stop running, so that the water supplementing assembly does not supplement water to the floor mopping assembly any more.

Illustratively, the wool product may be a carpet, a foot mat, or the like.

In any of the above embodiments, the control device of the cleaning robot further includes: and the adjusting module is used for adjusting the working frequency of the dust collection component according to the dust collection speed adjusting instruction after the working mode of the cleaning robot is obtained.

In any of the above embodiments, the control device of the cleaning robot further includes: and the adjusting module is used for adjusting the working frequency of the water supplementing assembly according to the water supplementing speed adjusting instruction after the working mode of the cleaning robot is obtained.

As shown in fig. 7, in an embodiment of the present invention, there is provided a control apparatus 700 of a cleaning robot, including: a controller 710 and a memory 720, wherein the memory 720 stores programs or instructions, and the controller 710 implements the steps of the method in any of the above embodiments when executing the programs or instructions in the memory 720. And the same technical effects can be realized, which are not described herein again.

In an embodiment of the invention, a readable storage medium is proposed, on which a program or instructions are stored, which when executed by a processor implement the steps of the method as in any of the embodiments described above. And the same technical effects can be realized, which are not described herein again.

In an embodiment of the present invention, there is provided a cleaning robot including: quick-witted and basic station of sweeping the floor, the machine of sweeping the floor includes: the body, sweep floor the subassembly, drag ground subassembly, dust absorption subassembly and moisturizing subassembly, sweep floor the subassembly, dust absorption subassembly, drag ground subassembly and moisturizing subassembly and locate the body. The water replenishing assembly is used for replenishing water to the mopping assembly; the base station is used for cleaning the mopping assembly, supplementing water into the water supplementing assembly and charging the sweeper.

Cleaning machines people is including sweeping the floor subassembly and dust absorption subassembly, and when the subassembly operation of sweeping the floor, the subassembly of sweeping the floor can clean ground, and when the dust absorption subassembly operation, the dust absorption subassembly can adsorb subaerial dust. Consequently, the subassembly and the dust absorption subassembly of sweeping the floor can cooperate the use, and the subassembly of sweeping the floor sweeps the subaerial dust towards the dust absorption subassembly, and the dust absorption subassembly will sweep the dust of subassembly gathering and adsorb to accomplish the process of cleaning on ground.

The cleaning robot is in different operating condition, and the operating condition of mopping subassembly, the subassembly of sweeping the floor, moisturizing subassembly and dust absorption subassembly is different, consequently can be through switching over cleaning robot's operating condition to the cooperation is used between the different subassemblies of control. For example, in the sweeping mode, the sweeping assembly and the dust suction assembly are used in cooperation. In the mopping mode, the mopping assembly and the water replenishing assembly are matched for use. After the working mode is switched, all the components do not need to be disassembled and assembled, and the operation of a user is simplified.

In one possible application, the mop assembly includes a first driving member, a rotating shaft and a mop cloth, the mop cloth is mounted on the rotating shaft, the first driving member is used for driving the rotating shaft to rotate, and the first driving member can be a motor.

The suction assembly may be a suction cleaner.

The moisturizing subassembly includes: pipeline, water tank and the pump body, the delivery port of water tank and the first end intercommunication of pipeline, the second end orientation of pipeline drags ground subassembly, and the pump body is used for with the pipeline pump sending in the pipeline in the water tank.

The base station is provided with a flushing member, which may be a rotatable roller brush, for example. When the sweeper moves into the base station, the washing component cleans the mopping assembly. Still be provided with the water pump in the basic station, and the water source is connected to the basic station, and the water source can be the water storage tank body of taking in the basic station certainly, and the water source also can be the water source in the user's house. The floor sweeper and the base station are respectively provided with a charging interface, and when the floor sweeper moves to the base station, the charging interfaces on the floor sweeper and the base station are electrically connected.

In the above embodiment, the sweeping assembly includes: round brush subassembly and limit brush subassembly.

In this embodiment, when the user controlled cleaning robot ran in the mode of sweeping the floor, the round brush subassembly and the limit brush subassembly all were in the running state, and the round brush subassembly and the limit brush subassembly all can be raised the dust on ground to adsorb dust through dust absorption assembly. The round roller-shaped rolling brush component can fully clean the ground passing by the sweeper, the side brush component is located on the side of the bottom of the sweeper, and the side brush component can effectively clean corners, table corners and other positions.

Illustratively, the roll brush assembly includes: the rolling brush comprises a rolling brush body and a second driving piece, wherein the second driving piece is used for driving the rolling brush body to rotate, and the second driving piece can be a motor.

The limit brush subassembly includes: the brush hair is arranged on the driving shaft, and the third driving part is used for driving the driving shaft to rotate.

In any of the above embodiments, the sweeper further comprises: the lifting assembly is arranged on the body and used for driving the rolling brush assembly to lift.

In this embodiment, lifting unit can control the round brush subassembly and go up and down, when need not using the round brush subassembly, lifting unit drives the round brush subassembly and rises, avoids the round brush subassembly to produce the hindrance to the removal of machine of sweeping the floor, improves the mobility stability of machine of sweeping the floor.

Exemplarily, the lifting assembly comprises an electric cylinder, or the lifting assembly comprises: the ball screw, or lift assembly, includes: a gear train structure.

In an embodiment of the present invention, there is provided a cleaning robot including: the control device as in the above embodiment; and/or a readable storage medium as in the above embodiments. And the same technical effects can be realized, which are not described herein again.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method of a cleaning robot, characterized in that the cleaning robot comprises: the sweeper, the sweeper includes: the floor cleaning machine comprises a dust collection assembly, a water replenishing assembly, a sweeping assembly and a floor mopping assembly, wherein the water replenishing assembly is used for replenishing water to the floor mopping assembly, and the control method comprises the following steps:

acquiring a working mode of the cleaning robot;

determining the working states of the sweeping component, the mopping component, the dust collection component and the water replenishing component according to the working mode of the cleaning robot;

and controlling the sweeper to run according to the working states of the sweeping component, the mopping component, the dust collection component and the water supplementing component.

2. The control method according to claim 1,

the working modes comprise: a sweeping mode, a mopping mode, a sweeping and mopping integrated mode and a sweeping and mopping-after mode.

3. The control method of claim 2, wherein the sweeping assembly comprises: limit brush subassembly and round brush subassembly, according to cleaning machines people's mode, confirm the subassembly of sweeping the floor the operating condition of round brush subassembly includes:

in the sweeping mode, the rolling brush assembly is controlled to operate, the side brush assembly operates at a first rotating speed, and the mopping assembly operates at a second rotating speed;

in the mopping mode, the rolling brush assembly is controlled to stop running, the side brush assembly runs at a third rotating speed, and the mopping assembly runs at a fourth rotating speed;

in the sweeping and mopping integrated mode, the side brush assembly, the rolling brush assembly and the mopping assembly work simultaneously;

in the first-sweeping and then-mopping mode, after the side brush assembly and the rolling brush assembly complete a sweeping task, the mopping assembly works;

wherein the first rotational speed is greater than the third rotational speed, and the second rotational speed is less than the fourth rotational speed.

4. The control method according to claim 3,

according to the mode of operation of cleaning robot, confirm the operating condition of subassembly of sweeping the floor, still include:

in the sweeping mode or the sweeping and mopping integrated mode, the rolling brush assembly is in a descending state;

in the mopping mode, the rolling brush assembly is in a rising state;

in the first-sweeping and second-mopping mode, the rolling brush assembly is in a rising state based on the operation of the mopping assembly.

5. The control method according to claim 3, wherein the determining the operating states of the dust suction assembly and the water supplement assembly according to the operating mode of the cleaning robot includes:

in the sweeping mode, the dust collection assembly operates, and the water replenishing assembly stops operating;

in the mopping mode, the dust collection assembly stops running, and the water replenishing assembly runs at intervals or continuously;

in the sweeping and mopping integrated mode, the dust collection assembly runs, and the water replenishing assembly runs at intervals or continuously;

under the mode of sweeping first and then dragging, the dust collection assembly operates and the water replenishing assembly stops operating based on the operation of the side brush assembly and the rolling brush assembly, and the dust collection assembly stops operating and the water replenishing assembly runs at intervals or continuously based on the operation of the floor mopping assembly.

6. The control method according to any one of claims 3 to 5, wherein the cleaning robot further includes: the base station is used for cleaning the floor mopping assembly, supplementing water to the water supplementing assembly and charging the sweeper;

before or after the acquiring of the working mode of the cleaning robot, the control method further includes:

under the condition that the sweeper is positioned in the base station, collecting the water amount in the water supplementing assembly;

and under the condition that the water amount is lower than a preset value, controlling the base station to supplement water into the water supplementing assembly.

7. The control method according to claim 6,

after the working mode of the cleaning robot is obtained, the method further comprises the following steps:

and controlling the base station to clean the mopping assembly based on whether the working mode is the mopping mode or the mopping integrated mode.

8. The control method according to claim 6,

after the obtaining of the working mode of the cleaning robot, the method further includes:

in the floor sweeping mode, controlling the floor sweeper to move to the base station under the condition that an input of switching to the floor mopping mode is received;

and controlling the base station to clean the mopping assembly.

9. The control method according to claim 6,

acquiring the sweeping area and/or the working time of the cleaning robot in the mopping mode or the sweeping and mopping integrated mode;

controlling the sweeper to move to the base station based on the fact that the sweeping area and/or the working time of the cleaning robot meet set conditions;

controlling the base station to clean the mopping assembly;

in the first-sweeping and second-mopping mode, based on the operation of the mopping assembly, the sweeping area and/or the working duration of the mopping assembly are/is obtained;

controlling the sweeper to move to the base station based on the fact that the cleaning area and/or the working time of the mopping assembly meet set conditions;

and controlling the base station to clean the mopping assembly.

10. The control method according to claim 6,

acquiring the working state of the base station in the mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode;

after the base station cleans the floor mopping assembly, timing the operation duration of the floor mopping assembly;

and controlling the water replenishing assembly to operate under the condition that the operation time length reaches a set time length.

11. The control method according to claim 10,

in the mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode, in response to an instruction of the sweeper to pause operation, stopping timing of the operation duration of the mopping assembly;

12. The control method according to claim 6,

in the sweeping mode, after the sweeper finishes a sweeping task, controlling the sweeper to move to the base station;

in the mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping-after mode, after the sweeper finishes a mopping task, controlling the sweeper to move to the base station;

and controlling the base station to clean and dry the mopping assembly.

13. The control method according to claim 6,

before the obtaining the working mode of the cleaning robot, the method further comprises:

controlling the sweeper to move to obtain a map of an area to be swept;

the side brush assembly runs at a fifth rotating speed, the mopping assembly runs at a sixth rotating speed, the first rotating speed is greater than the fifth rotating speed, and the sixth rotating speed is less than the fourth rotating speed.

14. The control method according to claim 13,

after the map of the area to be cleaned is obtained, the method further comprises the following steps:

controlling the sweeper to move to the base station;

and controlling the base station to clean the mopping assembly.

15. The control method according to any one of claims 2 to 5,

receiving an operation instruction of a care mode in the mopping mode, the sweeping and mopping integrated mode or the sweeping and mopping mode;

collecting the type information of the cleaning area of the sweeper;

and controlling the water replenishing assembly to stop running under the condition that the type information of the cleaning area is preset information.

16. The control method according to any one of claims 1 to 5,

and responding to a dust collection speed adjustment instruction, and adjusting the working frequency of the dust collection assembly.

17. The control method according to any one of claims 1 to 5,

and responding to the water supplementing speed adjusting instruction, and adjusting the working frequency of the water supplementing assembly.

18. A control device of a cleaning robot, characterized in that the cleaning robot comprises: the sweeper, the sweeper includes: dust absorption subassembly, moisturizing subassembly, sweep the floor the subassembly and drag ground subassembly, the moisturizing subassembly be used for to drag ground subassembly moisturizing, controlling means includes:

an acquisition module that acquires a working mode of the cleaning robot;

the determining module is used for determining the working states of the sweeping component, the mopping component, the dust collection component and the water replenishing component according to the working mode of the cleaning robot;

and the control module controls the sweeper to run according to the working states of the sweeping component, the mopping component, the dust collection component and the water replenishing component.

19. A control device of a cleaning robot, characterized by comprising:

a controller and a memory, wherein the memory has stored therein a program or instructions, the controller implementing the steps of the method according to any one of claims 1 to 17 when executing the program or instructions in the memory.

20. A readable storage medium, on which a program or instructions are stored, which when executed by a processor, carry out the steps of the method according to any one of claims 1 to 17.

21. A cleaning robot, characterized by comprising:

the sweeper, the sweeper includes:

a body;

the sweeping component is arranged on the body;

the mopping assembly is arranged on the body;

the dust collection assembly is arranged on the body;

the water replenishing assembly is arranged on the body and is used for replenishing water to the mopping assembly;

and the base station is used for cleaning the floor mopping assembly, supplementing water to the water supplementing assembly and charging the sweeper.

22. A cleaning robot, characterized by comprising:

the control device of claim 19; and/or

The readable storage medium of claim 20.