CN115462709A - Cleaning method, cleaning robot and cleaning system - Google Patents

Cleaning method, cleaning robot and cleaning system Download PDF

Info

Publication number
CN115462709A
CN115462709A CN202210952070.1A CN202210952070A CN115462709A CN 115462709 A CN115462709 A CN 115462709A CN 202210952070 A CN202210952070 A CN 202210952070A CN 115462709 A CN115462709 A CN 115462709A
Authority
CN
China
Prior art keywords
cleaning
cleaning robot
base station
mop
mopping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210952070.1A
Other languages
Chinese (zh)
Other versions
CN115462709B (en
Inventor
龚鼎
杜川
杨永森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
Original Assignee
Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yunjing Intelligence Technology Dongguan Co Ltd, Yunjing Intelligent Shenzhen Co Ltd filed Critical Yunjing Intelligence Technology Dongguan Co Ltd
Priority to CN202210952070.1A priority Critical patent/CN115462709B/en
Publication of CN115462709A publication Critical patent/CN115462709A/en
Application granted granted Critical
Publication of CN115462709B publication Critical patent/CN115462709B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

The application relates to the technical field of cleaning, and provides a cleaning method, which is applied to a cleaning robot, wherein the cleaning robot can be butted with a cleaning base station, the cleaning base station is provided with a base station inlet for accessing the cleaning robot, the cleaning robot is also provided with a mopping piece, and the method comprises the following steps: determining an inlet area corresponding to the base station inlet; controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area; the mop is driven to move relative to the cleaning station to clean the station inlet. The method can be used for quickly and efficiently cleaning dirt at the inlet of the base station by controlling the cleaning robot to drive the cleaning piece to clean the inlet of the base station, particularly cleaning the dirt at the corner of the inlet of the base station, and effectively avoiding secondary pollution.

Description

Cleaning method, cleaning robot and cleaning system
Technical Field
The present application relates to the field of cleaning technologies, and in particular, to a cleaning method, a cleaning robot, and a cleaning system.
Background
The cleaning robot can mop the ground through the mopping piece arranged on the cleaning robot, and after the cleaning robot is used for mopping a specific time or a specific area, the cleaning robot is controlled to be connected to the base station inlet correspondingly arranged on the cleaning base station, so that the cleaning robot is charged or the mopping piece is cleaned or replaced.
The existing cleaning robot is only designed to clean the ground, accumulated dirt on a mopping piece can fall at an inlet of a base station in the process of accessing a cleaning base station by the cleaning robot, particularly corners of the inlet of the cleaning base station are cleaned, so that the sanitation dead angle area of the inlet of the base station is large, the inlet of the base station is easy to store dirt and contain dirt, after long-term use, the dirt degree of the inlet of the base station is more serious, and the use experience of the cleaning robot and the cleaning base station brought to a user is influenced.
Disclosure of Invention
The application provides a cleaning method, a cleaning robot and a cleaning system, and aims to solve the technical problems that the cleaning difficulty of the dirty part of the base station inlet of a cleaning base station is high, and particularly, the corners of the base station inlet are easy to store dirty dirt and are inconvenient to clean.
In a first aspect, an embodiment of the present application provides a cleaning method, which is applied to a cleaning robot, where the cleaning robot may be docked with a cleaning base station, the cleaning base station is formed with a base station entrance for accessing the cleaning robot, the cleaning robot is further provided with a mopping unit, and the method includes:
determining an inlet area corresponding to the base station inlet;
controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area;
the mop is driven to move relative to the cleaning station to clean the station inlet.
In some embodiments, driving the mop member in motion relative to the cleaning base station comprises:
controlling the cleaning robot to perform a first traveling action to drive the mopping piece to move; and/or
Controlling the cleaning robot to perform a first rotating action to drive the mopping piece to move;
wherein the movement track of the mop element at least partially coincides with the inlet area.
In some embodiments, the cleaning base station includes a first side plate and a second side plate which are arranged at an interval, and the base station inlet is formed between the first side plate and the second side plate, and the cleaning robot is controlled to perform a first driving action to drive the mopping piece to move, and the cleaning base station includes:
controlling the cleaning robot to move towards the first side plate until the mopping piece moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
In some embodiments, controlling the cleaning robot to perform the first travel motion to drive the movement of the mop further comprises:
and controlling the cleaning robot to reciprocate between the first side plate and the second side plate.
In some embodiments, the cleaning base station includes a first side plate and a second side plate which are arranged at an interval, and a base station inlet is formed between the first side plate and the second side plate, and the cleaning base station controls the cleaning robot to perform a first rotating action to drive the mop to move, and includes:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
And controlling the cleaning robot to drive the mopping piece to rotate towards the second side plate.
In some embodiments, the cleaning robot includes a housing, a mop movably mounted to the housing for driving the mop to move relative to the cleaning base station, and further includes:
the driving mopping piece rotates relative to the shell.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance area comprises:
determining a cleaning initiation area of the mop based on the entry area, wherein the cleaning initiation area is at least partially coincident with the entry area;
and executing a second driving action to drive the mopping piece to move to the cleaning starting area.
In some embodiments, performing the second travel motion to drive the mop to move to the cleaning initiation area comprises:
driving the mopping piece to rotate around the center of the cleaning robot so that the mopping piece is positioned between the center of the cleaning robot and the cleaning base station, and driving the mopping piece to the cleaning base station so that the mopping piece moves to a cleaning starting area; or
And driving the mopping piece to rotate around the center of the cleaning robot to move the mopping piece to the cleaning starting area.
In some embodiments, controlling the cleaning robot to move the mop such that at least a portion of the mop is located in the entrance area further comprises:
before the mopping piece moves to the cleaning starting area or when the mopping piece moves to the cleaning starting area, the mopping piece is controlled to be switched to a preset pressing-down state.
In some embodiments, before controlling the mop to switch to the preset pressing state, the method further includes:
controlling the mop piece to be switched to a preset lifting state, wherein when the mop piece is controlled to be switched to a pressing-down state, the lifting state of the mop piece is released;
the method further comprises the following steps:
recording at least one first specific position of the mop in a lifting state;
controlling the cleaning robot to perform a third traveling action so as to drive the mopping piece to move to at least one first specific position;
the mop piece is controlled to be switched to a pressing-down state, and at least one first specific position is cleaned.
In some embodiments, controlling the cleaning robot to move the mop such that at least a portion of the mop is located in the entrance area further comprises:
the rotating speed of the mopping piece is increased within a preset time period starting when the mopping piece is controlled to be switched into a preset pressing state, so that the rotating speed of the mopping piece reaches a preset target rotating speed after the preset time period;
the method further comprises the following steps:
recording at least one second specific position at which the rotating speed of the mopping piece is less than the target rotating speed;
controlling the cleaning robot to perform a fourth traveling action to drive the mopping piece to move to at least one second specific position;
the mop piece is controlled to be switched to a pressing-down state, and at least one second specific position is cleaned.
In some embodiments, the cleaning base station is provided with at least a docking station for docking a mop at the base station entrance, the method further comprising:
determining an inlet area when a cleaning signal is received indicating cleaning of the mop;
after the mopping piece is driven to move relative to the cleaning base station to clean the inlet of the base station, the cleaning robot is controlled to run to a butt joint position so that the mopping piece is in butt joint with the cleaning base station;
and executing a preset cleaning action on the mopping piece.
In a second aspect, embodiments of the present application further provide a cleaning robot, including:
a housing;
a mopping member mounted to the housing;
a control device mounted to the housing, the control device comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connection communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the steps of the cleaning method as in any of the embodiments of the present application.
In a third aspect, an embodiment of the present application further provides a cleaning system, where the cleaning system includes a cleaning robot and a cleaning base station, where the cleaning robot is the cleaning robot in any embodiment of the present application.
In summary, the embodiment of the present application provides a cleaning method, a cleaning robot and a cleaning system, the cleaning method is applied to the cleaning robot, the cleaning robot can be docked with a cleaning base station, the cleaning base station is formed with a base station entrance for accessing the cleaning robot, the cleaning robot is further provided with a mopping piece, and the method includes: determining an inlet area corresponding to the base station inlet; controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area; the mop is driven to move relative to the cleaning station to clean the station inlet. The method can quickly and efficiently clean the dirt at the inlet of the base station by controlling the cleaning robot to drive the cleaning piece to clean the inlet of the base station, particularly the dirt at the corner of the inlet of the base station, and effectively avoid secondary pollution caused by the dirt at the inlet of the base station.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a cleaning method provided by an embodiment of the present application;
FIG. 2 is a schematic view of a cleaning method provided in an embodiment of the present application;
FIG. 3 is a schematic top view of an inlet area of a cleaning station provided in an embodiment of the present application;
FIG. 4 is a flowchart illustrating steps of controlling a cleaning robot to drive a mop to move according to a cleaning method provided by an embodiment of the present disclosure;
FIG. 5 is a schematic view of a second driving action performed in a cleaning method according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a cleaning method according to an embodiment of the present disclosure, in which a first rotation is performed;
fig. 7 is a schematic view of a scenario in which a first driving action is performed in a cleaning method according to an embodiment of the present application;
fig. 8 is a schematic view of another scenario for performing a first driving action in a cleaning method according to an embodiment of the present disclosure;
fig. 9 is a schematic view of another scenario for performing a first driving action in a cleaning method according to an embodiment of the present application;
fig. 10 is a schematic view of a cleaning scenario for cleaning a first specific location and a second specific location in a cleaning method according to an embodiment of the application.
FIG. 11 is a schematic block diagram of a cleaning robot provided in an embodiment of the present application;
fig. 12 is a schematic block diagram of a control device of a cleaning robot according to an embodiment of the present disclosure;
fig. 13 is a schematic block diagram of a cleaning system provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The flowcharts shown in the figures are illustrative only and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The application provides a cleaning method, a cleaning robot and a cleaning system, wherein the cleaning method can be applied to the cleaning robot and is used for controlling the cleaning robot to execute a preset action so as to complete the cleaning of an inlet area of a cleaning base station.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present disclosure.
As shown in fig. 1, the cleaning method provided by the present application is applied to a cleaning robot, the cleaning robot is provided with a wiping member, and the cleaning robot is in communication connection with a cleaning base station, and the cleaning method includes steps S1 to S3:
step S1: determining an inlet area corresponding to the base station inlet;
as shown in fig. 2, in particular, the cleaning method provided by the present application is applied to a cleaning robot 500, the cleaning robot 500 may be docked with a corresponding cleaning base station 400, and the cleaning base station 400 is formed with a base station entrance 410 for accessing the cleaning robot 500. Wherein, cleaning robot 500 is provided with drags and wipes 520, cleaning robot 500 accessible sets up in cleaning robot drags to wipe a piece and drags to wipe ground, and drag and wipe specific time or drag and wipe specific area after, cleaning robot can insert the basic station entry that clean basic station formed, in order to charge or to drag and wipe a piece and wash cleaning robot, and at cleaning robot in the in-process of inserting clean basic station, drag the dirty that accumulates on wiping the piece and probably drop at the basic station entrance, especially clean the edge of basic station entrance, make the sanitary dead angle area of basic station entrance great, lead to the easy dirty dirt of basic station entrance to hold the dirt, and after long-term the use, the dirty degree of basic station entrance is more serious, has influenced user experience to cleaning robot.
Based on this, the scheme that this application provided is first confirming the entry area that the base station entry corresponds to before mopping the entry area of clean base station. It should be understood that the entry area corresponding to the base station entrance specifically refers to the projection area of the base station entrance bottom on the ground.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic view illustrating a cleaning method according to an embodiment of the present disclosure, and fig. 3 is a schematic view illustrating a top view of an inlet area of a cleaning base station according to an embodiment of the present disclosure.
As shown in fig. 2 to 3, the cleaning base station 400 includes a first side plate 430 and a second side plate 440 arranged at an interval, and an inlet area 420 formed by the base station inlet 410 and the base station inlet 410 is formed between the first side plate 430 and the second side plate 440, and a cleaning start area may be arranged between the first side plate 430 and the second side plate 440, wherein the first side plate 430 is formed with a first corner area 460, and the second side plate 440 is formed with a second corner area 470. Specifically, the first corner area 460 and the second corner area 470 are located between the first side plate 430 and the second side plate 440, the first corner area 460 is located at a side close to the first side plate 430, and the second corner area 470 is located at a side close to the second side plate 440.
Further, the base station includes a bottom plate 450 connected between the first side plate 430 and the second side plate 440, and the bottom plate 450 and the first side plate 430 and the second side plate 440 cooperate to form the base station inlet 410, and the inlet area 420 corresponding to the base station inlet 410 at least includes a surface of the bottom plate 450.
Step S2: controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area;
it is known that the mop mounted to the cleaning robot is for example a mop or a roller brush, and that the cleaning robot can clean through the entrance to the base station of the mop or the floor. Specifically, the cleaning robot can drive the mopping piece to move relative to the ground or the cleaning base station at least by controlling the self-running of the cleaning robot, so that the mopping of the entrance of the base station or the ground is realized. Furthermore, the cleaning robot at least comprises a shell and a mopping piece, and the cleaning robot can also drive the mopping piece and the shell to generate relative displacement so as to mop the entrance of the base station or the ground.
It should be understood that when the cleaning robot controls the cleaning robot to drive the mopping piece to displace and/or drive the mopping piece to displace relative to the shell, the mopping piece performs mopping on the ground or a cleaning base station abutted by the mopping piece, and the mopping area of the mopping piece at least comprises the projection area of the mopping piece.
After the inlet area corresponding to the base station inlet is determined, the cleaning robot controls the cleaning robot to drive the mopping piece to move by controlling at least one of the driving of the cleaning robot to drive the mopping piece and the driving of the relative displacement of the mopping piece and the shell, so that at least part of the projection area of the mopping piece is located in the inlet area.
As shown in fig. 4, in some embodiments, step S2 controls the cleaning robot to drive the mop to move, and specifically includes steps S21 to S22:
step S21: determining a cleaning initiation area of the mop in accordance with an entry area, wherein the cleaning initiation area is at least partially coincident with the entry area;
step S22: and executing a second driving action to drive the mopping piece to move to the cleaning starting area.
Specifically, the cleaning robot determines a cleaning start area of the mopping piece according to the inlet area, and then executes a second driving action to drive the mopping piece to move to the cleaning start area, wherein the cleaning robot starts to drive the mopping piece to clean the base station inlet of the cleaning base station at the latest after the mopping piece enters the cleaning start area, so that the cleaning start area is at least partially overlapped with the inlet area.
As shown in fig. 7 to 8, for example, the cleaning initiation area may be located at an edge of the inlet area 420, for example, at an outer side of the first corner area 460 or at an outer side of the second corner area 470 as shown in fig. 8, i.e., the cleaning robot 500 performs the mopping on the base station inlet or the floor by the mopping member 520 from the edge of the inlet area, or may be located inside the inlet area 420, for example, at area a, area B or area C as shown in fig. 7, i.e., the cleaning robot performs the mopping from inside the inlet area 420.
It should be understood that the cleaning robot may start to drive the area abutted by the cleaning mop when the mop moves to the cleaning starting area, that is, during the process that the cleaning robot travels from the external environment of the cleaning base station to the base station inlet of the cleaning base station, the cleaning robot first drives the mop to move to the cleaning starting area determined according to the inlet area, and then starts to clean the inlet area after the mop moves to the cleaning starting area; it is also possible to start driving the wiper before it moves to the cleaning initiation area to clean the area against which the wiper abuts. Specifically, the cleaning robot starts to perform the wiping in a period of time when the wiping member moves to the cleaning start area at the latest.
In some embodiments, the cleaning robot may drive the mop to be raised or depressed in a vertical direction with respect to the housing to switch the mop to a preset raised state or depressed state, wherein the cleaning robot may drive the mop to be switched to the depressed state when driving the mop to clean the area abutted by the mop, to enhance the cleaning effect on the floor or the base station entrance; and when the area abutted by the mopping piece is not cleaned, the mopping piece is driven to be switched to a lifting state, so that the mopping piece attached with dirt is prevented from polluting the passing ground in the running process of the cleaning robot.
In some embodiments, the step S22 of executing the second driving action to drive the mop to move to the cleaning start area includes:
driving the mopping piece to rotate around the center of the cleaning robot so that the mopping piece is positioned between the center of the cleaning robot and the cleaning base station, and driving the mopping piece to the cleaning base station so that the mopping piece moves to a cleaning starting area; or
And driving the mopping piece to rotate around the center of the cleaning robot to move the mopping piece to the cleaning starting area.
As shown in fig. 5, specifically, in the process that the cleaning robot 500 travels along a path designated by a user to clean the passing ground, or in the process that the cleaning robot 500 travels toward a cleaning base station to access the cleaning base station, the travel direction of the cleaning robot 500 is the travel direction shown in fig. 5 (a), in which the mopping piece 520 is located at a side of the center of the cleaning robot 500 away from the travel direction. Based on this, the cleaning robot 500 needs to adjust the angle of the wiper 520 with respect to the center of the cleaning robot 500 when driving the wiper 520 to move to the cleaning start area, so that the wiper 520 is located between the cleaning base station and the center of the cleaning robot 500 as shown in fig. 5 (b).
In some embodiments, the cleaning robot performing the second travel action specifically includes: firstly, the mopping piece is driven to rotate around the center of the cleaning robot so as to adjust the angle of the mopping piece relative to the center of the cleaning robot, so that the mopping piece is positioned between the center of the cleaning robot and a cleaning base station, and then the mopping piece moves to a cleaning starting area by driving the mopping piece to the cleaning base station.
In some embodiments, the second driving motion performed by the cleaning robot specifically includes: firstly, the cleaning robot runs to a first position determined according to a cleaning starting area, and then the mopping piece is driven to rotate around the center of the cleaning robot to adjust the angle of the mopping piece relative to the center of the cleaning robot, so that the mopping piece moves to the cleaning starting area, wherein the first position is determined according to the cleaning starting area.
Specifically, as shown in fig. 5, when the cleaning robot 500 is located at the first position, the cleaning robot 500 may move the wiping member 520 to the cleaning start area by only adjusting the angle of the wiping member 520 with respect to the center of the cleaning robot 500, it is understood that the position of the center of the cleaning robot may be used as the position of the cleaning robot, and the distance between the first position and the cleaning start area is the distance between the center of the cleaning robot and the wiping member in the horizontal direction. For example, fig. 5 (b) and 5 (c) show a first position at the center of the cleaning robot 500, and fig. 5 (b) shows a scene where the cleaning robot 500 has driven the mop 520 to reach the cleaning start area, when the positional relationship among the mop 520, the cleaning robot 500, and the cleaning base 520 is as shown in fig. 5 (c), the position of the mop 520 to reach the cleaning start area can be controlled by adjusting only the angle of the mop with respect to the center of the cleaning robot, and the adjusted positional relationship among the mop 520, the cleaning robot 500, and the cleaning base 520 is as shown in fig. 5 (b). Accordingly, when the cleaning robot 500 is located at the first position, the cleaning robot 500 may move the wiper 520 to the cleaning start area by driving only the wiper 520 to rotate around the center of the cleaning robot 500.
It should be understood that by adjusting the angle of the mopping piece relative to the center of the cleaning robot and then driving the cleaning base station, or by driving the mopping piece to the first position and then adjusting the angle of the mopping piece relative to the center of the cleaning robot, the mopping piece can conveniently move into the cleaning starting area and go deep into the inlet of the base station to be fully mopped by the inlet of the base station, and when the inlet of the base station is cleaned, the cleaning robot can conveniently drive the mopping piece to move to a larger extent relative to the cleaning base station, so that the mopping effect of the inlet of the cleaning robot base station is improved, and on the other hand, the size limitation of the cleaning robot and the cleaning base station is reduced.
In some embodiments, controlling the cleaning robot to move the mop such that at least a portion of the mop is located in the entrance area further comprises:
before the mopping piece moves to the cleaning starting area or when the mopping piece moves to the cleaning starting area, the mopping piece is controlled to be switched to a preset pressing-down state.
The cleaning robot can drive the mopping piece to be lifted or pressed down so as to switch the mopping piece into a preset lifting state or a preset pressing state, wherein the cleaning robot can drive the mopping piece to be switched into the pressing state when driving the mopping piece to clean the area abutted to the mopping piece, so that the cleaning force and the cleaning effect on the ground or the base station inlet are improved; and when the ground on the way does not need to be cleaned, the mopping piece is driven to be switched to a lifting state, so that the mopping piece attached with dirt is prevented from polluting the ground on the way in the running process of the cleaning robot.
The cleaning robot further comprises a mop driving part, wherein the mop driving part is at least used for driving the mop to be lifted or pressed relative to the shell so as to switch the mop into a preset lifting state or a preset pressing state.
Specifically, when the cleaning robot moves to the cleaning starting area, the cleaning robot controls the cleaning piece to be switched to a preset pressing state, so that the cleaning force for the entrance of the base station can be improved, and the pollution to the passing ground caused by the dirty cleaning piece in the running process of the cleaning robot can be avoided. The cleaning robot can also control the mop piece to be switched into a preset pressing state before the mop piece moves to the cleaning starting area, so that the area outside the base station inlet can be cleaned, and meanwhile, the cleaning robot also ensures that the mop piece is in the pressing state when the mop piece moves to the inlet area, and the cleaning force to the base station inlet is improved.
And step S3: the mop is driven to move relative to the cleaning station to clean the station inlet.
In some embodiments, the step S3 of driving the wiping member to move relative to the cleaning base station to clean the base station entrance specifically includes:
controlling the cleaning robot to execute a first driving action to drive the mopping piece to move; and/or
And controlling the cleaning robot to perform a first rotating action to drive the mopping piece to move, wherein the movement track of the mopping piece is at least partially coincided with the inlet area.
It should be understood that when the cleaning robot performs the first traveling motion and/or the first rotating motion, the mop is driven by the cleaning robot to move at least from the cleaning start area to clean the base station entrance.
Specifically, the cleaning robot may perform a first traveling action to drive the mopping element mounted on the housing to move relative to the base station entrance, so that the mopping element mops an area abutted to the mopping element, may also perform a first rotating action to drive the mopping element mounted on the housing to rotate around the center of the cleaning robot, and may also perform the first traveling action and the first rotating action, so that the relative movement amplitude between the mopping element and the base station entrance is increased, and the cleaning effect on the base station entrance is improved. Wherein, the movement track of the mopping piece driven by the cleaning robot at least partially coincides with the inlet area.
In some embodiments, controlling the cleaning robot to perform a first rotational motion to drive the mop in motion specifically comprises:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
And controlling the cleaning robot to drive the mopping piece to rotate towards the second side plate.
Specifically, as shown in fig. 6, when the cleaning robot 500 performs the first rotation action, the driving mop 520 may rotate toward the first side plate 430, for example, the driving mop 520 may rotate from the position shown in fig. 6 (a) to the position shown in fig. 6 (b); the mop 520 may also be driven to rotate toward the second side plate 440, specifically, the mop 520 may be driven to rotate from the position shown in fig. 6 (a) to the position shown in fig. 6 (c), or the mop 520 may be driven to rotate toward the first side plate 430 and the second side plate 440, respectively. Further, the cleaning robot 500, when performing the first rotating motion, may further include: the cleaning robot 500 is controlled to rotate toward one of the first side plate 430 and the second side plate 440, and then to rotate toward the other, and then the above two steps are repeated at least once to realize the reciprocating movement of the cleaning robot 500. Specifically, the cleaning robot 500 may perform the first rotation motion by repeatedly switching between the state shown in fig. 6 (b) and the state shown in fig. 6 (c), that is, the cleaning robot 500 repeatedly rotates around the center of the cleaning robot 500 at the cleaning start position to wipe the base station entrance.
It should be understood that when the corresponding size of the entrance area 420 is not surplus with respect to the outer size of the cleaning robot 500, that is, the distance between the first side plate 430 and the second side plate 440 is smaller than the preset distance threshold, the space left in the entrance area for the cleaning robot 500 to perform the first driving motion is small, and at this time, the driving of the mop 520 to move relative to the cleaning base 400 to clean the entrance area 420 may only control the cleaning robot 500 to perform the first rotating motion, specifically referring to fig. 6 (a) (b) (c), for example, the controlling of the cleaning robot 500 to perform the first rotating motion may be to drive the cleaning robot 500 to rotate from the state shown in fig. 6 (a) to the state shown in fig. 6 (b), and then drive the cleaning robot 500 to rotate from the state shown in fig. 6 (b) to the state shown in fig. 6 (c).
As shown in fig. 2 to 3, in some embodiments, the cleaning base station includes a first side plate 430 and a second side plate 440 which are spaced apart from each other, and the base station inlet 410 is formed between the first side plate 430 and the second side plate 440, and controls the cleaning robot to perform a first driving action to drive the mop to move, including:
controlling the cleaning robot to move towards the first side plate until the mopping piece moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
Specifically, when the cleaning robot performs the first driving action, the cleaning robot may move from the cleaning start area to the first side plate until the mop moves to a first corner area formed by the first side plate, may also move from the cleaning start area to the first side plate until the mop moves to a second corner area formed by the second side plate, and may also sequentially perform the two actions of moving to the first side plate and moving to the second side plate from the cleaning start area, so as to deeply and sufficiently mop the entrance of the base station.
As shown in fig. 7, for example, the entrance area 420 at least includes an area a, an area B and an area C as shown in fig. 7 (a), and when the cleaning start area is located in the area B as shown in fig. 7 (a), the controlling of the cleaning robot 500 to perform the first driving action to drive the mopping member to move may be controlling of the cleaning robot 500 to switch from the state shown in fig. 7 (B) to the state shown in fig. 7 (C), and then to switch from the state shown in fig. 7 (C) to the state shown in fig. 7 (d), so as to sufficiently clean the entrance of the base station, especially to mop the corners of the base station including the first corner area and the second corner area.
In some embodiments, controlling the cleaning robot to perform the first travel motion to drive the movement of the mop further comprises:
and controlling the cleaning robot to reciprocate between the first side plate and the second side plate.
It should be understood that the first driving action may also be to control the cleaning robot to start from the cleaning starting area, move to the first side plate until the mop moves to the first corner area formed by the first side plate, then move to the second side plate until the mop moves to the second corner area formed by the second side plate, and then repeat the above two steps at least once to realize the reciprocating movement between the first side plate and the second side plate. Specifically, the cleaning robot may perform the first traveling motion by switching between the state shown in fig. 7 (b) and the state shown in fig. 7 (c), that is, the cleaning robot twists between the first side plate and the second side plate to wipe the base station entrance.
In some embodiments, when the mop abuts the first side plate, it is determined that the mop has moved to a first corner region formed by the first side plate; when the mopping piece is abutted against the second side plate, the mopping piece is determined to move to a second corner area formed by the second side plate.
As shown in fig. 8, the cleaning initiation area may be located outside the first corner area 460 formed by the first side plate 430 as shown in fig. 8 (a) or outside the second corner area 470 formed by the second side plate 440 as shown in fig. 8 (b), and the cleaning robot 500 may perform the first driving action by moving along the edge of the entrance area 420 from the cleaning initiation area to wipe the edge of the entrance area 420. Further, the cleaning robot 500 performs the first driving motion further including reciprocating between the first corner region 460 and the second corner region 470 along the edge of the entrance area 420 to sufficiently wipe the edge of the entrance area 420, particularly to enhance the wiping effect on the outer sides of the first corner region 460 and the second corner region 470.
In some embodiments, the cleaning robot includes a housing, a mop movably mounted to the housing for driving the mop to move relative to the cleaning base station, and further includes:
the driving mopping piece rotates relative to the shell.
Specifically, the mopping piece driving piece is further used for driving the mopping piece to rotate relative to the shell, and the cleaning effect of the mopping piece on the base station inlet is improved. Furthermore, the mopping piece driving part can drive the mopping piece to be switched into a preset pressing state, and simultaneously drive the mopping piece to rotate relative to the shell, so that the mopping force of the mopping piece on the base station inlet is improved, and a better cleaning effect is obtained.
In some embodiments, the cleaning initiation area is located outside the first corner area formed by the first side plate or outside the second corner area, and the mopping piece is driven to move relative to the cleaning base station, or only the mopping piece is driven to rotate relative to the shell, so that the mopping piece cleans the outside of the first corner area or the second corner area.
As shown in fig. 9, for example, when the cleaning start area is located outside the first corner area 460 formed by the first side plate, the cleaning robot 500 may drive the wiping member 520 to rotate relative to the housing 510 at the position shown in fig. 9 (a) to wipe the outer side of the first corner area 460, may drive the wiping member 520 to wipe the outer side of the first corner area 460 in the cleaning start area to rotate around the center of the cleaning robot 500 as shown in fig. 9 (a), (b) and (c), and may drive the wiping member 520 to rotate relative to the housing 510 and simultaneously rotate around the center of the cleaning robot 500 to wipe the outer side of the first corner area 460. Similarly, when the cleaning start area is located outside the second corner area 470, the cleaning robot 500 may drive the mop 520 to rotate and/or perform an in-situ rotation with respect to the housing 510.
Further, driving the scrubbing element relative to the cleaning base further comprises: after the outer side of one of the first corner region and the second corner region is wiped, the outer side of the other is moved to clean the outer side of the other.
In some embodiments, before controlling the mop to switch to the preset pressing state, the method further comprises: controlling the mop piece to be switched into a preset lifting state, wherein when the mop piece is controlled to be switched into a pressing state, the lifting state of the mop piece is released;
the method provided by the application further comprises the following steps:
recording at least one first specific position of the mop in a lifting state;
controlling the cleaning robot to perform a third traveling action so as to drive the mopping piece to move to at least one first specific position;
the dragging piece is controlled to be switched into a pressing-down state, and at least one first specific position is dragged and wiped.
Specifically, the cleaning robot can drive the mopping piece to be lifted or pressed down in the vertical direction relative to the shell so as to switch the mopping piece into a preset lifting state or a preset pressing state, wherein when the cleaning robot drives the mopping piece to clean the area abutted by the mopping piece, the cleaning robot can drive the mopping piece to be switched into a pressing state so as to improve the cleaning effect on the ground or the base station inlet; and when the ground is not required to be cleaned, the mopping piece is driven to be switched to the lifting state, so that the mopping piece attached with dirt is prevented from polluting the passing ground in the running process of the cleaning robot.
It should be understood that when the mopping piece is located at the first specific position, the mopping piece is in the lifted state, and at this time, the mopping piece is difficult to mop the floor of the area covered by the mopping piece, that is, when the mopping piece is in the lifted state, the dirt attached to the mopping piece cannot pollute the floor through which the cleaning robot passes, but cannot mop the floor corresponding to the first specific position. Based on this, before controlling the mop to switch to the preset pressing state, the present embodiment further includes: the cleaning robot is characterized in that the mopping piece is controlled to be switched to a preset lifting state so as to prevent the mopping piece from polluting the ground through which the cleaning robot passes, and then the mopping piece is controlled to be switched to a preset pressing state before the mopping piece moves to the cleaning starting area or when the mopping piece moves to the cleaning starting area. The method further comprises the steps of recording at least one first specific position of the mopping piece in a lifting state, controlling the cleaning robot to execute a third running action so as to drive the mopping piece to move to the at least one first specific position, controlling the mopping piece to be switched to a pressing-down state, and mopping the at least one first specific position.
In some embodiments, controlling the cleaning robot to drive the movement of the mop such that at least a portion of the mop is located in the entrance area further comprises:
the rotating speed of the mopping piece is increased within a preset time period starting when the mopping piece is controlled to be switched into a preset pressing state, so that the rotating speed of the mopping piece reaches a preset target rotating speed after the preset time period;
the method provided by the application further comprises the following steps:
recording at least one second specific position where the rotating speed of the mopping piece is less than the target rotating speed;
controlling the cleaning robot to perform a fourth traveling action to drive the mopping piece to move to at least one second specific position;
and controlling the mop piece to be switched to a pressing-down state and cleaning at least one second specific position.
For example, when recording at least one second specific position where the rotation speed of the wiping member is less than the target rotation speed, the method may record that the rotation speed of the wiping member is raised after the cleaning robot controls the wiping member to be switched from the lifting state to the pressing-down state, and the at least one position where the rotation speed of the wiping member is less than the target rotation speed is used as the second specific position, or may record that the rotation speed of the wiping member is raised and the at least one position where the rotation speed of the wiping member is less than the target rotation speed is used as the second specific position in the process that the cleaning robot controls the wiping member to be kept in the pressing-down state and travels towards the base station inlet.
It should be understood that after the cleaning robot controls the mop to switch to the pressing-down state, the cleaning robot needs to increase the rotation speed of the mop to enhance the mopping force and the mopping effect of the mop on the ground or the base station entrance. And after the rotating speed in a preset time period is increased, the rotating speed of the mopping piece can reach a preset target rotating speed, and the cleaning robot is also used for controlling the mopping piece at the target rotating speed to move relative to the cleaning base station so as to clean the inlet of the base station, wherein the rotating speed of the mopping piece is specifically the rotating angular speed of the mopping piece relative to the shell.
It should also be understood that within a preset time period after the cleaning robot controls the mop to switch to the pressing-down state, the rotating speed of the mop is less than the target rotating speed; and when the rotating speed is lower than the target rotating speed, the mopping force and the mopping effect of the mopping piece on the ground abutted by the mopping piece are lower, so that the dirt degree of the ground corresponding to the second specific position cannot meet the cleaning requirement. Based on this, the method provided by the present application further includes: recording at least one second specific position where the rotating speed of the mopping piece is smaller than the target rotating speed, controlling the cleaning robot to execute a fourth traveling action so as to drive the mopping piece to move to the at least one second specific position, controlling the mopping piece to be switched to a pressing-down state, and cleaning the at least one second specific position.
For example, the control of the mop to switch to the pressing-down state and the cleaning of the at least one second specific location and/or the control of the mop to switch to the pressing-down state and the cleaning of the at least one second specific location may be performed after the cleaning of the base station entrance of the base station is completed.
As shown in fig. 10, for an embodiment in which the cleaning robot is switched from the lifted state to the pressed-down state and the rotation speed of the mop is further increased, for example, when the cleaning robot 500 drives the mop 520 to move to the point D shown in fig. 10 (a) during the process of traveling toward the entrance area 420 so that the mop 520 reaches the cleaning start area, the mop 520 is in the lifted state, and the cleaning robot 500 starts to control the mop 520 to be switched to the pressed-down state, the cleaning robot 500 continues to travel toward the entrance area 420, and when the mop 520 reaches the point E shown in fig. 10 (a), the cleaning robot has switched the mop 520 to the pressed-down state, that is, the mop 520 is in the lifted state during the process of the cleaning robot 500 driving the mop 520 to move from the point D to the point E, so that the path along which the mop 520 moves from the point D to the point E includes at least one first specific position; the cleaning robot 500 continues to travel in the direction of the entrance area 420 with the speed of the mop 520 remaining increasing but less than the target speed, and then when the mop 520 reaches point F, the speed of the mop reaches the target speed, i.e., during the time the cleaning robot 500 drives the mop 520 from point E to point F, the speed of the mop 520 is less than the target speed, thus including at least one second specific location on the path of the mop 520 from point E to point F; the cleaning robot 500 then continues to travel in the direction of the entry area 420 to drive the wiper 520 to move to the cleaning initiation area and clean the base station entry 410 with the rotating wiper 520.
After the cleaning robot 500 cleans the base station entrance 410, the cleaning robot 500 is as shown in fig. 10 (c): determining at least one first specific position on a path of the mop 520 moving from the point D to the point E, then executing a third traveling motion to drive the mop 520 to move to the first specific position, and controlling the mop 520 to be switched to a pressing-down state to mop the first specific position; further, as shown in fig. 10 (b), the cleaning robot 500: at least one second specific position is determined on the path of the wiping member 520 moving from the point D to the point E, then a fourth traveling action is performed to drive the wiping member 520 to move to the second specific position, and the wiping member 520 is controlled to be switched to a press-down state to wipe the second specific position.
In some embodiments, the cleaning base station is provided with at least a docking station for docking a mop at the base station entrance, the method further comprising:
determining an entry area upon receiving a cleaning signal indicative of cleaning of the mop;
after the mopping piece is driven to move relative to the cleaning base station to mop the inlet of the base station, the cleaning robot is controlled to run to a butt joint position so that the mopping piece is in butt joint with the cleaning base station;
and executing a preset cleaning action on the mopping piece.
Specifically, the cleaning robot and the cleaning base station form a cleaning system, wherein the cleaning robot is provided with a mopping member, and the indoor environment is mopped by the mopping member, the mopping member mounted on the cleaning robot is, for example, a mop or a rolling brush, after the cleaning robot performs a cleaning task for a period of time, the degree of dirt of the mopping member increases, which results in a decrease in the cleaning capability of the cleaning robot, and then the mopping member of the cleaning robot can be mechanically butted with the cleaning base station to clean the mopping member, specifically, the mopping member of the cleaning robot is moved to the butting position of the cleaning base station.
In the embodiment of the application, when the cleaning robot receives a cleaning signal for cleaning the mopping piece, the inlet area is determined, then after the mopping piece is driven to move relative to the cleaning base station to mop the inlet of the base station, the cleaning robot is controlled to run to the butt joint position so that the mopping piece is in butt joint with the cleaning base station, and after the mopping piece is confirmed to be in butt joint with the cleaning base station, the cleaning robot executes a preset cleaning action on the mopping piece.
It should be understood that the washing signal may be generated by a user operating a corresponding control device and transmitted to the cleaning robot. The cleaning signal may be generated by the cleaning base station and output to the cleaning robot, for example, periodically output to the cleaning robot when the cleaning robot performs a cleaning task, so as to instruct the cleaning robot to recycle to the cleaning base station and clean the mop after performing a certain period of cleaning task. The cleaning signal may also be generated by the cleaning robot based on any one or combination of the time of performing the cleaning, the degree of soiling of the mop, the degree of wetting of the mop, the progress of cleaning the indoor environment, and the degree of soiling of the indoor environment, for example, the cleaning robot may generate the cleaning signal after the degree of soiling of the mop reaches a preset mop soiling threshold.
In some embodiments, the cleaning base station may generate corresponding docking information according to the docking condition between itself and the mopping piece, and send the docking information to the cleaning robot, and the cleaning robot may obtain the docking state between the cleaning base station and the mopping piece according to the received docking information; or the cleaning robot detects the butt joint condition of the mop piece and the cleaning base station to generate corresponding butt joint information, so that the cleaning base station can determine whether the mop piece and the cleaning base station are in butt joint or separated from each other according to the butt joint information, and the condition that the mop piece and the cleaning base station are in butt joint or separated from each other can be timely detected and confirmed.
As shown in fig. 11, the present embodiment further provides a cleaning robot 100 for implementing the steps of the method of the present embodiment, specifically, the cleaning robot includes a housing 510, a mop 520 and a control device 530, wherein the mop 520 and the control device 530 are respectively mounted on the housing 510, and the mop 520 is configured to perform a predetermined mopping action to clean an inlet area 420 abutted by the mop 520 or a floor. Further, the cleaning robot 500 provided by the present application further includes a traveling mechanism electrically connected to the control device 530, and the cleaning robot 500 may implement a traveling motion and a rotating motion in an indoor environment through the traveling mechanism.
The communication device realizes communication connection with the cleaning base station and completes the receiving and sending of corresponding signals, instructions and information.
As shown in fig. 12, in particular, the control device 530 includes a processor 531 and a memory 532.
Illustratively, the processor 531 and the memory 532 are connected by a bus 533, such as an I2C (Inter-integrated Circuit) bus 533.
Specifically, the Processor 531 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP) 531, or the like.
Specifically, the Memory 532 may be a Flash chip, a Read-Only Memory 532 (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
Wherein the processor 531 is adapted to run a computer program stored in the memory 532 and to carry out the steps of the aforementioned method when executing the computer program.
Illustratively, the processor 531 is configured to run a computer program stored in the memory 532 and to implement the following steps when executing the computer program:
determining an inlet area corresponding to the base station inlet;
controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area;
the mop is driven to move relative to the cleaning station to clean the station inlet.
As shown in fig. 13, an embodiment of the present application further provides a cleaning system 600, which includes a cleaning base station 400 and a cleaning robot 500 according to any embodiment of the present application.
In summary, the embodiment of the present application provides a cleaning method, a cleaning robot and a cleaning system, wherein the cleaning method is applied to the cleaning robot, the cleaning robot can be docked with a cleaning base station, the cleaning base station is formed with a base station inlet for accessing the cleaning robot, the cleaning robot is further provided with a mopping piece, and the method includes: determining an inlet area corresponding to the base station inlet; controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area; the drive drags to wipe the piece clean basic station relatively and moves in order to clean basic station entry to can clear up the dirty of basic station entrance fast high efficiency, especially the dirty of the edge of clean basic station entry, clean basic station entry can avoid the dirty secondary pollution that causes of basic station entrance effectively moreover.
It should be understood that the cleaning robot and the cleaning system described in the embodiments of the present application are only a specific example, and are not limited to the cleaning robot that performs the cleaning method provided in the embodiments of the present application, and are not limited to the cleaning system including the cleaning robot, and the cleaning robot 100 and the cleaning system in the embodiments of the present application may be implemented in other specific ways. For example, in other implementations, the cleaning robot 500 may have more or fewer components than the cleaning robot 500 shown in fig. 2, 11, and 12, and the cleaning system may have more or fewer components than the cleaning system 600 shown in fig. 13.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.
It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (14)

1. A cleaning method applied to a cleaning robot which can be docked with a cleaning base station formed with a base station entrance for accessing the cleaning robot, the cleaning robot being further provided with a mopping member, the method comprising:
determining an inlet area corresponding to the base station inlet;
controlling the cleaning robot to drive the mopping piece to move so that at least part of the mopping piece is positioned in the inlet area;
driving the mopping member to move relative to the cleaning base station to clean the base station inlet.
2. The cleaning method of claim 1, wherein said driving said scrubbing member in motion relative to said cleaning station comprises:
controlling the cleaning robot to perform a first traveling action to drive the mop to move; and/or
Controlling the cleaning robot to execute a first rotating action to drive the mopping piece to move;
wherein the locus of movement of the mop is at least partially coincident with the entry region.
3. The cleaning method of claim 2, wherein the cleaning base station includes a first side plate and a second side plate spaced apart from each other, and the base station entrance is formed between the first side plate and the second side plate, and wherein controlling the cleaning robot to perform a first travel motion to drive the mop in motion comprises:
controlling the cleaning robot to move towards the first side plate until the mopping piece moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
4. The cleaning method of claim 3, wherein said controlling said cleaning robot to perform a first travel motion to drive said mop in motion further comprises:
controlling the cleaning robot to reciprocate between the first side plate and the second side plate.
5. The cleaning method of claim 2, wherein the cleaning base station includes a first side plate and a second side plate spaced apart from each other, and the base station inlet is formed between the first side plate and the second side plate, and wherein controlling the cleaning robot to perform a first rotational motion to drive the mop to move comprises:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
And controlling the cleaning robot to drive the mopping piece to rotate towards the second side plate.
6. The cleaning method of claim 1, wherein the cleaning robot includes a housing, the scrubbing element is movably mounted to the housing, and the drive the scrubbing element to move relative to the cleaning station further comprises:
the mopping piece is driven to rotate relative to the shell.
7. The cleaning method of any one of claims 1-6, wherein said controlling said cleaning robot to move said scrubbing member to position at least a portion of said scrubbing member in said entrance area comprises:
determining a cleaning initiation area of the mop in accordance with the entrance area, wherein the cleaning initiation area is at least partially coincident with the entrance area;
and executing a second driving action to drive the mopping piece to move to the cleaning starting area.
8. The cleaning method of claim 7, wherein said performing a second travel motion to drive said mop to move to said cleaning initiation area comprises:
driving the mopping piece to rotate around the center of the cleaning robot so that the mopping piece is positioned between the center of the cleaning robot and the cleaning base station, and driving the mopping piece to the cleaning base station so that the mopping piece moves to the cleaning starting area; or
Driving the mopping piece to rotate around the center of the cleaning robot so as to enable the mopping piece to move to the cleaning starting area.
9. The cleaning method of claim 7, wherein said controlling said cleaning robot to move said scrubbing member such that at least a portion of said scrubbing member is located in said entrance area, further comprises:
before the mopping piece moves to the cleaning starting area or when the mopping piece moves to the cleaning starting area, the mopping piece is controlled to be switched to a preset pressing state.
10. The cleaning method of claim 9, wherein prior to said controlling said mop to switch to a preset depressed state, further comprising:
controlling the mop piece to be switched to a preset lifting state, wherein when the mop piece is controlled to be switched to the pressing state, the lifting state of the mop piece is released;
the method further comprises the following steps:
recording at least one first specific position of the mop in the lifting state;
controlling the cleaning robot to perform a third travel action to drive the mop to move to the at least one first specific position;
and controlling the mopping piece to be switched to the pressing-down state and cleaning the at least one first specific position.
11. The cleaning method of claim 9, wherein said controlling said cleaning robot to move said scrubbing member to position at least a portion of said scrubbing member in said entrance area, further comprises:
increasing the rotating speed of the mopping piece within a preset time period starting when the mopping piece is controlled to be switched into a preset pressing-down state, so that the rotating speed of the mopping piece reaches a preset target rotating speed after the preset time period;
the method further comprises the following steps:
recording at least one second specific position where the rotating speed of the mopping piece is less than the target rotating speed;
controlling the cleaning robot to perform a fourth traveling action to drive the mop to move to the at least one second specific position;
and controlling the mopping piece to be switched to the pressing-down state and cleaning the at least one second specific position.
12. The cleaning method of any one of claims 1-6, wherein the cleaning station is provided with an docking station at the station entrance for at least docking the mop, the method further comprising:
determining the entry area upon receipt of a cleaning signal indicative of cleaning of the mop;
after the mopping piece is driven to move relative to the cleaning base station to clean the base station entrance, controlling the cleaning robot to drive to the docking position so that the mopping piece is docked with the cleaning base station;
and executing a preset cleaning action on the mopping piece.
13. A cleaning robot, characterized in that the cleaning robot comprises:
a housing;
a mopping member mounted to the housing;
a control device mounted to the housing, the control device comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connection communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the steps of the cleaning method as claimed in any one of claims 1-12.
14. A cleaning system, characterized in that the cleaning robot comprises a cleaning robot and a cleaning base station, wherein the cleaning robot is the cleaning robot of claim 13.
CN202210952070.1A 2022-08-09 2022-08-09 Cleaning method, cleaning robot and cleaning system Active CN115462709B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210952070.1A CN115462709B (en) 2022-08-09 2022-08-09 Cleaning method, cleaning robot and cleaning system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210952070.1A CN115462709B (en) 2022-08-09 2022-08-09 Cleaning method, cleaning robot and cleaning system

Publications (2)

Publication Number Publication Date
CN115462709A true CN115462709A (en) 2022-12-13
CN115462709B CN115462709B (en) 2023-10-31

Family

ID=84366066

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210952070.1A Active CN115462709B (en) 2022-08-09 2022-08-09 Cleaning method, cleaning robot and cleaning system

Country Status (1)

Country Link
CN (1) CN115462709B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111123940A (en) * 2019-12-27 2020-05-08 科大讯飞股份有限公司 Sweeping planning method of sweeping robot, sweeping robot and sweeping system
CN112274065A (en) * 2020-10-29 2021-01-29 尚科宁家(中国)科技有限公司 Cleaning robot and control method thereof
CN112716376A (en) * 2020-12-25 2021-04-30 北京小狗吸尘器集团股份有限公司 Cleaning method and device based on sweeper, readable storage medium and electronic equipment
US20210330168A1 (en) * 2020-04-22 2021-10-28 Omachron Intellectual Property Inc. Robotic vacuum cleaner and docking station for a robotic vacuum cleaner
CN216569825U (en) * 2021-10-26 2022-05-24 广东乐生智能科技有限公司 Cleaning machines people basic station with wash mop and dust collection function
CN216823295U (en) * 2021-10-14 2022-06-28 尚科宁家(中国)科技有限公司 Self-cleaning base station and cleaning system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111123940A (en) * 2019-12-27 2020-05-08 科大讯飞股份有限公司 Sweeping planning method of sweeping robot, sweeping robot and sweeping system
US20210330168A1 (en) * 2020-04-22 2021-10-28 Omachron Intellectual Property Inc. Robotic vacuum cleaner and docking station for a robotic vacuum cleaner
CN112274065A (en) * 2020-10-29 2021-01-29 尚科宁家(中国)科技有限公司 Cleaning robot and control method thereof
CN112716376A (en) * 2020-12-25 2021-04-30 北京小狗吸尘器集团股份有限公司 Cleaning method and device based on sweeper, readable storage medium and electronic equipment
CN216823295U (en) * 2021-10-14 2022-06-28 尚科宁家(中国)科技有限公司 Self-cleaning base station and cleaning system
CN216569825U (en) * 2021-10-26 2022-05-24 广东乐生智能科技有限公司 Cleaning machines people basic station with wash mop and dust collection function

Also Published As

Publication number Publication date
CN115462709B (en) 2023-10-31

Similar Documents

Publication Publication Date Title
WO2019233493A1 (en) Cleaning robot, control method for same, and cleaning robot system
CA3126170C (en) Method, device, and apparatus for controlling mopping robot, and storage medium
WO2020125492A1 (en) Robot cleaner, cleaning method and automatically charging system
CN110403539A (en) Cleaning control method, clean robot and the storage medium of clean robot
KR102083188B1 (en) Cleaning robot and method for controlling the same
CN110477820B (en) Obstacle following cleaning method for cleaning robot, and storage medium
CN109662657A (en) A kind of base station and parking scheme
CN110507238B (en) Autonomous walking type dust collector
US20230404351A1 (en) Cleaning robot, cleaning system, and cleaning method
CN112971646B (en) Cleaning control method, device and system and storage medium
CN113974506B (en) Cleaning control method, device, cleaning robot and storage medium
US20130146090A1 (en) Method for controlling automatic cleaning devices
CN212996284U (en) Autonomous mobile device
CN113440063B (en) Autonomous mobile apparatus and control method
WO2024022360A1 (en) Method, device, and system for controlling cleaning robot, and storage medium
CN115462709A (en) Cleaning method, cleaning robot and cleaning system
CN213787190U (en) Autonomous mobile device
CN117414083A (en) Cleaning apparatus, control method and device thereof
CN113440064A (en) Autonomous mobile device and control method
CN113786128B (en) Cleaning robot, brushing control method and device thereof, and computer storage medium
CN116115121A (en) Cleaning robot, control method, device and system thereof and storage medium
KR20230117599A (en) Washing control method and device, computer readable storage medium and electronic device
CN114098556B (en) Control method of cleaning machine
CN115429155B (en) Control method, device and system of cleaning robot and storage medium
CN217013842U (en) Novel cleaning robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: 518000, Building 1, Yunzhongcheng A2902, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province

Applicant after: Yunjing intelligent (Shenzhen) Co.,Ltd.

Applicant after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd.

Address before: 518000 Unit 02, 2nd Floor, West Tower, Baidu International Building, No. 8, Haitian 1st Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong

Applicant before: Yunjing intelligent (Shenzhen) Co.,Ltd.

Applicant before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd.

GR01 Patent grant
GR01 Patent grant