CN115813260A

CN115813260A - Control method of cleaning robot and cleaning robot

Info

Publication number: CN115813260A
Application number: CN202111094604.3A
Authority: CN
Inventors: 高振东; 毋宏兵
Original assignee: Suzhou Letu Intelligent Technology Co ltd
Current assignee: Suzhou Letu Intelligent Technology Co ltd
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2023-03-21

Abstract

The disclosure relates to a cleaning robot and a control method thereof. The method comprises the following steps: acquiring a working mode of the cleaning robot under the condition that a corner of a working area is identified, wherein the working mode comprises a cleaning stage and/or a cleaning type; determining a cleaning pattern of the corner matching the operation mode; and controlling the cleaning robot to clean the corners of the working area according to the corner cleaning mode. In the embodiment of the disclosure, the current working mode of the robot is obtained, and the corner cleaning mode matched with the current working mode is determined, so that the cleaning effect is cleaner and cleaner compared with the traditional corner cleaning or unclean method.

Description

Control method of cleaning robot and cleaning robot

Technical Field

The disclosure relates to the technical field of automation control, in particular to a cleaning control method and a cleaning robot.

Background

With the development of science and technology, more and more robots advance into the lives of people, such as sweeping robots, cleaning robots and the like, and great convenience is brought to the production and the lives of people.

The cleaning robot generally operates according to a set route or a working mode. In the related art, when the cleaning robot cleans corners of a work area, the cleaning robot generally turns within a predetermined range or when the cleaning robot collides with a wall (or a fence), the cleaning robot moves backward and then turns at a predetermined angle. In the related art, turning within a preset range often cannot clean corner areas; after colliding the wall body, successively move back, turn with preset angle again, when dirty more on the rag, the collision can lead to dirty falling on the rag, also can't be clean with the corner region simultaneously, and cleaning machines people can't be according to the corresponding clean mode to the corner of current mode matching to avoid appearing can't clean the corner region, or the rubbish that drops after the cleanness pollutes the condition in corner region once more.

Therefore, a solution that can make the cleaning robot more effective and clean the corners of the working area is needed.

Disclosure of Invention

To overcome at least one of the problems of the related art, the present disclosure provides a control method of a cleaning robot and a cleaning robot.

According to a first aspect of embodiments of the present disclosure, there is provided a control method of a cleaning robot, including:

acquiring a working mode of the cleaning robot under the condition that a corner of a working area is identified, wherein the working mode comprises a cleaning stage and/or a cleaning type;

determining a cleaning pattern of the corner matching the operation mode;

and controlling the cleaning robot to clean corners of a working area according to the cleaning mode.

According to the control method of the cleaning robot, the current working mode of the robot is obtained, the corner cleaning mode matched with the current working mode is determined, and the cleaning robot is controlled to clean the corners in a proper corner cleaning mode under the current working mode, so that a better corner cleaning effect is obtained.

In one possible implementation, the corner cleaning means comprises at least one of:

a first cleaning mode including turning at a preset angle and in a preset direction;

a second cleaning mode, which comprises a step of moving straight until the vehicle collides with the boundary of the working area, retreating for a preset distance and turning in a preset angle and a preset direction;

a third cleaning mode comprising:

step (1), moving straight until colliding with the boundary of a working area, and retreating for a preset distance;

turning at a preset angle and a preset direction, and turning around for 180 degrees after turning;

repeatedly executing the step (1) to a preset number of times and then executing the step (2), or alternately executing the step (1) and the step (2) to a preset number of times;

the preset direction comprises a direction far away from corners, and the preset angle comprises the advancing direction of the cleaning robot and an included angle of the preset direction.

In one possible implementation, the determining the cleaning manner of the corner matching with the operation mode includes:

in case the operation mode comprises one cleaning phase, the corner cleaning mode comprises the third cleaning mode.

In one possible implementation, the determining a corner cleaning manner matching the operation mode includes:

in the case that the operation mode includes a plurality of cleaning stages, if the cleaning robot operates in a first cleaning stage, the cleaning manner of the matched corner includes the first cleaning manner;

if the cleaning robot works in the second and above cleaning stages, the matched corner cleaning mode comprises the second cleaning mode.

if the working mode comprises a dry mopping type, the cleaning mode of the matched corner comprises the first cleaning mode;

if the working mode comprises a wet mopping type, the cleaning mode of the matched corner comprises the second cleaning mode.

In one possible implementation, the cleaning phase includes a first cleaning phase and a second cleaning phase, the cleaning type corresponding to the first cleaning phase includes a dry mopping type and/or a wet mopping type, and the cleaning type corresponding to the second cleaning phase includes a dry mopping type and/or a wet mopping type.

In a possible implementation manner, the cleaning type corresponding to the first cleaning stage is a dry mopping type, and the cleaning type corresponding to the second cleaning stage is a wet mopping type.

In one possible implementation, the first cleaning phase comprises: cleaning the whole working area;

the second cleaning stage comprises: the entire work area is cleaned.

In one possible implementation, cleaning the entire working area in the first cleaning stage comprises:

cleaning the boundary of the working area, and then cleaning the working area in a bow-shaped mode, or cleaning the working area in the bow-shaped mode, and then cleaning the boundary of the working area;

cleaning the entire work area in the second cleaning stage comprises:

after said first cleaning stage, the boundaries of the work area are cleaned again and the work area is cleaned in a zigzag manner or the work area is cleaned again in a zigzag manner and the boundaries of the work area are cleaned.

In one possible implementation, the first and second cleaning phases are of the same cleaning type.

the second cleaning stage comprises: the boundaries of the work area are cleaned.

cleaning the boundary of the working area firstly, and then cleaning the working area in a bow-shaped mode, or cleaning the working area firstly in the bow-shaped mode and then cleaning the boundary of the working area;

the second cleaning stage comprises:

after the first cleaning stage, the boundaries of the work area are cleaned again.

According to a second aspect of an embodiment of the present disclosure, there is provided a cleaning robot including: a main body;

a memory for storing processor-executable instructions;

and a processor which executes the instructions to implement the control method of the cleaning robot according to any one of the embodiments of the present disclosure.

In one possible implementation, the cleaning robot further includes: and the position sensor is used for acquiring the position information of the robot.

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.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a diagram illustrating an application scenario of a control method of a cleaning robot according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of controlling a cleaning robot in accordance with an exemplary embodiment;

FIG. 3 is a diagram illustrating an application scenario of a control method of a cleaning robot in accordance with an exemplary embodiment;

FIG. 4 is a diagram illustrating an application scenario of a control method of a cleaning robot in accordance with an exemplary embodiment;

fig. 5 is a diagram illustrating an application scenario of a control method of a cleaning robot according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Fig. 1 is a diagram illustrating an application scenario of a control method of a cleaning robot according to an exemplary embodiment. Referring to fig. 1, a cleaning robot 100 performs a cleaning work in a living room. The figure includes the boundary 105 of the work area, the charging station 104, the sofa 107, etc. Wherein the boundary 105 of the working area is used to define a working area 106 and a non-working area, such as outside a room, and in the present application, the boundary of the working area includes walls and may also include a bottom contour of a sofa 107 or other home. The cleaning robot 100 separates the cleaning of the working area 106 and the cleaning along the edge during the cleaning process, wherein the cleaning along the edge includes the cleaning along the boundary of the working area. In the cleaning process along the boundary 105, corners are encountered, the corners are formed on adjacent walls, adjacent homes, special-shaped home corners and the like, and areas which are difficult to clean by the cleaning robot are encountered. And determining the cleaning mode of the corner matched with the working mode according to the working mode of the cleaning robot. In one example, the corner cleaning approach may include: during the first edgewise cleaning, recognizing the corners of the working area, turning at a preset angle, referring to the path 101, without colliding with the wall during the process to prevent dust from falling; in the second edgewise cleaning process, the corners of the work area are recognized, and the work area is first driven forward, referred to as a path 102, collided with a wall, then retreated, referred to as a path 103, and then turned at a preset angle, referred to as a path 101. By the corner cleaning mode, the corner can be cleaned more cleanly.

The control method of the cleaning robot according to the present disclosure will be described in detail with reference to fig. 2. Fig. 2 is a method flowchart of an embodiment of a control method of a cleaning robot provided by the present disclosure. Although the present disclosure provides method steps as illustrated in the following examples or figures, more or fewer steps may be included in the method based on conventional or non-inventive efforts. In the case of steps where there are no logically necessary causal relationships, the order of execution of the steps is not limited to that provided by the disclosed embodiments.

Specifically, as shown in fig. 2, the method for controlling a cleaning robot according to the present disclosure includes:

in case a corner of the work area is identified, a work mode of the cleaning robot is obtained, step 201, the work mode including a cleaning phase and/or a cleaning type.

In the embodiment of the disclosure, the cleaning robot includes a robot capable of navigating, working and charging automatically, and a cleaning medium, such as a mop, is arranged on the cleaning robot. The cleaning type may include a dry mopping type and a wet mopping type. The cleaning stages can include a first cleaning stage, a second cleaning stage … nth cleaning stage, wherein the first cleaning stage, the second cleaning stage … nth cleaning stage have sequential in time. The cleaning phase may also include a total number of cleaning phases, e.g., a full stroke divided into one cleaning phase and a full stroke divided into two cleaning phases. The cleaning phase and the type of operation are set in advance before the cleaning robot starts to operate. The operational modes may include a cleaning phase alone, a cleaning type alone, and a combination of a cleaning phase and a cleaning type. The cleaning phase is combined with a cleaning type, such as a first cleaning phase corresponding to a dry mopping cleaning type and a second cleaning phase corresponding to a wet mopping cleaning type.

In the embodiment of the present disclosure, the method for identifying the corner of the working area may include, in one example: and positioning by using a vision sensor and a laser radar sensor, matching the position of the cleaning robot with a preset working map, and determining whether corners exist in front of the cleaning robot. In another example, the distance between the cleaning robot and a wall or an obstacle may be detected by an infrared sensor or an ultrasonic sensor, for example, in the process of traveling along a course, if the obstacle or the wall exists in different directions of the cleaning robot, a corner may be present.

In step 202, the cleaning pattern of the corner matching the operation mode is determined.

In the embodiment of the present disclosure, the corner cleaning manner may include turning in a preset angle and a preset direction; the vehicle runs straight until the vehicle collides with the boundary of a working area, retreats for a preset distance, and turns in a preset angle and a preset direction; the vehicle runs straight until colliding with the boundary of the working area, retreats for a preset distance, turns in a preset angle and a preset direction, turns around, runs straight until colliding with the boundary of the working area, retreats for a preset distance, and turns in a preset angle and a preset direction; and repeatedly cleaning back and forth, left and right, and the like within the corner area. According to the present disclosure, according to the current working mode of the cleaning robot, for example, the cleaning robot is currently working in the first working stage, the cleaning manner of the corresponding corner may include turning in a preset angle and a preset direction. For another example, when the cleaning robot is currently working in the second working stage, the cleaning manner of the corresponding corner may include going straight until colliding with the boundary of the working area, retreating by a preset distance, turning in a preset angle and a preset direction, and the like.

And step 203, controlling the cleaning robot to clean the corners of the working area according to the corner cleaning mode.

In the embodiment of the disclosure, in the process of controlling the cleaning robot to clean according to the corner cleaning mode, the magnitude and the direction of the steering angle of the cleaning robot can be determined by means of an inertial navigation positioning sensor and an infrared or distance sensor. The collision of the cleaning robot with the boundary of the work area may be sensed by means of a collision sensor. After the sensor data are acquired, the cleaning mode of the corresponding corner is determined, and a control command is transmitted to the walking part of the cleaning robot to complete the corresponding action.

According to the control method of the cleaning robot, the current working mode of the robot is obtained, the corner cleaning mode matched with the current working mode is determined, and the cleaning robot is controlled to clean corners in a proper corner cleaning mode under the current working mode, so that a better corner cleaning effect is obtained.

For example, when the cleaning robot is currently operated in the first cleaning stage, the cleaning robot is controlled to turn at a preset angle. Because the cleanliness of the working area is low in the first cleaning stage, the mop cloth is back stained with more dirt, and therefore the mop cloth can turn at a preset angle to quickly turn over a corner area, and the phenomenon that the dirt falls off due to collision in the corner area is prevented. For another example, when the cleaning robot works in the second cleaning stage, the cleaning robot is controlled to collide, retreat and turn, so that the inner areas of corners can be deeply cleaned, and because the cleanliness of the second cleaning stage is relatively high, the collision cannot cause dirty falling, the distance between the cleaning robot and the boundary can be well controlled, the cleaning robot can turn at a short distance from the boundary, and the deep cleaning of the corner areas is realized. Compared with the traditional corner cleaning or non-cleaning method, the cleaning effect can be neater and cleaner by the embodiment of the disclosure.

a third cleaning mode comprising:

In the embodiment of the present disclosure, the first cleaning manner may refer to a route 101 in fig. 1, that is, when the cleaning robot travels to a corner area, it turns at a preset angle and in a preset direction. The predetermined angle may include 0-90 degrees, and the predetermined angle is related to a distance of the cleaning robot from the front boundary, and generally, the larger the distance, the smaller the angle. The predetermined direction may include a direction coincident with the edgewise direction, and as shown with reference to fig. 1, for example, the direction along the borderline cleaning includes a clockwise direction, and the predetermined direction may include a clockwise direction. In one example, the preset direction includes a direction away from a corner, and the preset angle includes an angle between a forward direction of the cleaning robot and the preset direction. In the embodiment of the present disclosure, the second cleaning manner may refer to the route 102, the route 103, and the route 101 in fig. 1, including going straight until colliding with the boundary of the work area, retreating by a preset distance, and turning at a preset angle and in a preset direction. In the disclosed embodiment, the backward preset distance may include a distance of a transverse half body of the backward cleaning robot, for example, a half distance of two wheels, so that the cleaning robot can sufficiently abut against the boundary of the working area.

Fig. 3 and 4 are diagrams illustrating an application scenario of a control method of a cleaning robot according to an exemplary embodiment. Referring to fig. 3, in the third cleaning manner in the embodiment of the present disclosure, step (1) is repeatedly performed, as in a route 301, in one example, the preset number may include one or more times, and then step (2) is performed, as in a route 302. In another example, for example, the second time of edgewise cleaning is performed in a counterclockwise direction, and the step (1) is repeatedly performed to a preset number of times and then the step (2) is performed according to the third cleaning method, so that the purpose of intensively cleaning corners can be achieved for many times. Referring to fig. 4, in the third cleaning manner, the alternately performing the step (1) and the step (2) to the preset number of times may include: first, step (1) is performed, referring to the route 401, going straight until colliding to the boundary of the work area, and retreating by a preset distance. And (2) referring to the route 402 and the route 403, turning the vehicle at a preset angle and in a preset direction, and turning the vehicle around by 180 degrees after turning. The third re-executes step (1), referring to route 404. The fourth performs step (2) again, referring to route 405, and so on. In the embodiment of the present disclosure, the third cleaning manner can perform an intensive and deep cleaning on the corner area.

in the case that the operation mode includes a plurality of cleaning stages, if the cleaning robot operates in a first cleaning stage, the matched corner cleaning manner includes a first cleaning manner, that is, turning in a preset angle and a preset direction;

if the cleaning robot works in the second and above cleaning stages, the matched corner cleaning modes include a second cleaning mode, i.e., the cleaning robot travels straight until colliding with the boundary of the working area, retreats by a preset distance, and turns in a preset angle and a preset direction.

In an embodiment of the disclosure, the plurality of cleaning stages may include a first cleaning stage … nth cleaning stage, wherein the first cleaning stage … nth cleaning stage has chronological continuity. In one example, if the cleaning robot operates in the first cleaning stage, the matched corner cleaning manner includes the first cleaning manner in the above embodiment, turning in a preset angle and a preset direction. In another example, if the cleaning robot operates in the second and above cleaning stages, the matched cleaning scheme includes the second cleaning manner in the above embodiment, and if the cleaning robot operates in the second and above cleaning stages, the matched corner cleaning scheme includes going straight until colliding with the boundary of the working area, going backwards by a preset distance, and turning in a preset angle and a preset direction.

This disclosed embodiment, when first clean stage, the cleanliness of work area is lower, returns to be infected with more dirty on the mop, consequently, turns to can be quick to turn over the corner region with preset angle, prevents to cause dirty falling because of the collision in the corner region. For another example, when the robot works in the second or more cleaning stages, the robot is controlled to collide, retreat and turn, so that the inner areas of corners can be deeply cleaned.

in the case that the working mode includes one cleaning stage, determining that the cleaning mode for the matched corner includes a third cleaning mode, namely step (1), moving straight until the matched corner collides with the boundary of the working area, and retreating by a preset distance;

and (3) repeatedly executing the step (1) to a preset number of times and then executing the step (2), or alternately executing the step (1) and the step (2) to a preset number of times.

In the embodiment of the present disclosure, the working mode includes a cleaning stage, that is, only one cleaning process is performed on the corners of the same working area in one cleaning process. In this case, cleaning is performed in the third cleaning mode in the above-described embodiment. The third cleaning mode in the embodiments of the present disclosure is specifically implemented as follows: step (1), moving straight until colliding with the boundary of a working area, and retreating for a preset distance; turning in a preset angle and a preset direction; after the step (1) is repeatedly executed to the preset number of times, the step (2) is executed, or the step (1) and the step (2) are alternately executed to the preset number of times, which is the same as the above embodiment and is not described herein again.

This disclosed embodiment, to the less mode of operation of the edgewise clean number of times of work area, adopt above-mentioned third clean mode, can play the effect in deep cleaning corner.

In one possible implementation, the determining the cleaning manner of the corner matching with the operation mode comprises:

if the working mode comprises a dry mopping type, the matched corner cleaning mode comprises a first cleaning mode, namely turning at a preset angle and in a preset direction;

if the working mode includes a wet mopping type, the matched corner cleaning mode includes a first cleaning mode, i.e., the corner cleaning mode travels straight until the corner cleaning mode collides with the boundary of the working area, retreats by a preset distance, and turns in a preset angle and a preset direction.

In the embodiment of the present disclosure, in the dry mopping type, dust is not firmly adhered to the mop, and thus the dust is easily dropped due to the collision step of the second cleaning method, and thus, in the dry mopping type, the cleaning method of the matched corners includes turning in a preset angle and a preset direction. In the wet mopping type, dust is firmly adhered to the mop cloth, and the corner area can be deeply cleaned through a second cleaning mode.

The embodiment of the disclosure determines the cleaning mode of the matched corner according to different cleaning types, and improves the cleaning effect.

In one possible implementation, the operation mode includes a first cleaning stage and a second cleaning stage, the cleaning type corresponding to the first cleaning stage includes a dry mopping type and/or a wet mopping type, and the cleaning type corresponding to the second cleaning stage includes a dry mopping type and/or a wet mopping type.

In the embodiment of the disclosure, the combination of the cleaning stage and the mopping type may include: the first cleaning stage may include a dry mopping type, and the second cleaning stage may also include a dry mopping type; the first cleaning stage may comprise a wet mopping type, and the second cleaning stage may also comprise a wet mopping type; the first cleaning stage may comprise a dry mopping type and the second cleaning stage may comprise a wet mopping type; the first cleaning stage may include a wet mopping type and the second cleaning stage may include a dry mopping type.

According to the embodiment of the invention, the corner area can be cleaned for multiple times no matter in a dry mopping type or a wet mopping type, and the purpose of improving the cleanliness of the corner area is achieved.

In one possible implementation, the first cleaning phase comprises: cleaning the whole working area; the second cleaning stage comprises: the entire work area is cleaned.

Fig. 5 is a diagram illustrating an application scenario of a control method of a cleaning robot according to an exemplary embodiment. Referring to fig. 5, the first cleaning phase corresponds to a dry mopping type, the second cleaning phase corresponds to a wet mopping type, and cleaning the whole working area in the first cleaning phase comprises:

cleaning the entire work area in the second cleaning stage comprises:

after said first cleaning stage, the boundaries of the work area are cleaned again and the work area is cleaned in a bow-shaped manner or the work area is cleaned again and the boundaries of the work area are cleaned.

In the embodiment of the disclosure, in the first cleaning stage, the boundary of the working area, such as the route 501, is cleaned along the boundary of the working area for one circle, and the corner cleaning manner may include turning at a preset angle and in a preset direction corresponding to the first cleaning stage. The work area is cleaned in a zigzag manner, such as a route 502. In the embodiment of the disclosure, the cleaning robot can utilize the combination of the laser sensor and the SLAM technology to comprehensively cover the whole working area according to the zigzag path in the process of cleaning in the I-shaped mode. After the working area is cleaned in the second cleaning stage, the boundary of the cleaning area is cleaned again, referring to the path 503, and the corner cleaning manner includes going straight until hitting the boundary of the working area, retreating by a preset distance, and turning at a preset angle and in a preset direction, corresponding to the second cleaning stage. Finally, referring to the route 503, the work area is cleaned in a zigzag manner. Of course, in the embodiment of the present disclosure, the sequence of cleaning the boundary of the working area and cleaning the working area in the zigzag manner may be changed for the first cleaning stage and the second cleaning stage, the working area may be cleaned in the zigzag manner in the first cleaning stage, the boundary of the working area may be cleaned, and the working area and the boundary of the working area may be cleaned in the zigzag manner in the second cleaning stage.

In an embodiment of the disclosure, the determining a corner cleaning manner matching with the operation mode includes:

in the event that a first cleaning session identifies a corner of a work area, determining a manner of cleaning of the corner that matches the first cleaning session comprises: turning at a preset angle and in a preset direction;

in the event that a second cleaning session identifies a corner of the work area, determining a manner of cleaning of the corner that matches the second cleaning session comprises: the vehicle runs straight until the vehicle collides with the boundary of the working area, retreats for a preset distance, and turns in a preset angle and a preset direction.

The disclosed embodiment adopts two types of dry and wet mopping, which respectively correspond to a first cleaning stage and a second cleaning stage. For each cleaning stage, the cleaning process is divided into edge cleaning and cleaning of the working area, and in the edge cleaning process, different corner cleaning modes are adopted, so that the working area and the boundary of the working area can be cleaned comprehensively, and the corners of the working area can be cleaned deeply.

In one possible implementation, the cleaning types of the first and second cleaning phases are the same. The first and second cleaning stages are both of a dry mopping type or the first and second cleaning stages are both of a wet mopping type.

In one possible implementation, the first cleaning phase comprises: cleaning the whole working area; the second cleaning stage comprises: the boundaries of the work area are cleaned.

In one possible implementation, the first cleaning phase comprises: cleaning the boundary of the working area firstly, and then cleaning the working area in a bow-shaped mode, or cleaning the working area firstly in the bow-shaped mode and then cleaning the boundary of the working area;

the second cleaning stage comprises:

In the embodiment of the disclosure, the mopping types of the first cleaning stage and the second cleaning stage are the same, and can be a dry mopping type or a wet mopping type. In the first cleaning stage, the boundary of the working area is cleaned first, referring to the path 501, and the corner cleaning manner may include turning at a preset angle and a preset direction corresponding to the first cleaning stage. The work area is then cleaned in a zigzag fashion, with reference to the route 502. After the second cleaning stage, the boundary of the work area is cleaned again, referring to the path 503, and the corner cleaning manner includes going straight until hitting the boundary of the work area, retreating by a preset distance, and turning at a preset angle and in a preset direction, corresponding to the second cleaning stage. Of course, in the embodiment of the present disclosure, for the first cleaning stage and the second cleaning stage, the sequence of cleaning the boundary of the working area and cleaning the working area in the zigzag manner may be changed, and in the first cleaning stage, the working area may be cleaned in the zigzag manner first, and then the boundary of the working area may be cleaned.

in the case that a corner of a work area is identified in a first cleaning stage, determining that a cleaning manner of the corner matching the first cleaning stage includes the first cleaning manner, i.e., turning at a preset angle and in a preset direction;

in the case where the corners of the work area are recognized in the second cleaning stage, the cleaning patterns of the corners determined to match the second cleaning stage include the second cleaning pattern, i.e., the corner is moved straight until it collides with the boundary of the work area, retreats by a predetermined distance, and turns at a predetermined angle and in a predetermined direction.

In the embodiment of the disclosure, the mopping types corresponding to the first cleaning stage and the second cleaning stage are the same, and corresponding to a cleaning robot which cannot perform dry-wet conversion, by the scheme disclosed in the application, the comprehensive cleaning of the working area and the boundary of the working area can be realized, and the corners of the working area can be deeply cleaned.

The disclosed embodiments also include a cleaning robot, including:

a main body;

a memory for storing processor-executable instructions;

and the processor is used for realizing the control method of the cleaning robot in the embodiment of the disclosure when executing the instructions.

In the embodiment of the present disclosure, the cleaning robot may further include a traveling member, a driving member, a cleaning member, a position sensor, an obstacle detector, and the like, in addition to the above-described members. A collision sensor, an obstacle detector, which may include an infrared sensor, an ultrasonic sensor, a laser radar sensor, a vision sensor, and the like, is provided at the front of the body, wherein the ultrasonic sensor, when operated, transmits an ultrasonic signal onto a traveling path of the robot and receives an ultrasonic signal reflected from an obstacle to determine whether the obstacle is present and a distance from the obstacle, and the infrared sensor includes an infrared transmitter and a receiver that receives infrared rays reflected from the obstacle to determine whether the obstacle is present and a distance from the obstacle. The robot detects surrounding obstacles such as walls, sofas, etc. by the obstacle area detector. In one example, the cleaning robot is further provided with a distance detector, such as an encoder attached to the travel wheel, and measures the travel distance of the robot by counting the number of rotations of the wheel. In addition, the robot is provided with a direction sensor, such as a code wheel, an acceleration sensor or a gyroscope, for judging and controlling the traveling direction of the robot. The cleaning means comprise mops, tanks etc. which can be automatically moved to the base station to change the mops in case the robot mops get dirty. The dry mop can be changed into a wet mop through the water tank.

In one possible implementation the cleaning robot further comprises: and the position sensor is used for acquiring the position information of the robot. The position sensor comprises the infrared sensor, the ultrasonic sensor, the laser radar sensor and the visual sensor, and the description of the disclosure is omitted.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method of a cleaning robot, characterized by comprising:

determining a cleaning pattern of the corner matching the operation mode;

and controlling the cleaning robot to clean the corners of the working area according to the corner cleaning mode.

2. The control method of a cleaning robot according to claim 1, wherein the corner cleaning manner includes at least one of:

a third cleaning mode comprising:

3. The control method of a cleaning robot according to claim 2, wherein the determining of the cleaning manner of the corner matching the operation mode includes:

4. The method of claim 2, wherein the determining a corner cleaning manner matching the operation mode comprises:

in the case that the operation mode includes a plurality of cleaning stages, if the cleaning robot operates in a first cleaning stage, the matched corner cleaning manner includes the first cleaning manner;

5. The control method of a cleaning robot according to claim 2, wherein the determining of the cleaning manner of the corner matching the operation mode includes:

6. The method of claim 4, wherein the cleaning stages include a first cleaning stage corresponding to a cleaning type including a dry mopping type and/or a wet mopping type and a second cleaning stage corresponding to a cleaning type including a dry mopping type and/or a wet mopping type.

7. The method of claim 6, wherein the cleaning type corresponding to the first cleaning stage is a dry mopping type, and the cleaning type corresponding to the second cleaning stage is a wet mopping type.

8. The control method of a cleaning robot according to claim 7,

the first cleaning stage comprises: cleaning the whole working area;

the second cleaning stage comprises: the entire work area is cleaned.

9. The control method of a cleaning robot according to claim 8,

cleaning the entire working area in the first cleaning stage comprises:

cleaning the entire work area in the second cleaning stage comprises:

10. The control method of a cleaning robot according to claim 6, wherein the cleaning types of the first cleaning stage and the second cleaning stage are the same.

11. The control method of a cleaning robot according to claim 10,

the first cleaning stage comprises: cleaning the whole working area;

12. The control method of a cleaning robot according to claim 11,

cleaning the entire working area in the first cleaning stage comprises:

the second cleaning stage comprises:

13. A cleaning robot, characterized by comprising:

a main body;

a memory for storing processor-executable instructions;

a processor implementing the control method of the cleaning robot of any one of claims 1 to 10 when executing the instructions.

14. The cleaning robot of claim 13, further comprising:

and the position sensor is used for acquiring the position information of the robot.