WO2019128442A1

WO2019128442A1 - Cleaning robot and control method therefor

Info

Publication number: WO2019128442A1
Application number: PCT/CN2018/112316
Authority: WO
Inventors: 汤进举; 吴飞
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2017-12-29
Filing date: 2018-10-29
Publication date: 2019-07-04
Also published as: CN109984664A

Abstract

Provided are a cleaning robot and a control method therefor. The cleaning robot comprises a suction module suctioned to a working surface, a cleaning module, a walking module and a control module, and the cleaning robot has a working mode and a power saving mode, wherein a suction pressure P1 of the suction module on the working surface when in the power saving mode is less than a suction pressure P2 of the suction module on the working surface when in the working mode. The suction module is suctioned to the working surface by a relatively small suction pressure when in a non-working state, so that the effect of increasing the service life of a fan and the service life of the cleaning robot is achieved, the electricity can be saved on, and the cleaning robot can be more durable and more humanized.

Description

Cleaning robot and its control method

cross reference

The present application is hereby incorporated by reference in its entirety in its entirety in its entirety in its entirety in the entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire entire all

Technical field

The present application relates to a robot, and more particularly to a cleaning robot that can work on a variety of media surfaces and can save power, and a control method thereof.

Background technique

When the existing cleaning robot is working, it is adsorbed on the working surface by the suction cup, and the negative suction pressure is applied to the suction cup to be adsorbed on the working surface, and then cleaned by the cleaning module; if the cleaning robot is working or not, When adsorbed on the working surface with the same adsorption pressure, it will inevitably lead to short life and easy loss of the fan, which indirectly affects the life of the machine and causes energy waste to a certain extent. In addition, the existing cleaning robots are adsorbed on different media surfaces with the same adsorption pressure, which also causes energy waste to a certain extent, and reduces the life of the fan and the cleaning robot to some extent.

In view of this, it is necessary to provide an improved cleaning robot and its control method to be improved to solve the above problems.

Summary of the invention

The purpose of the present application is to provide a cleaning robot that can operate on a variety of media surfaces and that can save power, and a control method thereof.

To achieve the above object, the present application provides a cleaning robot including an adsorption module, a cleaning module, a walking module and a control module adsorbed on a working surface, the cleaning robot having an operation mode and a power saving mode, and the power saving mode The adsorption pressure P ₂ of the adsorption module on the working surface when the adsorption pressure P ₁ of the adsorption module is smaller than the working mode is smaller than the adsorption pressure P _{2 of} the adsorption module on the working surface.

As a further improvement of the present application, the cleaning robot further includes a roughness detecting component that detects a working surface roughness, a first sensor that detects a tilt angle of the working surface, and a second sensor that detects a weight of the cleaning robot, the roughness detecting component The first sensor and the second sensor are all communicatively coupled to the control module.

As a further improvement of the present application, the first sensor is a gyro sensor, or a geomagnetic sensor, or an acceleration sensor.

As a further improvement of the present application, the second sensor is a gravity sensor or a pressure sensor.

As a further improvement of the present application, the roughness detecting component includes at least one of an ammeter and a speedometer.

As a further improvement of the present application, the ammeter is used to detect an operating current of the cleaning robot, and the speedometer is configured to detect a walking speed of the cleaning robot.

In order to achieve the above object, the present application further provides a control method for a cleaning robot, which has the following steps: the control module adjusts the adsorption pressure of the adsorption module according to the working state of the cleaning robot, and the adsorption module is in the power saving mode when the cleaning robot is in the power saving mode. The adsorption pressure on the working surface is P ₁ , and the adsorption pressure of the adsorption module on the working surface is P ₂ when the cleaning robot is in the working mode, and P _{1 is} smaller than P ₂ .

As a further improvement of the present application, P ₁ ≥ 40% P ₂ .

As a further improvement of the present application, the cleaning robot further includes a roughness detecting component that detects the roughness of the working surface, a first sensor that detects the tilt angle of the working surface, and a second sensor that detects the weight of the cleaning robot; the control method further includes The following steps: the roughness detecting component detects the roughness of the working surface and transmits the roughness value to the control module, the first sensor detects the tilt angle of the working surface and transmits the tilt angle to the control module, and the second sensor detects the weight of the cleaning robot and The weight is transferred to the control module, and the control module calculates the minimum adsorption pressure P _{3 that the} cleaning robot adsorbs on the working surface according to the roughness, the inclination angle and the weight.

As a further improvement of the present application, the roughness detecting component includes at least one of an ammeter and a speedometer, and the control module calculates a friction coefficient of the working surface according to at least one of an operating current and a walking speed of the cleaning robot, The control module determines the minimum adsorption pressure P ₃ that the cleaning robot adsorbs on the working surface according to the friction coefficient, the inclination angle and the weight, and P _{2 is} not less than P ₃ .

As a further improvement of the present application, the control method further includes the following steps: when the cleaning robot moves on the working surface, the control module records the minimum adsorption pressure required by the cleaning robot at any position on the working surface, and the cleaning robot is converted from the working mode to the power saving mode. In the mode, the walking module moves to the position where the minimum adsorption pressure required on the working surface is the smallest, and P ₂ gradually decreases to P ₁ during the movement.

As a further improvement of the present application, when the cleaning robot is switched from the working mode to the power saving mode, the walking module stops moving, and P _{2 is} gradually reduced to P ₁ .

As a further improvement of the present application, when the cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the original position, and P ₂ gradually decreases to P ₁ during the moving process.

As a further improvement of the present application, the control method further includes the following steps: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to move on the working surface according to the planned path, and encounters an obstacle to the cleaning robot. In an emergency, the control module controls the walking module to stop moving and issue an alarm. After the alarm ends, it is determined whether the cleaning robot is removed from the working surface, and if so, the work ends; if not, the cleaning robot is operated. The mode is switched to the power saving mode.

As a further improvement of the present application, the control method further includes the following steps: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to move on the working surface according to the planned path; after the cleaning is completed, the control module sends out The signal is completed, and after the predetermined time t, it is judged whether the cleaning robot is removed from the work surface, and if so, the work ends; if not, the cleaning robot is controlled to change from the work mode to the power save mode.

The present application also provides a cleaning robot including a memory, a processor, and an adsorption module affixed to the work surface, the memory for storing one or more computer instructions, wherein the one or more computer instructions are The processor is implemented when executed:

Adjusting the adsorption pressure of the adsorption module according to the working state of the cleaning robot, so that the adsorption pressure of the adsorption module on the working surface is P ₁ when the cleaning robot is in the power saving mode, and the adsorption module is on the working surface when the cleaning robot is in the working mode The adsorption pressure is P ₂ and P _{1 is} less than P ₂ .

The present application also provides a computer readable storage medium storing a computer program, wherein the computer program causes the computer to execute the control method of the cleaning robot as described in any one of the above.

The beneficial effects of the present application are: when the adsorption pressure P ₁ of the adsorption module on the working surface is smaller than the adsorption pressure P _{2 of} the adsorption module on the working surface when the adsorption module is in the power saving mode of the present application, in the non-working state Adsorbed to the working surface with a small adsorption pressure, which can increase the life of the fan and clean the life of the robot, and save electricity, making the cleaner more durable and more user-friendly.

DRAWINGS

1 is a schematic structural view of a frame of a cleaning robot of the present application;

2 is a control flow chart of the cleaning robot of the present application in a preferred embodiment;

3 is a control flow chart of the cleaning robot of the present application in another preferred embodiment;

FIG. 4 is a schematic structural diagram of a cleaning robot provided by the present application.

Detailed ways

In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be described in detail below with reference to specific embodiments.

Referring to FIG. 1 , the cleaning robot of the present application includes an adsorption module adsorbed on the working surface, a cleaning module for cleaning the working surface, a walking module and a control module for driving the cleaning robot to move on the working surface according to the planned path, and adsorbing The module, the cleaning module and the walking module are all in communication with the control module.

The adsorption module includes a suction cup for adsorbing on the working surface, a fan for providing a negative pressure to the suction cup, and the fan rotation provides a negative pressure to the suction cup to adsorb the cleaning robot on the working surface, and the adsorption force thereof Usually expressed as the adsorption pressure of the suction cup.

The cleaning robot has a working mode when the cleaning module cleans the working surface, a cleaning mode in which the cleaning module does not work, and the cleaning robot is placed on the working surface. The adsorption pressure of the adsorption module on the working surface is adjustable. In the power saving mode, the adsorption pressure P1 of the adsorption module on the working surface is smaller than the adsorption pressure P2 of the adsorption module on the working surface when the working mode is lower than the working mode.

The cleaning robot can work on working surfaces of different media such as glass, wall, solar panel, etc. Due to different friction coefficients of various working surfaces, the cleaning robots need different adsorption pressures P1 and P2 on their surfaces. For example, on a smoother glass window surface, the adsorption pressure P1 in the working mode is 3.0 KPa, and the adsorption pressure P2 in the power saving mode is 1.4 KPa; on a wall with a large friction coefficient, the corresponding adsorption needs to be increased. Pressure.

The cleaning robot further includes a roughness detecting component for detecting a roughness of the working surface, a first sensor for detecting a tilt angle of the working surface, a second sensor for detecting a weight of the cleaning robot, the roughness detecting component, the first sensor, and The second sensor is in communication with the control module. Wherein, the first sensor is any sensor capable of detecting the tilt angle of the working surface, including but not limited to a gyro sensor, or a geomagnetic sensor, or an acceleration sensor. The second sensor is any sensor capable of detecting the weight of the cleaning robot itself, including but not limited to a gravity sensor or a pressure sensor.

The control module can calculate a minimum adsorption pressure P3 required for the cleaning robot to adsorb on the working surface according to the gravity of the cleaning robot, the roughness of the working surface, and the inclination angle of the working surface. Preferably, in the power saving mode, the adsorption module is adsorbed to the working surface with a minimum adsorption pressure P3. The cleaning robot can automatically obtain the required minimum adsorption pressure P3 when working on the working surface of any medium through the cooperation of the sensor component and the control module, thereby adaptively adjusting the adsorption pressure.

Specifically, the roughness detecting component includes at least one of an ammeter and a speedometer. The ammeter is used to detect an operating current of the cleaning robot, and the speedometer is configured to detect a walking speed of the cleaning robot. Under the same conditions, the larger the working current or the slower the walking speed, the greater the roughness of the working surface; the smaller the working current or the faster the walking speed, the smaller the roughness of the working surface.

The present application further provides a control method for the above cleaning robot, the control method comprising the following steps: the control module acquires the working state of the cleaning robot and adjusts the adsorption pressure of the adsorption module according to the working state, and when the cleaning robot is in the power saving mode, The adsorption pressure of the adsorption module on the working surface is P1, and the adsorption pressure of the adsorption module on the working surface is P2 when the cleaning robot is in the working mode, and P1 is smaller than P2.

Further, the control method further includes the following steps: the sensor component detects the roughness of the working surface, the tilt angle of the working surface, the weight of the cleaning robot, and transmits the roughness value, the tilt angle, and the weight to the control module, and the control module Calculate the minimum adsorption pressure P3 of the cleaning robot on the working surface according to the roughness, the inclination angle and the weight, and P2 is not less than P3. Preferably P2 is equal to P3.

Specifically, the roughness detecting component detects the roughness of the working surface and transmits the roughness value to the control module, the first sensor detects the tilt angle of the working surface and transmits the tilt angle to the control module, and the second sensor detects the weight of the cleaning robot and The weight is transmitted to the control module, and the control module calculates the minimum adsorption pressure P3 that the cleaning robot adsorbs on the working surface according to the roughness, the inclination angle and the weight.

The control module calculates a friction coefficient of the working surface according to at least one of an operating current and a walking speed of the cleaning robot, and the control module calculates a minimum adsorption pressure P3 that the cleaning robot adsorbs on the working surface according to the friction coefficient, the inclination angle, and the weight. Therefore, regardless of whether the cleaning module is located on the working surface of any medium, the friction coefficient can be automatically calculated and obtained, and the minimum adsorption pressure P3 that the cleaning robot adsorbs on the working surface is calculated.

Moreover, during the movement of the cleaning robot, the control module records the minimum adsorption pressure required by the cleaning robot at any position on the working surface, and thus can accurately determine the minimum required adsorption pressure on the working surface.

In addition, due to factors such as insufficient power and cleaning work, when the cleaning robot is switched from the working mode to the power saving mode, the walking module can stop moving and P2 is gradually reduced to P1. Or, when the operation mode is switched to the power saving mode, the cleaning robot moves to the original position, and P2 gradually decreases to P1 during the movement. Alternatively, when the operation mode is switched to the power saving mode, the cleaning robot moves to a position where the suction pressure required on the entire working surface is the smallest, and P2 is gradually decreased to P1 during the movement.

The cleaning robot of the present application can obtain the minimum adsorption pressure of the cleaning robot on the working surface through the sensor assembly and the above method when working on the working surface of any medium, so as to be adsorbed at the minimum adsorption pressure in the power saving mode. On the work surface, electricity is saved. In addition, in the presence of weather conditions and other external factors, the cleaning robot may not be able to adsorb to the working surface with a minimum adsorption pressure. At this time, P1 ≥ 40% P2 can ensure that the cleaning robot can be adsorbed on the working surface in any environment. Will not slip.

The cleaning workflow of the cleaning robot is taken as an example to illustrate the workflow: (1) Preparation conditions: the safety rope is inserted, the adsorption module communicates with the control module, and the suction cup is firmly adhered to the smooth window glass to make the air pressure meet the condition. (2) When the preparation conditions are established, the vacuuming device will automatically open, at this time, the suction cup will be on the glass; (3) The main control module controls the fan to automatically adjust the air pressure, and the air pressure sensor detects the air pressure. If the air pressure is greater than 3.0KPa, the pressure will be reduced. Small fan voltage, if the air pressure is less than 3.0KPa will increase the voltage; (4) The cleaning robot is adsorbed on the glass, if there is no action or alarm for 2min, the air pressure is reduced to 1.4KPa. The air pressure of 3.0KPa in the working mode is a comprehensive empirical value considering the safety of the cleaning robot on the window glass, the walking speed and the cleaning effect; and the air pressure in the power saving mode is 1.4KPa, which is adopted by the present application. The above method is based on the minimum adsorption pressure obtained by the cleaning current of the cleaning robot when working on the window glass, and the adsorption pressure set by other environmental factors.

The following provides different working scenarios to further illustrate the use of the cleaning robot of the present application and its beneficial effects.

Referring to FIG. 2, the working scenario 1: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to move on the working surface according to the planned path, and when encountering an emergency that hinders the working of the cleaning robot, The control module controls the walking module to stop moving and issue an alarm. After the alarm ends, it is determined whether the cleaning robot is removed from the working surface, and if so, the work ends; if not, the cleaning robot is converted from the working mode to the provincial Electrical mode. The emergency includes, but is not limited to, encountering an obstacle, a gap in the work surface, and the like.

Specifically, when the person needs to clean the robot cleaning glass in the case of going out to work, the cleaning robot can start and clean the glass as needed. During the work process, when there is an obstacle or the glass is not working properly, the cleaning robot will alarm and stop moving forward. At this time, the fan continues to work, and the cleaning robot continues to adsorb on the glass through the suction cup; if the user still does not have the alarm after the alarm is over, When the cleaning robot is removed, the cleaning robot is switched to the power saving mode, and the suction pressure of the suction cup is lowered, that is, the rotation speed of the fan is reduced, so as to increase the life of the fan and the life of the machine, and the utility model can save electricity and make the cleaner more durable. More humane.

Working scene 2: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to move on the working surface according to the planned path; after the cleaning of the entire working surface is completed, the control module sends a completion signal and is at a predetermined time. After t, it is judged whether the cleaning robot is removed from the working surface, and if so, the operation ends; if not, the cleaning robot is controlled to change from the working mode to the power saving mode. The predetermined time t can be set according to a specific work surface, user usage habits, etc., for example, 2mi n.

Specifically, when the person needs to clean the robot cleaning glass in the case of going out to work, the cleaning robot can start and clean the glass as needed. When the cleaning is completed, the cleaning robot will send out a cleaning completion signal. When the cleaning robot is not manually removed from the home, the cleaning robot usually enters the power saving mode within 2 minutes after the cleaning completion signal ends, reducing the suction cup. The adsorption pressure, that is, the speed of the fan is reduced, to achieve the effect of increasing the life of the fan and the life of the machine, and can save electricity, making the cleaner more durable and more humane.

In the above two working scenarios, in the working mode, the adsorption pressure of the adsorption module on the working surface is P2, and in the power saving mode, the adsorption pressure of the adsorption module on the working surface is P1, and when the working mode is switched to the power saving mode, the adsorption is performed. The process of reducing the adsorption pressure of the module from P2 to P1 may employ any of the above methods.

In summary, in the cleaning robot power saving mode of the present application, when the adsorption pressure P1 of the adsorption module on the working surface is smaller than the working mode, the adsorption pressure P2 of the adsorption module on the working surface is smaller in the non-working state. Adsorption pressure is adsorbed on the working surface to increase the life of the fan and clean the life of the robot, and save electricity, making the cleaner more human and durable.

In one possible design, as shown in FIG. 4, the cleaning robot may include a processor 11, a memory 12, and an adsorption module 13 adsorbed to the working surface. The memory 12 is configured to store a program that supports the cleaning robot to execute the control method provided in the above method embodiments, and the processor 11 is configured to execute the program stored in the memory 12.

The program includes one or more computer instructions, wherein the one or more computer instructions are executed by the processor 11 to implement the following steps:

Adjusting the adsorption pressure of the adsorption module according to the working state of the cleaning robot, so that the adsorption pressure of the adsorption module 13 on the working surface is P ₁ when the cleaning robot is in the power saving mode, and the adsorption module 13 is in the working mode when the cleaning robot is in the working mode The adsorption pressure of the working surface is P ₂ , and P _{1 is} smaller than P ₂ .

Optionally, the processor 11 is further configured to perform all or part of the steps in the foregoing embodiments.

In addition, the embodiment of the present application provides a computer storage medium for storing computer software instructions for cleaning a robot, which includes a program involved in executing the control method of the cleaning robot in the foregoing method embodiments.

In a typical configuration, the cleaning robot can include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory. Memory is an example of a computer readable medium.

Computer readable media includes both permanent and non-persistent, removable and non-removable media. Information storage can be implemented by any method or technology. The information can be computer readable instructions, data structures, modules of programs, or other data.

Examples of storage media for cleaning robots include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only. Memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage , magnetic tape cartridges, magnetic tape storage or other magnetic storage devices or any other non-transportable media that can be used to store information that can be accessed by the cleaning robot.

The above embodiments are only used to describe the technical solutions of the present application, and are not limited thereto. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or equivalently replaced. Without departing from the spirit and scope of the technical solutions of the present application.

Claims

A cleaning robot comprising an adsorption module, a cleaning module, a walking module and a control module adsorbed on a working surface, wherein the cleaning robot has an operating mode and a power saving mode, and the adsorption module is on the working surface in the power saving mode The adsorption pressure P 1 is smaller than the adsorption pressure P 2 of the adsorption module on the working surface when in the operating mode.
The cleaning robot according to claim 1, wherein the cleaning robot further comprises a roughness detecting component that detects a roughness of the working surface, a first sensor that detects a tilt angle of the working surface, and a second sensor that detects the weight of the cleaning robot itself. The roughness detecting component, the first sensor, and the second sensor are all communicatively coupled to the control module.
The cleaning robot according to claim 2, wherein the first sensor is a gyro sensor, or a geomagnetic sensor, or an acceleration sensor.
The cleaning robot according to claim 2, wherein the second sensor is a gravity sensor or a pressure sensor.
The cleaning robot according to claim 2, wherein said roughness detecting component comprises at least one of an ammeter and a speedometer.
The cleaning robot according to claim 5, wherein said ammeter is for detecting an operating current of said cleaning robot, and said speedometer is for detecting a walking speed of said cleaning robot.
A cleaning robot control method, the cleaning robot comprising an adsorption module, a cleaning module, a walking module and a control module adsorbed on the working surface, wherein the control method comprises the following steps: the control module adjusts the adsorption according to the working state of the cleaning robot The adsorption pressure of the module, when the cleaning robot is in the power saving mode, the adsorption pressure of the adsorption module on the working surface is P 1 , and the adsorption pressure of the adsorption module on the working surface is P 2 when the cleaning robot is in the working mode, and P 1 is smaller than P 2 .
The control method of the cleaning robot according to claim 7, wherein P 1 ≥ 40% P 2 .
The control method of the cleaning robot according to claim 7, wherein the cleaning robot further comprises a roughness detecting component for detecting a roughness of the working surface, a first sensor for detecting a tilt angle of the working surface, and a weight for detecting the weight of the cleaning robot. a second sensor; the control method further comprising the steps of: the roughness detecting component detecting the roughness of the working surface and transmitting the roughness value to the control module, the first sensor detecting the tilting angle of the working surface and transmitting the tilting angle to the control module The second sensor detects the weight of the cleaning robot and transmits the weight to the control module. The control module calculates the minimum adsorption pressure P 3 that the cleaning robot adsorbs on the working surface according to the roughness, the tilt angle and the weight.
The control method of the cleaning robot according to claim 9, wherein the roughness detecting component comprises at least one of an ammeter and a speedometer, and the control module is configured to clean according to an operating current of the cleaning robot. At least one variable of the walking speed of the robot calculates a friction coefficient of the working surface, and the control module determines a minimum adsorption pressure P 3 that the cleaning robot adsorbs on the working surface according to the friction coefficient, the inclination angle, and the weight, and P 2 is not less than P 3 .
The control method of the cleaning robot according to claim 9, wherein the control method further comprises the step of: when the cleaning robot moves on the working surface, the control module records the minimum adsorption pressure required for the cleaning robot at any position on the working surface. When the cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the position where the minimum adsorption pressure required on the working surface is the smallest, and P 2 is gradually reduced to P 1 during the moving process.
The control method of the cleaning robot according to claim 7, wherein when the cleaning robot is switched from the operation mode to the power saving mode, the walking module stops moving, and P 2 is gradually decreased to P 1 .
The control method of the cleaning robot according to claim 7, wherein when the cleaning robot is switched from the operation mode to the power saving mode, the walking module moves to the original position, and P 2 is gradually decreased to P 1 during the movement.
The control method of the cleaning robot according to any one of claims 7 to 13, wherein the control method further comprises the step of: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to follow the planned path on the working surface. Moving up, when encountering an emergency that hinders the operation of the cleaning robot, the control module controls the walking module to stop moving and issue an alarm, and after the alarm ends, determine whether the cleaning robot is removed from the working surface, and if so, work End; if not, the cleaning robot is switched from the working mode to the power saving mode.
The control method of the cleaning robot according to any one of claims 7 to 13, wherein the control method further comprises the step of: when the cleaning robot is in the working mode, the walking module drives the cleaning robot to follow the planned path on the working surface. Moving up; after the cleaning is completed, the control module sends a completion signal, and determines whether the cleaning robot is removed from the working surface after a predetermined time t, and if so, the work ends; if not, the cleaning robot is controlled to work The mode is switched to the power saving mode.
A cleaning robot, comprising a memory and a processor, and an adsorption module affixed to the work surface, wherein the memory is for storing one or more computer instructions, wherein the one or more computer instructions are The processor is implemented when executed:

Adjusting the adsorption pressure of the adsorption module according to the working state of the cleaning robot, so that the adsorption pressure of the adsorption module on the working surface is P 1 when the cleaning robot is in the power saving mode, and the adsorption module is on the working surface when the cleaning robot is in the working mode The adsorption pressure is P 2 and P 1 is less than P 2 .
A computer readable storage medium storing a computer program, wherein the computer program causes the computer to implement the control method according to any one of claims 7 to 15.