WO2019206133A1 - 清洁机器人及其贴边行走方法、可读介质 - Google Patents

清洁机器人及其贴边行走方法、可读介质 Download PDF

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Publication number
WO2019206133A1
WO2019206133A1 PCT/CN2019/083878 CN2019083878W WO2019206133A1 WO 2019206133 A1 WO2019206133 A1 WO 2019206133A1 CN 2019083878 W CN2019083878 W CN 2019083878W WO 2019206133 A1 WO2019206133 A1 WO 2019206133A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
brush
cleaning
roller brush
side brush
Prior art date
Application number
PCT/CN2019/083878
Other languages
English (en)
French (fr)
Inventor
彭中美
李其超
Original Assignee
科沃斯机器人股份有限公司
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 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Priority to US17/049,314 priority Critical patent/US20210369069A1/en
Publication of WO2019206133A1 publication Critical patent/WO2019206133A1/zh

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    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • 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
    • A47L11/32—Carpet-sweepers
    • 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
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating 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
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/02—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0472—Discs
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to a cleaning robot, a welt walking method, and a readable medium, and belongs to the technical field of small household appliance manufacturing.
  • the sweeping robot on the market is generally round.
  • the main cleaning device is a roller brush arranged in the middle of the machine body.
  • Side brushes are also arranged on both sides of the machine body to sweep dust into the brushing port, but the side brush can only clean the hard brush. Dust on the ground, unable to handle the dust inside the carpet. Therefore, in a carpeted room, the above-mentioned cleaning robot can never clean the dirt at the edge of the wall or other items.
  • the technical problem to be solved by the present application is to provide a cleaning robot, a welt walking method, and a readable medium according to the deficiencies of the prior art, and use a roller brush and a side brush arranged laterally at the front end of the bottom of the body to combine the ground medium recognition sensor.
  • the cleaning robot can use the side brush to clean the dirt on the joint between the hard surface and the wall, and use the roller brush to clean the dirt on the joint between the soft surface and the wall, which is better than the traditional cleaning robot.
  • the cleaning effect is good and the application range is wide.
  • the present application provides a cleaning robot, including a body, the bottom of the body is provided with a roller brush and a side brush, the roller brush and the side brush are horizontally arranged at the front end of the cleaning robot, and the end of the roller brush and the side brush are arranged.
  • the position is respectively close to the two side edges of the body;
  • the cleaning robot further comprises a control module and a ground medium recognition sensor for detecting the type of the work surface, the ground medium recognition sensor sends a detection signal to the control module, and the control module controls according to the detection signal
  • the cleaning robot walks with the side of one side of the body.
  • the side of the body near the roller brush is the side of the roller brush, and the distance between the roller brush and the side of the roller brush is ⁇ 20mm.
  • the side of the body near the side brush is the side of the side brush, the distance between the center of the side brush and the side of the side brush > the distance between the side of the brush and the side of the roller.
  • the side brush has bristles, and the distance between the center of the side brush and the side of the side brush ⁇ the distance between the center of the side brush and the end of the bristle.
  • the center of the side brush is located in front of the center of the roller brush.
  • the side brush and the roller brush are arranged side by side in the lateral direction.
  • the forward portion of the body is square.
  • the body is provided with a welt sensor
  • the welt sensor includes an infrared sensor disposed on the left and right sides of the body, the infrared sensor includes a transmitting end and receiving end.
  • the ground medium recognition sensor is located in front of the roller brush.
  • the body is provided with two down-view sensors located in front of the roller brush, and the ground medium recognition sensor is located between the two lower-view sensors.
  • the present application also provides a pasting walking method for a cleaning robot as described above, the method of welt walking comprising:
  • the control cleaning robot walks on the side near the side of the roller brush;
  • the cleaning robot is controlled to walk along the side of the side brush.
  • the first surface is a carpet and the second surface is a floor.
  • the present application also provides a readable medium, the readable medium being disposed in a cleaning robot, wherein the readable medium stores a walking control program for controlling the cleaning robot according to the welt as described above Walking method to walk.
  • the present application utilizes a roller brush and a side brush that are laterally arranged at the front end of the bottom of the body, and the ground medium recognition sensor enables the cleaning robot to use the side brush to clean the dirt on the joint between the hard surface and the wall such as the floor, using the roller brush. Cleaning the soft surface of the carpet and the dirt at the joint of the wall. Compared with the traditional cleaning robot, it has strong cleaning ability, good cleaning effect and wide application range.
  • Figure 1 is a schematic view of the bottom of the cleaning robot of the present application.
  • FIG. 2 is a schematic structural view of a cleaning robot of the present application
  • FIG. 3 is a schematic view of the cleaning robot of the present application performing a welt cleaning mode on the floor;
  • FIG. 4 is a schematic view of a cleaning robot performing a welt cleaning mode on a carpet according to the present application
  • Figure 5 is a schematic view showing the cleaning robot performing the cover cleaning mode on the mixing surface of the present application
  • Figure 6 is a schematic view of the cleaning robot of the present application performing a welt cleaning mode on a mixed surface.
  • FIG. 1 is a schematic view of the bottom of the cleaning robot of the present application
  • FIG. 2 is a schematic structural view of the cleaning robot of the present application.
  • the present application provides a cleaning robot including a body 100.
  • the body 100 is provided with a control module, a sensing module, a cleaning module, a walking module, and the like.
  • the sensing module is used to detect the cleaning robot. Its own state and surrounding environment, and the detection signal is transmitted to the control module to guide the cleaning robot to work, the cleaning module is used to clean the working surface, the walking module is used to drive the cleaning robot to walk, and the control module transmits control signals to the cleaning module and the walking module. To allow the cleaning robot to perform cleaning work.
  • the cleaning module includes a roller brush 101 and a side brush 102 disposed at the bottom of the body 100, and the roller brush 101 and the side brush 102 are laterally arranged at the front end of the cleaning robot, that is, along the front side.
  • the direction perpendicular to the direction A is arranged left and right, wherein the roller brush 101 can be disposed on the left side of the cleaning robot or on the right side.
  • the roller brush 101 and the side brush 102 are disposed as close as possible to the front end of the cleaning robot, and similarly, in order to make the cleaning robot close to the wall, etc.
  • the area where the side portion cannot be swept is smaller when the obstacle is present, and the end of the roller brush 101 and the side brush 102 are respectively disposed near the side edges of the body.
  • the side of the body 100 adjacent to the roller brush 101 is defined as the side of the roller brush 108, and the distance between the side of the roller brush 101 and its adjacent side is ⁇ 20 mm, that is, the side of the roller brush 101 and the roller brush The distance between 108 is ⁇ 20mm.
  • the side of the body 100 adjacent to the side brush 102 is defined as the side brush side 109, and the distance between the center of the side brush 102 and the side brush side 109 is > between the roller brush 101 and the side of the roller brush 108 the distance.
  • the distance between the roller brush 101 and the front boundary of the body 100 is ⁇ 10 mm.
  • the side brush 102 has bristles, and the distance between the center of the side brush 102 and the side edge 109 of the side brush ⁇ the distance between the center of the side brush and the end of the bristle, that is, the outer end of the bristles of the side brush 102 Exceeding the boundary of the body 100 to facilitate the cleaning of the dirt between the cleaning robot and the wall.
  • the center of the side brush 102 may be located in front of the center of the roller brush 101, that is, the distance between the center of the side brush 102 and the front boundary of the body 100 ⁇ between the center of the roller brush 101 and the front boundary of the body 100 Alternatively, the distance between the center of the side brush 102 and the front boundary of the body 100 is equal to the distance between the center of the roller brush 101 and the front boundary of the body 100, that is, the side brush 102 and the roller brush 101 are laterally arranged side by side.
  • the forward portion 110 of the body 100 in the present application is square or substantially square, and the square front portion 110 is easy to laterally arrange the roller brush 101 and the side brush 102. Increase the effective cleaning surface of the cleaning robot.
  • the cleaning module further includes a vacuum unit for generating suction.
  • the cleaning robot generates suction through the vacuum unit, and the dust of the working surface is sucked by the side brush 102 and the roller brush 101, and the dust enters the body 100. Collection device.
  • the walking module includes a driving motor, a driving wheel 120 driven by the driving motor, and the like for driving the cleaning robot to walk.
  • the sensing module is configured to detect a state and a working environment of the cleaning robot.
  • the sensing module includes a ground medium identification sensor 103, a collision sensor, a lower vision sensor 104, a welt sensor, an environmental sensor, etc., and the environmental sensor can Detecting the terrain of the area around the working area of the cleaning robot and/or determining the position of the cleaning robot, thereby drawing a work map, and transmitting the detection signal of the environmental sensor to the control module to help the cleaning robot plan the route or the working mode, thereby further improving the work efficiency.
  • the collision sensor is disposed in front of the cleaning robot. When the cleaning robot encounters an obstacle such as a wall, the collision sensor can detect in time and send the detection signal to the control module.
  • the down view sensor 104 is disposed on the front side of the bottom of the body 100, preferably in front of the roller brush 101, for detecting the presence of a pit or step edge in front of the cleaning robot, and transmits a detection signal to the control module to prevent the cleaning robot from falling.
  • the affixing sensor is used for detecting the distance between the side of the body 100 and an obstacle such as a wall, and sends a detection signal to the control module, and the control module controls the cleaning robot according to the detection signal, so that the control module controls the cleaning robot along the wall, etc.
  • the obstacles are attached to the edge.
  • an infrared sensor may be disposed on the left and right sides of the body 100, and the positioning of the wall is performed by the interaction between the transmitting end and the receiving end, and the posture adjustment of the next step is determined.
  • the ground medium recognition sensor 103 is disposed in front of the roller brush 101 for detecting the type of the work surface, which is capable of distinguishing whether or not a carpet is present on the ground and transmitting a detection signal to the control module.
  • the number of the down view sensors 104 is two, and the ground medium identification sensor 103 is located between the two down view sensors 104.
  • the ground medium identification sensor 103 sends a detection signal to the control module, and the control module controls the cleaning robot to walk on the side of one side of the body 100 according to the detection signal.
  • the cleaning method of the cleaning robot in the present application has two cleaning modes: a cover cleaning mode and a welt cleaning mode.
  • the cleaning robot may perform the cover cleaning mode first, and then perform the welt cleaning mode to clean the entire work surface.
  • the cleaning robot in the overlay cleaning mode can be cleaned using overlay path techniques known in the art, such as bow-line walking mode, spiral walking mode, and random walking mode. After entering the welt cleaning mode, the cleaning robot walks along the wall and other obstacles to clean the dirt on the edge of the wall.
  • FIG. 3 is a schematic view of the cleaning robot of the present application performing a welt cleaning mode on the floor;
  • FIG. 4 is a schematic view of the cleaning robot performing the welt cleaning mode on the carpet of the present application.
  • the present application further discloses a method of sticking a cleaning robot, comprising: when the local medium identification sensor detects that the working surface is the first surface, controlling the cleaning robot to clean the robot to approach the roller brush 101 The side of the side (ie, the side of the roller brush 108) is worn by the edge; when the local medium identification sensor detects that the working surface is the second surface, the cleaning robot is controlled to be close to the side of the side brush 102 (side brush side 109).
  • the first surface is a soft surface such as a carpet
  • the second surface is a hard surface such as a floor (wood floor, tile, PVC floor), concrete floor or the like.
  • the ground medium identification sensor 103 sends a detection signal to the control module.
  • the control module controls the steering module to turn, The cleaning robot walks along the edge of the roller brush 108 along the wall and the like; if the working surface is the second surface (wood floor, tile, PVC floor), the control module controls the steering module to turn, so that the cleaning robot uses the side brush
  • the side 109 is worn along the obstacle such as a wall (the arrow in the figure is the cleaning robot walking direction).
  • the roller brush or the side brush can be replaced with other types of cleaning components, such as a scraper, etc. according to actual needs.
  • the ground medium identification sensor 103 can be matched with various types of cleaning components. After the ground medium identification sensor recognizes the type of the ground medium, the control module controls the cleaning robot to walk close to the side of the appropriate cleaning component, thereby improving the cleaning effect and enhancing the adaptability of the cleaning robot.
  • the cleaning robot Since the ground medium recognition sensor 103 for detecting floors and carpets is installed, when the working surface is a mixed surface (there are various working surfaces such as carpets and floors), the cleaning robot selects an appropriate running path to maintain the correct cleaning. .
  • FIG. 5 is a schematic diagram of the cleaning robot performing the cover cleaning mode on the mixing surface of the present application
  • FIG. 6 is a schematic diagram of the cleaning robot performing the welt cleaning mode on the mixing surface of the cleaning robot of the present application.
  • the cover cleaning mode is first performed.
  • the cover cleaning mode is a left-right staggered form; when the cleaning robot completes the cover cleaning After the mode, enter the paste cleaning mode.
  • the ground medium recognition sensor 103 on the cleaning robot sends a detection signal to the control module, and the control module controls the steering module to steer according to the detection signal, so that the cleaning robot has an appropriate side edge along the wall and the like.
  • the control module controls the steering module to turn, so that the cleaning robot sticks to the other side. Walk while walking to complete the clean.
  • an environmental sensor such as a laser sensor measures the shortest path to the opposite wall and moves along the path to the opposite wall, then continues to clean along the wall in the original direction.
  • the ground medium recognition sensor is 103.
  • the control module can help the cleaning robot to plan the route or work mode according to the work map, for example, in generating
  • the ground medium recognition sensor 103 can work in a cycle or work according to the cycle (for example, working once a week to correct the stored working gradient according to the change of the working environment), thereby further improving Work efficiency.
  • the cleaning robot of the present application may further be provided with a human-computer interaction module and a wireless communication module coupled to the control module, and the human-computer interaction module may be a screen, a mobile phone, and a remote controller disposed on the cleaning robot.
  • the wireless communication module Through the wireless communication module, the user can use the human-computer interaction module to understand the cleaning situation of the cleaning robot and its own information, and plan the cleaning path of the cleaning robot.
  • the user can also record relevant information through the human-computer interaction module and send it to other types of robots (such as air purification robots, etc.) to guide other robots to work in the same work area.
  • the present application does not limit the working method of the cleaning robot, that is, the cleaning robot does not only work in accordance with the above-mentioned cover cleaning mode and the welt cleaning mode.
  • the cleaning robot when the cleaning robot enters a work area with more water stains such as kitchen and bathroom, even if the working surface of the kitchen and bathroom is the second surface (wood floor, tile, PVC floor), since the side brush cannot completely clean the water stain, the cleaning robot can Walk closer to the side of the roller brush 101 (ie, the side of the roller brush 108) for better cleaning.
  • the identification of special work areas such as kitchen and bathroom can be manually specified by the user or automatically recognized by the environmental sensor.
  • the present application aims to provide a cleaning robot capable of changing the cleaning mode according to the type of the ground medium.
  • the above-mentioned welt walking method can be combined with the cleaning walking method in the prior art, or can be modified according to actual needs. This application is not limited to this.
  • the present application also provides a readable medium, the readable medium is disposed in a cleaning robot, and the readable medium stores therein a walking control program, and the walking control program is used to control the cleaning robot according to the above-mentioned welt walking method Walking, the control unit is capable of reading the walking control program from within the readable medium to control the cleaning robot to walk.
  • the readable medium is an existing computer readable storage.
  • the present application utilizes a roller brush and a side brush arranged laterally at the front end of the bottom of the body, and the ground medium recognition sensor enables the cleaning robot to clean the surface of the hard surface and the wall by using a side brush, and clean the carpet with a roller brush.
  • the dirt on the surface and the wall is better than the traditional cleaning robot. It has a strong cleaning ability, good cleaning effect and wide application range.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile 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.
  • RAM random access memory
  • ROM read only 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 computer storage media 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, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape storage or other magnetic storage devices or any other non-transportable media can be used to store information that can be accessed by a computing device.
  • computer readable media does not include temporary storage of computer readable media, such as modulated data signals and carrier waves.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

Abstract

一种清洁机器人及其贴边行走方法、可读介质，清洁机器人包括机体(100)，机体(100)的底部设有滚刷(101)和边刷(102)，滚刷(101)和边刷(102)在清洁机器人的前端横向排列，且滚刷(101)一端和边刷(102)的设置位置分别靠近机体(100)的两侧边缘；清洁机器人还包括控制模块和用于检测工作表面的类型的地面介质识别传感器(103)，地面介质识别传感器(103)发送检测信号给控制模块，控制模块根据检测信号控制清洁机器人以机体(100)的其中一侧侧边贴边行走，利用横向排列在机体(100)底部前端的滚刷(101)和边刷(102)，结合地面介质识别传感器(103)使清洁机器人能够利用边刷(102)和滚刷(101)清洁不同表面与墙壁结合处的脏污，相较于传统的清洁机器人，其清洁能力强，清洁效果好，适用范围广。

Description

清洁机器人及其贴边行走方法、可读介质
交叉引用
本申请引用于2018年4月25日递交的名称为“清洁机器人及其贴边行走方法、可读介质”的第201810376562.4号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及一种清洁机器人及其贴边行走方法、可读介质，属于小家电制造技术领域。
背景技术
市面上的扫地机器人一般为圆形，其主要清洁装置为布置在机体中间的滚刷，机体两侧还设有边刷，用于将灰尘扫入滚刷口，但是边刷只能清扫硬质地面上的灰尘，无法处理地毯里面的灰尘。因此在铺设地毯的房间中，上述扫地机器人始终无法清洁位于墙边或其他物品边缘的脏污。
发明内容
本申请所要解决的技术问题在于针对现有技术的不足，提供一种清洁机器人及其贴边行走方法、可读介质，利用横向排列在机体底部前端的滚刷和边刷，结合地面介质识别传感器使清洁机器人能够利用边刷清洁地板等硬质表面与墙壁结合处的脏污，利用滚刷清洁地毯等软质表面与墙壁结合处的脏污，相较于传统的清洁机器人，其清洁能力强，清洁效果好，适用范围广。
本申请所要解决的技术问题是通过如下技术方案实现的：
本申请提供一种清洁机器人，包括机体，所述机体的底部设有滚刷和边刷，所述滚刷和边刷在清洁机器人的前端横向排列，且所述滚刷一端和边刷的设置位置分别靠近机体的两侧边缘；所述清洁机器人还包括控制模块和用于检测工作表面的类型的地面介质识别传感器，所述地面介质识别传感器发送检测信号给控制模块，控制模块根据检测信号控制清洁机器人以机体的其中一侧侧边贴边行走。
为了使清洁机器人在贴近墙壁等障碍物时侧部扫不到的区域更小，所述机体靠近滚刷的侧边为滚刷侧边，所述滚刷与滚刷侧边之间的距离≤20mm。所述机体靠近边刷的侧边为边刷侧边，所述边刷的中心与边刷侧边之间的距离＞所述滚刷距离滚刷侧边之间的距离。所述边刷具有刷毛，所述边刷的中心与边刷侧边之间的距离＜所述边刷的中心与刷毛末端之间的距离。
进一步地，所述边刷的中心位于滚刷中心的前方。或者，所述边刷和滚刷横向并排排列。
为了优化清洁机器人的结构和清洁范围，所述机体的前向部分为方形。
为了控制模块控制清洁机器人沿墙壁等障碍物贴边行走，所述机体上设有贴边传感器，所述贴边传感器包括设置在机体左右两侧的红外线传感器，所述红外线传感器包括发射端和接收端。
优选的，所述地面介质识别传感器位于滚刷前方。所述机体上设有位于滚刷前方的两个下视传感器，所述地面介质识别传感器位于两个下视传感器之间。
本申请还提供一种如上所述的清洁机器人的贴边行走方法，所述贴边行走方法包括：
当地面介质识别传感器检测工作表面为第一表面时，控制清洁机器人以靠近滚刷的侧边贴边行走；
当地面介质识别传感器探测工作表面为第二表面时，控制清洁机器人以 靠近边刷的侧边贴边行走。
优选的，所述第一表面为地毯，所述第二表面为地板。
本申请还提供一种可读介质，所述可读介质设置于清洁机器人内，所述可读介质内存储有行走控制程序，所述行走控制程序用于控制清洁机器人按照如上所述的贴边行走方法行走。
综上所述，本申请利用横向排列在机体底部前端的滚刷和边刷，结合地面介质识别传感器使清洁机器人能够利用边刷清洁地板等硬质表面与墙壁结合处的脏污，利用滚刷清洁地毯等软质表面与墙壁结合处的脏污，相较于传统的清洁机器人，其清洁能力强，清洁效果好，适用范围广。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请清洁机器人的底部示意图；
图2为本申请清洁机器人的结构示意图；
图3为本申请清洁机器人在地板上执行贴边清洁模式的示意图；
图4为本申请清洁机器人在地毯上执行贴边清洁模式的示意图；
图5为本申请清洁机器人在混合表面上执行覆盖清洁模式的示意图；
图6为本申请清洁机器人在混合表面上执行贴边清洁模式的示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描 述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图1为本申请清洁机器人的底部示意图；图2为本申请清洁机器人的结构示意图。如图1结合图2所示，本申请提供一种清洁机器人，包括机体100，所述机体100上设有控制模块、传感模块、清洁模块和行走模块等，传感模块用于检测清洁机器人自身的状态及周边环境，并将检测信号传递给控制模块以指导清洁机器人工作，清洁模块用于清洁工作表面，行走模块用于驱动清洁机器人行走，控制模块将控制信号传递给清洁模块和行走模块，以使清洁机器人执行清洁工作。
以清洁机器人的行走方向A为前方，所述清洁模块包括设置在机体100底部的一个滚刷101和一个边刷102，所述滚刷101和边刷102在清洁机器人的前端横向排列，即沿垂直于方向A的方向左右排布，其中滚刷101可以设置在清洁机器人左侧也可以设置在右侧。
为了使清洁机器人在遇到墙壁等障碍物时前端扫不到的区域更小，所述滚刷101和边刷102尽可能的靠近清洁机器人前端设置，同样的，为了使清洁机器人在贴近墙壁等障碍物时侧部扫不到的区域更小，所述滚刷101一端和边刷102的设置位置分别靠近机体的两侧边缘。
优选的，定义所述机体100靠近滚刷101的侧边为滚刷侧边108，所述滚刷101与其靠近的侧边之间的距离≤20mm，即所述滚刷101与滚刷侧边108之间的距离≤20mm。定义所述机体100靠近边刷102的侧边为边刷侧边109，所述边刷102的中心与边刷侧边109之间的距离＞所述滚刷101距离滚刷侧边108之间的距离。所述滚刷101与机体100前部边界之间的距离≤10mm。所述边刷102具有刷毛，所述边刷102的中心与边刷侧边109之间的距离＜所述边刷的中心与刷毛末端之间的距离，即所述边刷102刷毛的外端超出机体100边界，以方便刷毛清理清洁机器人与墙壁之间的脏污。进一步地，所述边刷102的中心可以位于滚刷101中心的前方，即边刷102的中心与机体 100前部边界之间的距离＜滚刷101的中心与机体100前部边界之间的距离；或者，边刷102的中心与机体100前部边界之间的距离等于滚刷101的中心与机体100前部边界之间的距离，即所述边刷102和滚刷101横向并排排列。
需要补充的是，为了优化清洁机器人的结构和清洁范围，本申请中机体100的前向部分110为方形或大致为方形，方形的前向部分110易于横向布置滚刷101和边刷102，同时增大清洁机器人有效清洁面。
所述清洁模块还包括真空单元，真空单元用于产生吸力，本申请中清洁机器人通过真空单元产生吸力，在边刷102和滚刷101的帮助下吸入工作表面的灰尘，灰尘进入机体100上的收集装置。
所述行走模块包括驱动电机及由驱动电机驱动的驱动轮120等，用于驱动清洁机器人行走。
所述传感模块用于检测清洁机器人自身的状态及工作环境，所述传感模块包括地面介质识别传感器103、碰撞传感器、下视传感器104、贴边传感器及环境传感器等，所述环境传感器能够检测清洁机器人工作周边的区域地形和/或确定清洁机器人的位置，从而绘制出工作地图，并将该环境传感器的检测信号发送给控制模块，帮助清洁机器人规划路线或者工作方式，从而进一步提升工作效率。所述碰撞传感器设置在清洁机器人前方，当清洁机器人遇到墙壁等障碍物时，碰撞传感器能够及时检测并将检测信号发送给控制模块。下视传感器104设置在机体100底部前侧，优选的，位于滚刷101前方，用于检测清洁机器人前方凹坑或台阶边缘的存在，并将检测信号发送给控制模块，以防止清洁机器人跌落。贴边传感器用于检测机体100的侧边与墙壁等障碍物之间的距离，并将检测信号发送给控制模块，控制模块根据检测信号控制清洁机器人工作，以方便控制模块控制清洁机器人沿墙壁等障碍物贴边行走，例如，可以在机体100的左右两侧设置红外线传感器，利用发射端和接收端互相作用进行相对墙体的定位，并确定下一步的姿态调整。
地面介质识别传感器103设置在滚刷101前方，用于检测工作表面的类型，其能够分辨出地面上是否存在地毯，并将检测信号发送给控制模块。优 选的，所述下视传感器104的数量为两个，所述地面介质识别传感器103位于两个下视传感器104之间。所述地面介质识别传感器103发送检测信号给控制模块，控制模块根据检测信号控制清洁机器人以机体100的其中一侧侧边贴边行走。
本申请中清洁机器人的清洁方法具有两种清洁模式：覆盖清洁模式和贴边清洁模式。例如，本申请中清洁机器人可以先执行覆盖清洁模式，之后执行贴边清洁模式，从而清洁整个工作表面。覆盖清洁模式中清洁机器人可使用本领域已知的覆盖路径技术进行清洁，例如，弓字型行走模式、螺旋行走模式及随机行走模式等。进入贴边清洁模式后清洁机器人沿墙壁等障碍物贴边行走，从而针对墙壁边缘的脏污进行清理。
图3为本申请清洁机器人在地板上执行贴边清洁模式的示意图；图4为本申请清洁机器人在地毯上执行贴边清洁模式的示意图。如图3结合图4所示，本申请还公开一种清洁机器人的贴边行走方法，包括：当地面介质识别传感器检测工作表面为第一表面时，控制清洁机器人以清洁机器人以靠近滚刷101的侧边(即滚刷侧边108)贴边行走；当地面介质识别传感器探测工作表面为第二表面时，控制清洁机器人以靠近边刷102的侧边(边刷侧边109)贴边行走。优选的，所述第一表面为地毯等软质表面，所述第二表面为地板(木地板、瓷砖、PVC地板)、水泥地面等硬质表面。
具体来说，清洁机器人进入贴边清洁模式后，地面介质识别传感器103将检测信号发送给控制模块，若检测工作表面为第一表面(地毯等软质表面)时，控制模块控制行走模块转向，使清洁机器人以滚刷侧边108沿墙壁等障碍物贴边行走；若检测工作表面为第二表面(木地板、瓷砖、PVC地板)时，控制模块控制行走模块转向，使清洁机器人以边刷侧边109沿墙壁等障碍物贴边行走(图中箭头为清洁机器人行走方向)。
需要补充的是，本领域技术人员可以根据实际需要将滚刷或边刷更换为其他类型的清洁组件，如刮条等，进一步地，可以将地面介质识别传感器103与多种类型的清洁组件配合使用，通过地面介质识别传感器识别地面介质的 类型后，控制模块控制清洁机器人以靠近合适的清洁组件的侧边贴边行走，从而提高清洁机器人的清洁效果、增强其适应性。
由于安装有用于检测地板、地毯的地面介质识别传感器103，当工作表面为混合表面(存在有地毯和地板等多种工作表面)时，清洁机器人会选择合适的运行路径以保持正确的贴边清洁。
图5为本申请清洁机器人在混合表面上执行覆盖清洁模式的示意图；图6为本申请清洁机器人在混合表面上执行贴边清洁模式的示意图。如图5和图6所示，当清洁机器人在混合表面上工作时，为了实现全面清洁，首先执行覆盖清洁模式，在本实施例中，覆盖清洁模式为左右交错形式；当清洁机器人完成覆盖清洁模式后，进入贴边清洁模式。具体来说，进入贴边清洁模式后，清洁机器人上的地面介质识别传感器103将检测信号发送给控制模块，控制模块根据检测信号控制行走模块转向，使清洁机器人以合适的侧边沿墙壁等障碍物贴边行走，当行走至地毯和地板交界处时，清洁机器人可以沿地毯和地板交界线继续行走，直至遇见墙壁等障碍物，此时，控制模块控制行走模块转向，使清洁机器人以另一边贴边行走，从而完成全面清洁。需要补充的是，本申请并不限制清洁机器人行走至地毯和地板交界线后进行换边贴边行走的具体方法，本领域技术人员可以根据实际需要进行设计，例如，当清洁机器人行走至地毯和地板交界处时，还可以采用以下方法：环境传感器(如激光传感器)测得一个距离最短的到达对面墙壁的路径，并沿此路径运动至对面墙壁，之后继续向原方向沿墙壁清洁。
进一步地，由于本申请中清洁机器人设有环境传感器，所述环境传感器能够检测清洁机器人工作周边的区域地形和/或确定清洁机器人的位置，并且能够绘制出工作地图，因此，在地面介质识别传感器103识别出地面介质类型的基础上，可以将地面介质在工作表面上的分布情况记录在相应的工作地图上，控制模块可以根据所述工作地图帮助清洁机器人规划路线或者工作方式，例如，在生成具有地面介质信息的工作地图后，清洁机器人工作时其地面介质识别传感器103便可不工作或者按周期工作(如一周工作一次，以针 对工作环境变化按周期修正所储存的工作梯度)，从而进一步提升工作效率。
在一些实施例中，本申请清洁机器人还可配套设有与控制模块耦接的人机交互模块及无线通讯模块，所述人机交互模块可以为设置在清洁机器人上的屏幕、手机及遥控器等，通过无线通讯模块用户可以利用人机交互模块了解清洁机器人清洁情况及自身信息，规划清洁机器人的清洁路径等。另外，用户还可以通过人机交互模块将相关信息记录，并发送给其他类型的机器人(如空气净化机器人等)，从而指导其他机器人在同一工作区域中工作。
需要补充的是，本申请并不限制清洁机器人的工作方法，即清洁机器人并非只能根据上述覆盖清洁模式及贴边清洁模式顺序工作。例如，当清洁机器人进入厨卫等水渍较多的工作区域时，即使厨卫的工作表面为第二表面(木地板、瓷砖、PVC地板)，由于边刷无法完全清洁水渍，清洁机器人可以以靠近滚刷101的侧边(即滚刷侧边108)贴边行走，以达到更好的清洁效果。对于厨卫等特殊工作区域的识别可以用户人工指定，也可以由环境传感器自动识别。换句话说，本申请旨在提供一种能够根据地面介质的类型改变清洁方式的清洁机器人，上述贴边行走方法可以与现有技术中的清洁行走方法相结合，也可以根据实际需要进行修改，本申请并不以此为限。
本申请还提供一种可读介质，所述可读介质设置于清洁机器人内，所述可读介质内存储有行走控制程序，所述行走控制程序用于控制清洁机器人按照上述的贴边行走方法行走，所述控制单元能够从可读介质内读取所述行走控制程序，从而控制清洁机器人贴边行走。所述可读介质为现有的计算机可读取的储存器。
本申请利用横向排列在机体底部前端的滚刷和边刷，结合地面介质识别传感器使清洁机器人能够利用边刷清洁地板等硬质表面与墙壁结合处的脏污，利用滚刷清洁地毯等软质表面与墙壁结合处的脏污，相较于传统的清洁机器人，其清洁能力强，清洁效果好，适用范围广。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、 或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、 程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (13)

  1. 一种清洁机器人，包括机体，所述机体的底部设有滚刷和边刷，其特征在于，所述滚刷和边刷在清洁机器人的前端横向排列，且所述滚刷一端和边刷的设置位置分别靠近机体的两侧边缘；
    所述清洁机器人还包括控制模块和用于检测工作表面的类型的地面介质识别传感器，所述地面介质识别传感器发送检测信号给控制模块，控制模块根据检测信号控制清洁机器人以机体的其中一侧侧边贴边行走。
  2. 如权利要求1所述的清洁机器人，其特征在于，所述机体靠近滚刷的侧边为滚刷侧边，所述滚刷与滚刷侧边之间的距离≤20mm。
  3. 如权利要求2所述的清洁机器人，其特征在于，所述机体靠近边刷的侧边为边刷侧边，所述边刷的中心与边刷侧边之间的距离＞所述滚刷距离滚刷侧边之间的距离。
  4. 如权利要求3所述的清洁机器人，其特征在于，所述边刷具有刷毛，所述边刷的中心与边刷侧边之间的距离＜所述边刷的中心与刷毛末端之间的距离。
  5. 如权利要求1所述的清洁机器人，其特征在于，所述边刷的中心位于滚刷中心的前方。
  6. 如权利要求1所述的清洁机器人，其特征在于，所述边刷和滚刷横向并排排列。
  7. 如权利要求1所述的清洁机器人，其特征在于，所述机体的前向部分为方形。
  8. 如权利要求1所述的清洁机器人，其特征在于，所述机体上设有贴边传感器，所述贴边传感器包括设置在机体左右两侧的红外线传感器，所述红外线传感器包括发射端和接收端。
  9. 如权利要求1所述的清洁机器人，其特征在于，所述地面介质识别传感器位于滚刷前方。
  10. 如权利要求9所述的清洁机器人，其特征在于，所述机体上设有位于滚刷前方的两个下视传感器，所述地面介质识别传感器位于两个下视传感器之间。
  11. 一种清洁机器人的贴边行走方法，其特征在于，所述贴边行走方法包括：
    当地面介质识别传感器检测工作表面为第一表面时，控制清洁机器人以靠近滚刷的侧边贴边行走；
    当地面介质识别传感器探测工作表面为第二表面时，控制清洁机器人以靠近边刷的侧边贴边行走。
  12. 如权利要求11所述的贴边行走方法，其特征在于，所述第一表面为地毯，所述第二表面为地板。
  13. 一种可读介质，所述可读介质设置于清洁机器人内，其特征在于，所述可读介质内存储有行走控制程序，所述行走控制程序用于控制清洁机器人按照如权利要求11中所述的贴边行走方法行走。
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