WO2023198211A1

WO2023198211A1 - Cleaning robot and control method therefor

Info

Publication number: WO2023198211A1
Application number: PCT/CN2023/088539
Authority: WO
Inventors: 张士松; 毋宏兵; 高振东; 李金坤; 朱雨钦; 范晟华; 王曼迪; 钱富; 杨帆; 钟红风
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2022-04-14
Filing date: 2023-04-14
Publication date: 2023-10-19

Abstract

A cleaning robot and a control method therefor. The cleaning robot comprises: a body (100), a moving unit (200), a cleaning unit (300), a detection unit (400), and a processing unit (500). The processing unit (500) identifies a carpet region (600) in a working region according to a detection signal, the carpet region (600) comprising a preset boundary region (610) and a non-preset boundary region (620), controls the cleaning robot to operate in the preset boundary region (610) in a carpet-passing mode and the cleaning unit to operate at a first target parameter value in the carpet-passing mode, and controls the cleaning robot to operate in the non-preset boundary region (620) in a carpet cleaning mode and the cleaning unit to operate at a carpet target parameter value in the carpet cleaning mode; and the first target parameter value is less than or equal to the carpet target parameter value. When the cleaning robot crosses the boundary of the carpet region, a light and thin carpet edge (630) is not prone to being lifted up, or decorations having a certain length on the carpet edge (630) or the pile on the surface of a carpet, etc. are not prone to being entangled in the cleaning unit, thereby preventing the cleaning robot from getting stuck by the carpet, and also avoiding damage to the carpet.

Description

Cleaning robot and control method thereof

Technical field

The present invention relates to the field of robot technology, and in particular to a cleaning robot and a control method thereof.

Background technique

Partial areas on the indoor floor of homes are often covered with removable carpets (also known as mats, carpet pads, area rugs, and thrown rugs). When existing cleaning robots perform cleaning work and enter the carpet area, their working mode often remains The cleaning mode remains unchanged and the cleaning mode before entering the carpet area is maintained. Due to the properties of the carpet, such as thinness, long pile on the carpet surface, decorations with a certain length on the edge, etc., the cleaning robot is easy to remove the thin and light when entering the carpet area. The edge of the carpet is turned up or a certain length of edge decoration or carpet velvet is wrapped around the roller brush, causing the cleaning robot to become trapped.

There is currently relevant technology that adjusts the cleaning parameters to those suitable for the carpet before entering the carpet area, thereby achieving a better cleaning effect on the carpet and avoiding damage to the carpet. However, this solution is to adjust the cleaning strategy in advance to better clean the carpet. It still cannot solve the problem of the cleaning robot being trapped in the carpet when it enters the carpet area.

Contents of the invention

Based on this, it is necessary to provide a cleaning robot and its control method to address the above problems.

According to a first aspect of an embodiment of the present disclosure, a cleaning robot is provided, including:

The fuselage; the mobile unit supports the fuselage and drives the fuselage to move; the cleaning unit is arranged on the fuselage and performs cleaning tasks according to the set cleaning parameters; the detection unit is arranged on the fuselage and uses The working area on the traveling path of the cleaning robot is detected and a detection signal is generated; the processing unit receives the detection signal and identifies the carpet area in the working area according to the detection signal, and the carpet area includes A preset boundary area and a non-preset boundary area, the preset boundary area is formed on the outer peripheral edge of the non-preset boundary area, and the preset boundary area is from the edge of the carpet area to the carpet area. The inner extension of The processing unit is further configured to: control the cleaning robot to operate in a carpet cleaning mode in the non-preset boundary area; the cleaning unit to operate in the carpet cleaning mode with a carpet target parameter value; and the third A target parameter value is less than or equal to the carpet target parameter value.

In one embodiment, when the processing unit determines that there is a carpet area on the traveling path of the cleaning robot based on the detection signal, it controls the mobile unit to drive the body through the preset boundary area. , the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, the processing unit determines the distance between the fuselage and the edge of the carpet area based on the detection signal. When the distance between the fuselage and the edge of the carpet area reaches When the distance is preset, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, the detection signal at least includes image information of the working area, and the processing unit determines the distance between the fuselage and the edge of the carpet area based on the image information. When the fuselage When the distance from the edge of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, the mobile unit driving the fuselage through the preset boundary area of the carpet area includes at least one of the following two situations: passing through the preset boundary area when entering the carpet area. , or pass through the preset boundary area when leaving the carpet area.

In one embodiment, the processing unit determines that the type of the working area on the traveling path of the cleaning robot is a ground area based on the detection signal, and the processing unit controls the working mode of the cleaning robot to be a floor cleaning mode, In the floor cleaning mode, the processing unit controls the cleaning unit to operate with a floor target parameter value.

In one embodiment, the ground target parameter value is greater than or equal to the first target parameter value.

In one embodiment, the processing unit controls the cleaning robot to enter the carpet area along the direction of travel, and identifies the moving distance of the cleaning robot on the carpet area. When the moving distance is less than or When equal to the preset displacement, the cleaning robot is controlled to operate in the carpet-passing mode.

In one embodiment, when the cleaning robot enters the carpet area in a direction perpendicular to the edge of the carpet area, the area where the movement distance is less than or equal to the preset displacement constitutes the preset boundary area, And the preset boundary area is rectangular.

In one embodiment, when the cleaning robot enters the carpet area in a traveling direction at an acute angle to the edge of the carpet area, the area where the movement distance is less than or equal to the preset displacement constitutes the preset boundary area, And the preset boundary area includes at least two areas arranged in a triangle and/or trapezoid shape.

In one embodiment, the processing unit may also identify a boundary type of the preset boundary area, which boundary type at least includes the edge of the carpet area being a first boundary type with fringes and the The edge of the carpet area is a second border type of edge locking process, and the area width of the preset border area under the first border type is greater than or equal to the area of the preset border area under the second border type. width.

In one embodiment, when the processing unit identifies that the boundary type of the preset boundary area is the first boundary type with spikes, it sets the area width of the preset boundary area to be greater than or equal to the The extended length of the spike.

In one embodiment, the preset boundary area and the non-preset boundary area are divided and formed according to control instructions sent by the user.

In one embodiment, the detection unit at least includes a visual recognition component, the detection signal includes image information of the working environment on the traveling path of the cleaning robot collected by the visual recognition component, and the processing unit is based on the image The information identifies the carpet area.

In one embodiment, the processing unit is configured to compare the image information with a reference model pre-stored in the processing unit to compare the carpet area and the carpet area existing in the work area. The boundary type of the preset boundary area is identified; wherein, the reference model is a deep learning model stored in the processing unit and established through deep learning fitting.

In one embodiment, the processing unit is configured to extract morphological features of the carpet area according to the image information. The morphological features at least include edge flatness information of the carpet area. When the edge flatness When the value is less than the flatness threshold, the border of the carpet area is of the first border type with fringes.

In one embodiment, taking the traveling direction of the cleaning robot as the front, the processing unit determines the distance between the front end of the fuselage and the edge of the carpet area based on the image information. When the distance between the edges of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, the detection unit further includes an ultrasonic sensor disposed on the front of the bottom surface of the fuselage, in front of the cleaning unit; the ultrasonic sensor detects the carpet area downward in real time; the processing When the unit determines that the front end of the fuselage enters the carpet area based on the ultrasonic information transmitted by the ultrasonic sensor, it records the moving distance of the fuselage on the carpet area. When the fuselage moves from the carpet area When the distance of the edge moving into the carpet area is greater than or equal to the preset displacement, the processing unit controls the cleaning mode of the cleaning robot to switch from the carpet passing mode to the carpet cleaning mode.

In one embodiment, with the traveling direction of the cleaning robot as the front, the detection unit further includes an ultrasonic sensor disposed on the front of the bottom surface of the fuselage, in front of the cleaning unit; the ultrasonic sensor moves downward in real time Detect whether the carpet area exists on the running path of the cleaning robot; the edge of the carpet area; the edge of the carpet area;

The processing unit is configured to: determine that the body enters the carpet area according to the ultrasonic information transmitted by the ultrasonic sensor, then control the cleaning robot to run in the carpet passing mode, and record the The moving distance of the fuselage on the carpet area. When the distance that the fuselage moves from the edge of the carpet area to the interior of the carpet area is greater than or equal to the preset displacement, it is determined that the cleaning robot has moved out of the carpet area. In the preset boundary area, the processing unit controls the cleaning robot to switch from the carpet passing mode to the carpet cleaning mode.

In one embodiment, the detection unit further includes a visual recognition component, and the processing unit determines the distance between the front end of the fuselage and the edge of the carpet area based on the image information collected by the visual recognition component, When the distance between the body and the edge of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, the preset displacement is greater than or equal to the vertical distance between the ultrasonic sensor and the axle of the moving roller in the mobile unit; wherein the moving roller is located at the rear side of the cleaning unit.

In one embodiment, the preset displacement is smaller than the vertical distance between the ultrasonic sensor and the cleaning unit.

In one embodiment, the cleaning unit at least includes a fan and a brush assembly, and the cleaning parameters include fan power and brush rotation speed.

In one embodiment, the brush assembly includes a roller brush and a side brush, and the brush rotation speed includes a roller brush rotation speed and a side brush rotation speed.

In one embodiment, the cleaning unit includes a fan and a brush assembly, and the first target parameter value includes a first fan power and a first brush speed; the first fan power is less than or equal to 20% of the full power of the fan. , the first brush rotation speed is less than or equal to 15% of the brush full rotation speed.

In one embodiment, the cleaning unit includes a fan and a brush assembly, the first target parameter value includes a first fan power and a first brush speed; and the first fan power ranges from 0 to 40W, so The first brush rotation speed ranges from 0 to 200 rpm.

In one embodiment, the processing unit confirms the relative position of the cleaning robot in the working area based on the detection signal. When the processing unit recognizes that the cleaning unit is located in the floor area, it controls the cleaning The cleaning mode of the robot is switched to the floor cleaning mode; when the processing unit recognizes that the cleaning unit is located in the preset boundary area, it controls the cleaning mode of the cleaning robot to switch to the carpet mode; the processing unit recognizes that the cleaning unit is located in the preset boundary area. When the cleaning unit is located in the non-preset boundary area, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode.

In one embodiment, the processing unit is configured to detect a top corner area of the carpet area based on the detection information, wherein the top corner area is where the boundaries of the carpet area are connected. The angle area formed.

In one embodiment, when the cleaning robot drives onto the carpet area along the traveling path, the processing unit determines based on the detection signal that the traveling path of the body passes through the top of the carpet area. When entering the corner area, the moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage so that the fuselage avoids the corner area and enters the carpet area.

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

The fuselage; the moving unit, which is disposed on the fuselage, drives the fuselage to move; the cleaning unit, which is disposed on the fuselage, performs cleaning tasks according to the set cleaning parameters; the detection unit, which is disposed on the fuselage, At least detect the working area on the traveling path of the cleaning robot and generate a detection signal; a processing unit is respectively connected to the mobile unit, the cleaning unit and the detection unit. If the processing unit determines the detection signal based on the detection signal, If there is a carpet area on the traveling path of the cleaning robot, before the mobile unit drives the body to pass the preset boundary area of the carpet area, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode. , in the carpet-passing mode, the processing unit sets the target parameter value of the cleaning parameter to a first target parameter value, and the first target parameter value is less than or equal to a preset threshold.

In one embodiment, the cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed; when the working mode of the cleaning robot is the carpet passing mode, The first target parameter value includes the first fan power, the first roller brush rotation speed and the first side brush rotation speed.

In one embodiment, the power of the first fan is less than or equal to 20% of the full power of the fan, the rotation speed of the first roller brush is less than or equal to 15% of the full rotation speed of the roller brush, and the rotation speed of the first side brush is less than or equal to Equivalent to 15% of the full speed of the side brush.

In one embodiment, the processing unit determines the distance between the fuselage and the boundary of the carpet area based on the detection signal. When the distance between the fuselage and the boundary of the carpet area reaches When the distance is preset, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

In one embodiment, with the traveling direction of the cleaning robot as the front, the detection unit is disposed at the front of the bottom surface of the fuselage. in front of the cleaning unit and detects downward whether there is a carpet area. When the processing unit determines that the carpet area exists according to the detection signal, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode. .

In one embodiment, the processing unit is configured to: when the processing unit determines that there is a carpet area on the traveling path of the cleaning robot based on the detection signal, determine whether the traveling path of the fuselage will pass through the carpet area. The top corner area of the carpet area, the top corner area is the angle area formed by the connection of the borders of the carpet area, when the traveling path of the fuselage passes through the top corner area of the carpet area , then the moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage so that the traveling path of the fuselage avoids the vertex area.

In one embodiment, the processing unit determining that there is a carpet area on the traveling path of the cleaning robot according to the detection signal includes determining at least one of a boundary type of the carpet and a carpet type. When the boundary type of the carpet is The first boundary type, and/or the carpet type is the first carpet type. Before the mobile unit drives the body into the preset boundary area of the carpet area, the processing unit controls the cleaning robot. The working mode is switched to carpet mode.

In one embodiment, the border of the carpet of the first border type has fringe ornaments, and the pile length of the carpet surface of the carpet of the first border type is less than or equal to a preset length.

In one embodiment, the processing unit is further configured to: determine the type of the working area according to the detection signal, and control the working mode of the cleaning robot to enter the corresponding cleaning mode according to the type of the working area. ;

When the body is located in a non-preset boundary area of the carpet area, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode.

In one embodiment, the processing unit determines the type of the working area on the traveling path of the cleaning robot according to the detection signal, and controls the working mode of the cleaning robot to enter the corresponding cleaning mode according to the type of the working area. mode; when the cleaning unit is located in a non-preset boundary area of the carpet area, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode.

In one embodiment, in the carpet cleaning mode, the processing unit sets the target parameter value of the cleaning parameter to the carpet target parameter value; the cleaning unit includes a fan, and the cleaning parameters include fan power. A target parameter value includes a first fan power, the carpet target parameter value includes a carpet fan power, and the first fan power is smaller than the carpet fan power.

In one embodiment, when the processing unit determines that the type of the working area on the traveling path of the cleaning robot is a hard floor based on the detection signal, the processing unit controls the working mode of the cleaning robot to switch to hard ground. Hard ground cleaning mode, in the hard ground cleaning mode, the processing unit sets the target parameter value of the cleaning parameter to the hard ground target parameter value, and the hard ground target parameter value includes the hard ground fan power , the power of the hard floor fan is less than the power of the carpet fan; the power of the first fan is less than the power of the hard floor fan.

In one embodiment, the processing unit determines the carpet type according to the detection signal, and controls the cleaning mode of the cleaning robot to switch to the corresponding carpet cleaning mode according to the carpet type. Different carpet types correspond to different carpets. Cleaning modes, the target parameter values in each of the carpet cleaning modes are different. The carpet types include a first carpet type and a second carpet type. The pile length of the carpet surface of the first carpet type is smaller than that of the second carpet type. Carpet type carpet pile length;

The cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed;

The first carpet type corresponds to the first cleaning mode. When the working mode of the cleaning robot is the first cleaning mode, the processing unit sets the target parameter value of the cleaning parameter to the second target parameter value. The second target parameter value includes the second fan power, the second roller brush speed and the second side brush speed;

The second carpet type corresponds to a second cleaning mode. When the working mode of the cleaning robot is the second cleaning mode, the processing unit sets the target parameter value of the cleaning parameter to a third target parameter value. The third target parameter value includes the third fan power, the third roller brush rotation speed and the third side brush rotation speed.

In one embodiment, the power of the second fan is greater than or equal to 60% of the full power of the fan, the rotation speed of the second roller brush is greater than or equal to 50% of the full rotation speed of the roller brush, and the rotation speed of the second side brush is less than or equal to Equal to 5% of the full speed of the side brush; the power of the third fan is greater than or equal to the wind speed The rotating speed of the third roller brush is less than or equal to 5% of the full rotating speed of the roller brush, and the rotating speed of the third side brush is less than or equal to 5% of the full rotating speed of the side brush.

In one embodiment, the cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed; when the processing unit determines that the type of the working area is hard The processing unit controls the working mode of the cleaning robot to enter the floor cleaning mode;

When the working mode of the cleaning robot is the ground cleaning mode, the processing unit sets the target parameter value of the cleaning parameter to the ground target parameter value. The ground target parameter value includes the power of the ground fan, the rotation speed of the ground brush, and the ground edge. Brush speed, the power of the ground fan is less than or equal to 50% of the full power of the fan, the speed of the ground roller brush is greater than or equal to 30% of the full speed of the roller brush, and the speed of the ground side brush is greater than or equal to 50% of the full speed of the side brush. %.

In one embodiment, the cleaning robot further includes a mopping board, and the processing unit is further configured to: control the lifting of the mopping board before the body enters the carpet area.

According to a third aspect of an embodiment of the present disclosure, a method for controlling a cleaning robot is provided. The cleaning robot includes a body, a moving unit, a cleaning unit and a detection unit. The moving unit drives the body to move, and the cleaning robot The unit performs the cleaning task according to the set cleaning parameters, and the detection unit detects the working area on the traveling path of the cleaning robot and generates a detection signal; the method includes:

receive the detection signal;

Determine that there is a carpet area in the working area on the path of the cleaning robot according to the detection signal; and identify the preset boundary area and non-preset boundary area of the carpet area;

Controlling the cleaning robot to operate in the carpet-passing mode in the preset boundary area, and the cleaning unit operating in the carpet-passing mode with a first target parameter value;

The cleaning robot operates in a carpet cleaning mode in the non-preset boundary area; and the cleaning unit operates in the carpet cleaning mode with carpet target parameter values.

In one embodiment, the first target parameter value is less than or equal to the carpet target parameter value.

36. The control method of a cleaning robot according to claim 35, characterized in that the method further includes: determining according to the detection signal that the type of the working area on the traveling path of the cleaning robot is a ground area, and controlling the cleaning robot The working mode is the ground cleaning mode. In the ground cleaning mode, the processing unit controls the target parameter value of the cleaning parameter to be the ground target parameter value; and the ground target parameter value is greater than or equal to the first target. parameter value.

In one embodiment, when determining that a carpet area exists in the working area on the path of the cleaning robot, the method further includes:

Before controlling the mobile unit to drive the body through the preset boundary area, the processing unit controls the working mode of the cleaning robot to switch to the carpet crossing mode.

It is determined according to the detection signal whether the traveling path of the fuselage will pass through the vertex corner area of the carpet area. The vertex corner area is the angle area formed by the connection of the various boundaries of the carpet area. When it is determined When the traveling path of the fuselage passes through the top corner area of the carpet area, the moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage until the traveling path of the fuselage avoids the top corner area. Corner area goes into the carpeted area.

According to a fourth aspect of the embodiment of the present disclosure, a method for controlling a cleaning robot is provided. The cleaning robot includes a body, a moving unit, a cleaning unit and a detection unit. The moving unit drives the body to move, and the cleaning robot The unit performs the cleaning task according to the set cleaning parameters, and the detection unit detects the working area on the traveling path of the cleaning robot and generates a detection signal; the method includes:

receive the detection signal;

When it is determined according to the detection signal that there is a carpet area in the working area on the traveling path of the cleaning robot, before the mobile unit drives the body to pass the boundary area of the carpet area, the working mode of the cleaning robot is switched to over carpet mode, in the over carpet In mode, the target parameter value of the cleaning parameter is the first target parameter value, and the first target parameter value is less than or equal to the preset threshold.

In one embodiment, the moving unit driving the fuselage through the preset boundary area of the carpet area includes: the moving unit driving the fuselage into the preset boundary area of the carpet area or the The mobile unit drives the fuselage away from the preset boundary area of the carpet area.

In one embodiment, the distance between the fuselage and the boundary of the carpet area is determined based on the detection signal, when the distance between the fuselage and the boundary of the carpet area reaches a preset distance , controlling the working mode of the cleaning robot to switch to the carpet-passing mode.

In one embodiment, when it is determined according to the detection signal that there is a carpet area on the traveling path of the cleaning robot, it is determined whether the traveling path of the body will pass through the top corner area of the carpet area. The area is the angle area formed by the connection of each boundary of the carpet area. When the traveling path of the fuselage passes through the top corner area of the carpet area, the mobile unit is controlled to change the moving direction to adjust The forward direction of the fuselage is such that the traveling path of the fuselage avoids the vertex area.

In one embodiment, determining that there is a carpet area on the traveling path of the cleaning robot according to the detection signal includes determining at least one of a boundary type of the carpet and a carpet type. When the boundary type of the carpet is a first boundary type , and/or the carpet type is the first carpet type, before the mobile unit drives the body into the carpet area, the working mode of the cleaning robot is controlled to switch to the carpet passing mode.

In one embodiment, the type of the working area on the traveling path of the cleaning robot is determined according to the detection signal, and the working mode of the cleaning robot is controlled to enter the corresponding cleaning mode according to the type of the working area; when the When the cleaning unit is located in a non-preset boundary area of the carpet area, the cleaning mode of the cleaning robot is controlled to switch to the carpet cleaning mode.

In one embodiment, in the carpet cleaning mode, the target parameter value of the cleaning parameter is set to the carpet target parameter value; the cleaning unit includes a fan, the cleaning parameters include fan power, and the first target parameter value Including a first fan power, the carpet target parameter value includes a carpet fan power, and the first fan power is smaller than the carpet fan power.

In one embodiment, when it is determined based on the detection signal that the type of the working area on the traveling path of the cleaning robot is a hard floor, the working mode of the cleaning robot is controlled to switch to the hard floor cleaning mode. In the hard floor cleaning mode, the target parameter value of the cleaning parameters is set to the hard floor target parameter value. The hard floor target parameter value includes the hard floor fan power, and the hard floor fan power is smaller than the carpet fan power. Power; the power of the first fan is smaller than the power of the hard ground fan.

The first carpet type corresponds to a first cleaning mode. When the working mode of the cleaning robot is the first cleaning mode, the target parameter value of the cleaning parameter is set to a second target parameter value. The second target parameter The values include the second fan power, the second roller brush speed and the second side brush speed;

The second carpet type corresponds to the second cleaning mode. When the working mode of the cleaning robot is the second cleaning mode, the target parameter value of the cleaning parameter is set to a third target parameter value. The third target parameter The value includes the third fan power, the third roller brush speed and the third side brush speed.

In one embodiment, the cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed; when it is determined that the type of the working area is a hard floor, the control The working mode of the cleaning robot enters floor cleaning model;

When the working mode of the cleaning robot is the floor cleaning mode, the target parameter value of the cleaning parameter is set to the ground target parameter value.

The above-mentioned cleaning robot and its control method detect the working area of the cleaning robot through the detection unit. After analysis by the processing unit, it can be determined whether there is a carpet area in the working area. If there is a carpet area, the machine body switches before entering the boundary area of the carpet area. The working mode of the cleaning robot is the carpet-passing mode, that is, the target parameter value of the cleaning parameter is switched to the first target parameter value that does not exceed the preset threshold to reduce the target parameter value of each cleaning parameter. When the target parameter value is reduced, When the cleaning robot crosses the boundary of the carpet area, it is not easy to lift up the thin carpet edges or wrap the decorative objects with a certain length on the carpet edges or the carpet velvet into the cleaning unit. This prevents the cleaning robot from being trapped by the carpet and also prevents the cleaning robot from being trapped by the carpet. Avoid carpet damage.

The above-mentioned cleaning robot and its control method detect the working area of the cleaning robot through the detection unit, and the working area can be determined through analysis by the processing unit.

Description of the drawings

Figure 1 is a schematic block diagram of a cleaning robot provided by an embodiment of the present application;

Figure 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of a preset boundary area of a cleaning robot provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of another preset boundary area of the cleaning robot provided by an embodiment of the present application.

Figure 5 is a schematic diagram of the scene before the cleaning robot enters the carpet area according to an embodiment of the present application;

Figure 6 is a schematic diagram of a scene where the front part of the cleaning robot's body partially overlaps with the carpet area according to an embodiment of the present application;

Figure 7 is a schematic diagram of a scene in which a cleaning robot crosses a preset boundary area of a carpet area according to an embodiment of the present application;

Figure 8 is a schematic diagram of a scene in which a cleaning robot provided by an embodiment of the present application is located in a carpet area;

Figure 9 is a flow chart of a control method for a cleaning robot provided by an embodiment of the present application;

Figure 10 is a flow chart of step S400 in the control method of a cleaning robot provided by an embodiment of the present application;

Figure 11 is a flow chart of a control method for a cleaning robot provided by an embodiment of the present application;

Figure 12 is a flow chart of a control method for a cleaning robot provided by an embodiment of the present application.

Explanation of reference symbols:

100. Body; 200. Mobile unit; 300. Cleaning unit; 310. Rolling brush; 320. Side brush; 330. Fan; 400. Detection unit; 500. Processing unit; 600. Carpet area; 610. Preset boundary area ; 620. Non-preset boundary area; 630. Edge; 640. Vertex corner area.

Detailed ways

In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention may be more thorough and complete.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The terms “first” and “second” are used for descriptive purposes only and shall not be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In traditional technology, when the cleaning robot performs floor cleaning work, when it enters the carpet area 600, its working mode will still maintain the cleaning mode before entering the carpet area 600. When the cleaning robot enters the carpet area 600 in the conventional cleaning mode, It is easy to turn up the edges of thin carpets, or wrap edge decorations (such as tassels) or carpet surface fluff with a certain length on the roller brush or side brush, causing the robot to become trapped. At present, the following technology has emerged: before entering the carpet area 600, the cleaning parameters are adjusted to those suitable for the carpet, thereby achieving a better cleaning effect on the carpet and avoiding damage to the carpet. Although the above solution improves the carpet cleaning effect, it still cannot solve the problem of the cleaning robot being trapped by the carpet when entering the carpet area 600 .

To this end, embodiments of the present application provide a cleaning robot and a control method thereof.

In one embodiment, a cleaning robot is provided. In this embodiment, the cleaning robot may include a floor cleaning robot.

Referring to FIGS. 1 and 2 , the cleaning robot provided in this embodiment includes a body 100 , a mobile unit 200 , a cleaning unit 300 , a detection unit 400 and a processing unit 500 .

Among them, the mobile unit 200 is disposed on the fuselage 100 and is used to drive the fuselage 100 to move. The mobile unit 200 may include moving rollers, and the number of the moving rollers may be one, two, or more. In this embodiment, the mobile unit 200 uses a three-wheel drive assembly. The three-wheel drive assembly includes two wheels located on both sides of the fuselage 100 . The two moving rollers are symmetrically arranged about the central axis of the fuselage 100; the three-wheel drive assembly also includes a universal wheel, which is arranged on the central axis of the fuselage 100, and the universal wheel and two The moving rollers are arranged in a triangle to improve the stability of the body 100 during operation.

The cleaning unit 300 is disposed on the fuselage 100 and is used to perform cleaning tasks according to set cleaning parameters. In this application, the cleaning unit 300 at least includes a brush assembly and a fan. Further, the cleaning parameters include a brush rotation speed set corresponding to the brush assembly and a fan power corresponding to the fan, so that the cleaning robot controls the brush assembly according to the preset cleaning parameters. and fan operation. In a preferred embodiment of the present application, the cleaning unit 300 may include a side brush 320, a roller brush 310, a fan 330, etc. At this time, the cleaning parameters may include the roller brush rotation speed, the side brush rotation speed, the fan power, etc., set in this way, The cleaning units 300 such as the side brush 320, the roller brush 310, and the fan 330 can be caused to perform cleaning tasks based on the set cleaning parameters.

In other embodiments of the present application, the cleaning unit 300 may also include a mopping assembly. The mopping assembly at least includes a mop plate for connecting the mop and an adjustment member for driving the mop plate to achieve position adjustment. In this embodiment, The cleaning parameters also include adjusting the working height of the component, so that when the cleaning robot enters the carpet area 600, the mop board is in a raised state driven by the adjusting component to prevent the mop connected to the mop board from contaminating the carpet area 600.

The detection unit 400 is disposed on the fuselage 100 and is connected with the processing unit 500 via signals, for detecting the working area of the cleaning robot, and generating detection signals to be transmitted to the processing unit 500 for processing. The detection unit 400 may be disposed on the fuselage 100 and is used to detect image information of the working area in the direction of travel of the fuselage, type information of the working area, etc.

In one embodiment of the present application, the detection unit 400 at least includes a visual sensor to collect image information of the work area, where the visual sensor is used to obtain image information of each object (such as carpet) in the work area, thereby facilitating detection. The planar shape and structure of each object in the work area are characterized, which further facilitates the processing unit 500 to identify the type of object through image information.

In this embodiment, the detection unit 400 also includes a depth information sensor. The depth information sensor characterizes the distance between each object in the working area and the depth information sensor to facilitate obtaining the mutual distance of the objects in the working area.

Preferably, the visual sensor in this embodiment is an RGB camera; the depth information sensor is a TOF depth camera. Preferably, two RGB cameras are provided at the same time, one TOF depth camera is provided, and two RGB cameras and one The TOF depth camera is disposed at the front end of the main body 1 in the running direction; further, in this embodiment, only the visual sensor and the depth information sensor are separated as an example. In other embodiments of the present invention, the depth information sensor also It can be provided integrally with the visual sensor to reduce the installation volume of the detection unit 400 .

The processing unit 500 is respectively connected to the mobile unit 200, the cleaning unit 300 and the detection unit 400, and is configured to determine and identify the type of the working area on the traveling path of the cleaning robot according to the detection signal, and control the operation of the cleaning robot according to the type of the working area.

The processing unit 500 is the core control structure of the cleaning robot and is used to control the operation of the cleaning robot. The processing unit 500 can control the work of the cleaning robot according to a preset program or received instructions. In the present invention, the processing unit 500 is configured to collect data based on the detection unit 400 The collected detection information is used to identify the floor area and the carpet area 600 in the work area. Specifically, the floor area is a conventional hard floor, such as ceramic tiles, wooden floors, cement floors, etc.; the carpet area 600 is laid on the ground area. The removable carpet can be divided according to the pile length of the carpet. The carpet area 600 includes long-pile carpets and short-pile carpets. According to the border type of the carpet area 600, the carpet area 600 includes tassel carpets and regular carpets. Further, a processing unit 500 can control the cleaning unit 300 and the mobile unit 200 in the cleaning robot to switch states according to the specific type or structure of the work area. Specifically, the processing unit 500 can at least be used to identify and extract the carpet area 600 in the work area, and further match the corresponding cleaning strategy according to the structure and thickness of the identified carpet area 600, and control the cleaning robot to operate according to the preset control strategy. .

In the present invention, the processing unit 500 at least includes a data storage unit 501 and a data processing unit 502, where the data storage unit 501 is used to store the reference model used by the processing unit 500 to identify carpets and the control strategy used to control the operation of the cleaning robot; The data processing module 42 is used to identify the detection information collected by the detection unit 400, compare the detection information with the reference model, identify the type of the carpet area 600 in the obtained work area, and then facilitate the detection according to the type of carpet area 600 in the work area. The type of carpet area 600 matches and invokes different control strategies.

There are multiple reference models stored in the data storage unit 501 at the same time, and each reference model is a deep learning model established by the processing unit 500 based on deep learning fitting based on standard images of objects and environments.

In the present invention, the reference models stored in the data storage unit 501 include at least a conventional floor rug model and a fringed floor rug model. Among them, the conventional carpet model is a depth recognition model established based on the image information of a carpet with no tassels connected to the surrounding area; the tassel carpet model is a depth recognition model established based on the image information of a carpet with tassels connected to the surrounding area. With this setting, it can It is convenient for the processing unit 500 to identify and extract the types of carpet areas 600 that may exist in the work area according to the detection information in the work area collected by the detection unit 400, so as to facilitate the processing unit 500 to match the control strategy and ensure that the cleaning robot cleans the work area. 600 carpet areas for precise and effective cleaning.

The data processing unit 502 is connected with the detection unit 400 with signals to execute the AI recognition algorithm, perform detection and analysis on the detection information of the working area collected by the detection unit 400, extract the carpet information in the detection information, and then compare it with the detection information stored in the The reference models in the data storage unit 501 are compared to realize the identification of carpets in the work area. Specifically, after receiving the detection information transmitted by the detection unit 400, the data processing unit 502 can use the Efficient-Net efficient network as the backbone network to quickly extract the shallow image features in the detection information, and then use the DeepLabV3plus semantic segmentation algorithm to extract the shallow image features. Segment the layer image features to obtain the image segmentation results of the shallow layer image features, which facilitates the effective differentiation and identification of various objects in the work area.

Furthermore, the DeepLabV3plus semantic segmentation algorithm can also re-segment the identified and extracted carpet images to identify the tassel carpet in the work area, and complete the segmentation task of the carpet main body and tassel area in the tassel carpet, and then determine whether the carpet is Features tassels for precise identification.

The data processing unit 502 is also configured to establish a reference model for object recognition through deep learning based on the standard image information collected by the detection unit 400 and/or the standard image information received from the outside world. When establishing the reference model through the data processing unit 502, the data processing unit 502 at least includes two parts: an encoder module and a decoder module. The encoder module and the decoder module can be under the model framework of Encoder-Decoder (encoding-decoding). The received standard image information is processed to complete a reference model of objects that may exist in the work area where the cleaning robot performs cleaning tasks.

Specifically, the encoder module uses dilated convolution to extract features of shallow image features of any resolution output by the Efficient-Net efficient network; and inputs the extracted shallow image features into the Efficient-Net efficient network, Efficient-Net The efficient network uses atrous convolutions with different convolution kernel sizes to obtain semantic information feature maps at different levels. It further extracts features from each semantic information feature map through parallel atrous convolutions with different hole rates to extract the extracted features. Features are merged and decoded to obtain 1x1 convolutional compression features. Preferably, in this embodiment, the Efficient-Net efficient network uses atrous convolutions with different convolution kernel sizes. When obtaining different levels of semantic information feature maps, the convolution kernels use step sizes of 6, 12, and 18 respectively.

The Encoder model framework also includes an average pooling layer to obtain at least five levels of feature maps; further, the encoder module can convert the five levels of feature maps into a unified channel dimension. Splicing is performed on the encoder module, and then the encoder module forms an image feature output.

The decoder module receives the image features output by the encoder module, and performs 4 times bilinear interpolation upsampling on the image features to obtain the first decoding result; the decoder module is also used to obtain shallow images of the same size in the backbone network Efficient-Net. Layer picture features to obtain the second decoding result. The backbone network Efficient-Net performs 1*1 convolution processing on the first decoding result and the second decoding result through MBConvBlock to obtain the first convolution result and the second convolution result respectively, and then uses the decoder module to perform the first convolution result The same channel dimension is spliced with the second convolution result to realize the splicing of image features and shallow picture features of the encoder module module.

The decoder module can further perform at least one 3*3 convolution operation on the splicing result to refine the features in the collected or received standard image information, and then upsample through a 4-fold bilinear interpolation, and finally output Preliminary model of the object.

The decoder module can also train the preliminary model through difficult sample mining based on the collected or received standard image information and the detection information collected by the detection unit 400 to finally obtain the reference model, and pass the obtained reference model to the data storage unit 501 When the cleaning robot performs a cleaning task in the work area, the data processing unit 502 can receive the detection information collected by the detection unit 400 and call the reference model stored in the data storage unit 501, and then compare the detection information with the reference The models are compared to achieve accurate identification of objects and structures of objects in the work area, especially carpets and carpet structures in the work area.

When the processing unit 500 identifies the carpet area 600 in the work area, it can further divide the carpet area 600 into a preset boundary area 610 and a non-preset boundary area 620 based on the detection information; specifically, the preset boundary area 610 is formed in a non-preset boundary area. The outer peripheral edge of the boundary area 620 is preset and is an area at a certain distance from the edge 630 of the carpet area 600 .

Further, the processing unit 500 controls the cleaning robot to enter the carpet area 600 along the traveling direction, and identifies the moving distance of the cleaning robot on the carpet area 600. When the moving distance is less than or equal to When the displacement is preset, the cleaning robot is controlled to operate in the carpet-passing mode.

Specifically, please refer to FIG. 3 . When the cleaning robot enters the carpet area 600 in a traveling direction perpendicular to the edge 630 of the carpet area 600 , the area where the movement distance is less than or equal to the preset displacement constitutes the area. The preset boundary area is a rectangle.

Referring to FIG. 4 , when the cleaning robot enters the carpet area 600 in a traveling direction that forms an acute angle with the edge of the carpet area 600 , the area where the movement distance is less than or equal to the preset displacement constitutes the preset boundary area. , and the preset boundary area includes at least two areas arranged in a triangle and/or trapezoid shape.

In a preferred embodiment, along the traveling direction of the cleaning robot, if the cleaning unit is located in front of the mobile unit, the preset displacement is greater than or equal to the axle of the ultrasonic sensor and the moving roller in the mobile unit. The vertical distance between; wherein, the moving roller is located on the rear side of the cleaning unit; in other words, in this embodiment, the preset displacement is related to the traveling position of the moving roller in the moving unit. When the moving unit is located at the end of the traveling direction When the moving roller drives up the edge 630 of the carpet area 600, it is determined that the cleaning robot has moved out of the preset boundary area, and the cleaning robot is controlled to switch from the carpet passing mode to the carpet cleaning mode.

In another preferred embodiment, along the traveling direction of the cleaning robot, if the cleaning unit is located behind the mobile unit, the preset displacement is less than the vertical distance between the ultrasonic sensor and the cleaning unit . In other words, in this embodiment, the preset displacement is related to the traveling position of the cleaning unit. When the suction inlet of the cleaning unit for providing suction moves onto the carpet area 600, it is determined that the cleaning robot has left the preset boundary area, and then the control The cleaning robot switches from carpet passing mode to carpet cleaning mode.

The preset border type of the border area 610 at least includes a first border type in which the edge 630 of the carpet area 600 has fringe decorations and a second border type in which the edge 630 of the carpet area 600 is seamed. The area width of the preset boundary area 610 under one boundary type is greater than or equal to the area width of the preset boundary area 610 under the second boundary type. That is, the processing unit 500 controls the cleaning robot to enter the carpet area 600 along the traveling direction. When the boundary type of the preset boundary area 610 it passes is the first boundary type, the cleaning robot enters the carpet area 600 The moving distance on is greater than or equal to the moving distance when the boundary type of the preset boundary area 610 is the second boundary type.

In a preferred embodiment of the present application, the processing unit 500 is configured to extract morphological features of the carpet area 600 based on the image information. The morphological features at least include edge flatness information of the carpet area 600. When it is recognized that the edge of the carpet area 600 is flat, When the degree is less than the flatness threshold, the boundary of the carpet area 600 is the first boundary type with fringes (ie, tassels); the processing unit 500 identifies that the boundary of the carpet area 600 When the border is the first border type, the extension width of the preset boundary area 610 is set to be greater than or equal to the extension length of the fringe to ensure that the preset boundary area 610 can cover the area where the fringe is located.

If it is necessary to explain, in the embodiment of the present application, only the preset boundary area 610 and the non-preset boundary area 620 are divided in real time by the processing unit 500 according to the detection signal as an example for illustration. In other embodiments of the present application, , the preset boundary area 610 and the non-preset boundary area 620 may also be divided and formed according to the control instructions sent by the user.

In this application, when the processing unit 500 recognizes that there is a carpet area 600 ahead in the direction of travel based on the detection information, the fuselage 100 is driven by the mobile unit 200 and drives onto the carpet area 600. At the same time, the processing unit 500 controls the cleaning robot to move at the preset boundary. The area 610 operates in the carpet-passing mode, and the cleaning unit 300 operates in the carpet-passing mode with the first target parameter value; further, the processing unit 500 controls the cleaning robot to operate in the carpet cleaning mode in the non-preset boundary area 620; and the cleaning unit 300 operates in the carpet cleaning mode with the carpet target parameter value; and the first target parameter value is less than or equal to the carpet target parameter value.

With this arrangement, when the mobile unit 200 drives the body 100 to pass through the preset boundary area 610 of the carpet area 600, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet passing mode. In the carpet crossing mode, the target parameter value of the cleaning unit 300 is switched to the first target parameter value to reduce the value of each cleaning parameter. When the value of the cleaning parameter is reduced, it is difficult for the cleaning robot to cross the preset boundary area 610. Lift up the edge of a thin carpet or wrap a certain length of decorations on the edge of the carpet or piles of carpet surface into the cleaning unit 300 to prevent the cleaning robot from being trapped by the carpet and to avoid damage to the carpet.

The processing unit 500 may also determine based on the detection signal that the type of the working area on the traveling path of the cleaning robot is a ground area. At this time, the processing unit 500 controls the working mode of the cleaning robot to be a ground cleaning mode. On the ground In the cleaning mode, the processing unit 500 controls the cleaning unit to operate with a ground target parameter value.

In this application, the ground target parameter value is greater than or equal to the first target parameter value. Specifically, when the cleaning robot performs a cleaning task on the ground area, the processing unit 500 controls the fan power to be maintained at 40% of the fan's full power, the roller brush speed to be maintained at 50% of the roller brush's full speed, and the side brush speed to be kept at the side brush's full speed. 65% of the rotational speed; before the body 100 reaches the preset boundary area 610 of the carpet area 600, the working mode of the cleaning robot is switched to the carpet crossing mode, so that the cleaning unit 300 operates with the first target parameter value.

In this embodiment, the cleaning unit 300 includes a fan and a brush assembly, and the first target parameter value includes a first fan power and a first brush rotation speed; further, the brush assembly may include at least one of a roller brush and a side brush, where When and/or the rotation speed of the carpet side brush; wherein, the power of the first fan is less than the power of the carpet fan; the rotation speed of the first roller brush is less than or equal to the rotation speed of the carpet roller brush and/or the rotation speed of the first side brush is less than or equal to the rotation speed of the carpet side brush.

In a feasible implementation, the power of the first fan is less than or equal to 20% of the full power of the fan, and the first brush speed is less than or equal to 15% of the full brush speed. That is, the first roller brush speed is less than or equal to the full speed of the roller brush. 15%; the rotational speed of the first side brush is less than or equal to 15% of the full rotational speed of the side brush; in another feasible embodiment, the first fan power can range from 0 to 10% of the full fan power, and the first roller brush The rotation speed may range from 0 to 5% of the full power of the roller brush, and the rotation speed of the first side brush may range from 0 to 5% of the full power of the side brush. At this time, the carpet fan power, carpet roller brush speed and/or carpet side brush speed can be selected according to actual needs. Just ensure that the carpet fan power is greater than the first fan power; the carpet roller brush speed is greater than or equal to the first roller brush speed; The rotation speed of the carpet side brush should be greater than or equal to the rotation speed of the first side brush.

Preferably, the power of the first fan can be reduced to 8% of the full power of the fan, the speed of the roller brush can be reduced to 5% of the full speed of the roller brush, and the speed of the side brush can be reduced to 5% of the full speed of the side brush. At this time, the fan The power is at extremely low power, and the rotation speeds of the roller brush and the side brush are at extremely low speeds. With such settings, the cleaning robot is not easily trapped by the carpet and can smoothly cross the preset boundary area 610 of the carpet area 600 and enter the carpet area 600 for cleaning. Furthermore, the power of the fan can be reduced to zero and the roller brush and side brush can be controlled to stop, so as to further improve the passing performance of the cleaning robot.

In another possible embodiment, the processing unit 500 can control the power of the first fan to be reduced to less than 40W, and at the same time, control the first power of the roller brush. The rotation speed of the roller brush and the first side brush of the side brush are at extremely low speeds. For example, the rotation speed of the first roller brush and the first side brush are both reduced to 200 rpm, which can effectively prevent the cleaning robot from passing through the edge of the carpet area 600. During the process, the edges of the carpet area 600 are sucked up or rolled up, which effectively improves the passing ability of the cleaning robot in the carpet area 600 .

It should be noted that the full power of the fan refers to the maximum power that the fan can achieve during operation, the full speed of the roller brush refers to the maximum speed that the roller brush can achieve, and the full speed of the side brush refers to the maximum speed that the side brush can achieve.

It should be further noted that the value ranges of the first fan power, the first roller brush speed and the first side brush speed in the specification of this application; and the value ranges of the carpet fan power, carpet roller brush speed and carpet side brush speed are only examples. , should not be limited to this.

In a possible implementation, the mobile unit 100 driving the body 100 through the preset boundary area 610 of the carpet area 600 includes at least one of the following two situations: passing through the preset boundary area 610 when entering the carpet area 600, or leaving. The carpet area 600 passes through the preset boundary area 610.

In one example, the mobile unit driving the body through the boundary area of the carpet area 600 means that the mobile unit drives the body to move in front of the carpet area 600 , cross the boundary 630 of the carpet area 600 , and enter the preset boundary area 610 . In another example, the mobile unit 200 driving the body through the preset boundary area 610 of the carpet area 600 means that the body 100 leaves the carpet area 600 , crosses the preset boundary area 610 , and leaves the boundary 630 of the carpet area 600 .

Before the mobile unit 200 drives the body to pass through the preset boundary area 610 of the carpet area 600, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet passing mode. In the carpet crossing mode, the target parameter value of the cleaning unit 300 is switched to a first target parameter value that does not exceed the preset threshold to reduce the value of each cleaning parameter. When the value of the cleaning parameter is reduced, the cleaning robot crosses the carpet area. At the boundary of 600, it is not easy to lift up the edges of thin carpets or to wrap decorations with a certain length on the edge of the carpet or velvet on the carpet surface into the cleaning unit 300. This prevents the cleaning robot from being trapped by the carpet and also avoids damage to the carpet. .

In one embodiment, the processing unit 500 can also identify different carpet types 600, and the carpet types 600 correspond to different carpet cleaning modes; and the target parameter values in each carpet cleaning mode are different.

In this embodiment, the target parameter values in the carpet cleaning mode of the cleaning robot are different for different carpet types 600. The processing unit 500 can control the cleaning robot to enter the carpet corresponding to the carpet type 600 according to the identified carpet type 600. carpet cleaning mode. Specifically, the corresponding relationship between the carpet type 600 and the carpet cleaning mode can be formed in advance and stored. After the processing unit 500 determines the carpet type, it can directly call the corresponding relationship between the carpet type and the carpet cleaning mode, and determine the cleaning robot required. Enter carpet cleaning mode.

In one embodiment, the carpet type 600 includes a first carpet type and a second carpet type, and the pile length of the carpet of the first carpet type is less than the pile length of the carpet of the second carpet type. The first carpet type corresponds to the first cleaning mode, and the second carpet type corresponds to the second cleaning mode. When the working mode of the cleaning robot is the first cleaning mode, the processing unit 500 sets the target parameter value of the cleaning parameter to the second target parameter value, When the working mode of the cleaning robot is the second cleaning mode, the processing unit 500 sets the target parameter value of the cleaning parameter to the third target parameter value. That is, for carpets with different pile lengths on the carpet surface, the cleaning robot has different carpet cleaning modes. Since the carpet pile length of the carpet of the first carpet type is smaller than the carpet pile length of the carpet of the second carpet type, in this embodiment, the first carpet type is defined as a thin carpet or a short-pile carpet, and the second carpet type is defined as a thin carpet or a short-pile carpet. Type is defined as thick or shag carpet. For example, a thin carpet can be a carpet with a pile length less than 15mm, and a thick carpet can be a carpet with a pile length greater than 15mm. The distinction between thin carpets and thick carpets can be set according to actual needs, and the setting method is not unique. .

In one embodiment, referring to FIG. 2 , the cleaning unit 300 includes a roller brush 310 , a side brush 320 and a fan 330 , and the cleaning parameters include fan power, roller brush rotation speed and side brush rotation speed. The second target parameter value includes the second fan power, the second roller brush speed and the second side brush speed, and the third target parameter value includes the third fan power, the third roller brush speed and the third side brush speed.

Among them, the power of the first fan < the power of the second fan < the power of the third fan, the rotation speed of the first roller brush < the rotation speed of the second roller brush, and the rotation speed of the third roller brush < the rotation speed of the second roller brush. That is, the target parameter values in the carpet mode are generally lower than the cleaning parameters in the cleaning mode. The fan power corresponding to cleaning thick carpets is greater than that corresponding to cleaning thin carpets. The roller brush speed corresponding to cleaning thick carpets is smaller than that corresponding to cleaning thin carpets. Brush speed.

For thin carpets, the roller brush 310 can play a beating role. At the same time, combined with the fan power, it can have a good cleaning effect. Therefore, when cleaning thin carpets, increasing the roller brush speed and fan power will help Improve cleaning efficiency. For thick carpets, roller brush 310 It is easy to wind up the fluff on the carpet surface, so reducing the roller brush speed can prevent the carpet surface fluff from being wrapped to the roller brush 310, and further increasing the fan power can enhance the suction force, which is suitable for cleaning thick carpets.

In addition, when cleaning thin carpets and thick carpets, the cleaning effect of the side brush 320 is smaller, so the side brush speed can be controlled to be lowered in both cleaning modes.

In one embodiment, the power of the second fan is greater than or equal to 60% of the full power of the fan, the rotational speed of the second roller brush is greater than or equal to 50% of the full rotational speed of the roller brush, and the rotational speed of the second side brush is less than or equal to the full rotational speed of the side brush. 5%; the power of the third fan is greater than or equal to 75% of the full power of the fan, the rotation speed of the third roller brush is less than or equal to 5% of the full rotation speed of the roller brush, and the rotation speed of the third side brush is less than or equal to 5% of the full rotation speed of the side brush.

When the working mode of the cleaning robot is the floor cleaning mode, the processing unit 500 sets the target parameter value of the cleaning parameters as the ground target parameter value. The ground target parameter value includes the ground fan power, the ground roller brush speed, the ground side brush speed, and the ground fan power. Less than or equal to 50% of the full power of the fan, the rotation speed of the ground roller brush is greater than or equal to 30% of the full rotation speed of the roller brush, and the rotation speed of the ground side brush is greater than or equal to 50% of the full rotation speed of the side brush.

Use the following table to compare and explain each working mode:

In one embodiment, the cleaning robot further includes a mopping board, and the processing unit 500 is further configured to control the lifting of the mopping board before the body 100 enters the carpet area 600 .

The cleaning robot in this embodiment may have a mopping function, that is, a mopping board is provided on the fuselage 100. Before the fuselage 100 enters the carpet area 600, that is, before the fuselage 100 reaches the boundary of the carpet area 600, the processing unit 500 can Control the lifting of the mop board to avoid cross-contamination of the carpet area 600 by the mop board.

In addition, the processing unit 500 is also configured to control the roller brush 310 and the side brush 320 to lift before the body 100 enters the carpet area 600 . Since the cleaning robot crosses the boundary 630 of the carpet area 600 and moves to the carpet area 600, the roller brush 310 and the side brush 320 are easily caught by the edges of the carpet, or the edges of the carpet are affected by the roller brush 310 and the side brush 320. Therefore, before the fuselage 100 enters the carpet area 600, the roller brush 310 and the side brush 320 can be lifted to avoid the above situation.

Further, the processing unit 500 is configured to determine whether to lift the roller brush 310 and the side brush 320 according to the carpet type and the border type of the carpet.

For example, when the carpet type is a thin carpet, during the process of the robot getting on the carpet, the thin carpet is easily sucked up by the fan 330, causing the edges of the carpet to be lifted up. For thin carpets, the roller brush 310 and the side brush 320 of the cleaning robot need to be raised; carpet When the border type is spike 610, the spike 610 is easy to wrap around the roller brush 310 and the side brush 320, and is also easily sucked into the interior by the robot. For the carpet boundary type of the spike 610, it is necessary to lift the roller brush 310 of the cleaning robot. and side brush 320; when the carpet type is a carpet with longer pile surface, such as a carpet with 2-inch pile, the body 100 will sink deeply into it, causing large movement resistance and making it difficult for the robot to move. Therefore, for carpets with longer carpet surface pile, It is necessary to lift the roller brush 310 and the side brush 320 of the cleaning robot. For other types of carpets, such as carpets with bounding edges, the roller brush 310 and the side brush 320 may not be raised.

When the cleaning robot in this embodiment travels from the ground area through the carpet area 600 along the traveling path, the processing unit 500 identifies the carpet area 600 based on the image information. With the traveling direction of the cleaning robot as the front, the processing unit 500 500 determines the distance between the front end of the fuselage and the edge 630 of the carpet area 600 based on the image information, when the distance between the fuselage 100 and the edge 630 of the carpet area 600 reaches a preset distance At , the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet-passing mode.

The setting of the preset distance can be determined according to the needs, which can be between 5cm and 10cm. If the preset distance is too large, that is, the working mode is switched to the carpet crossing mode prematurely, which will affect the normal floor cleaning work. If the distance is too small, the working mode will be switched to the carpet mode too late. formula, it will cause the cleaning robot to fail to reduce the values of various cleaning parameters below the preset threshold in time when it crosses the boundary 660 of the carpet area, and cannot solve the problem of the thin carpet edges being lifted up, carpet surface fluff or edge decorations entangled to Problem with body 100.

Of course, in addition to the above-mentioned moment when the distance between the fuselage and the boundary 660 of the carpet area reaches the preset distance, the switching timing of the over-carpet mode can also be performed at other times. For example, in one embodiment, taking the traveling direction of the cleaning robot as the front and the direction perpendicular to the fuselage 100 as the vertical direction, the detection unit 400 is disposed at the front of the bottom surface of the fuselage 100 and is located in front of the cleaning unit. And it detects downward whether there is a carpet area. When the processing unit 500 determines that there is a carpet area according to the detection signal, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode. When the detection unit detects the carpet area downward, and the front part of the fuselage 100 and the carpet area at least partially overlap in the vertical direction, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet-passing mode. Among them, the detection unit 400 can use an ultrasonic sensor, an infrared sensor, etc. FIG. 6 shows a scene in which the front part of the fuselage 100 partially overlaps with the carpet area in the vertical direction.

When the cleaning robot runs on the carpet area 600, the processing unit 500 can further identify the distance between the front end of the body 100 and the edge 630 of the carpet area 600 based on the image information. When the distance is less than or equal to the preset displacement When , it is determined that the body 100 is located in the preset boundary area 610 on the other side of the carpet area 600 , and the cleaning robot is controlled to switch from the carpet cleaning mode to the carpet passing mode to facilitate the cleaning robot to drive out of the carpet area 600 .

Further, when the ultrasonic sensor recognizes that the front end of the identified fuselage 100 exits the edge 630 of the carpet area 600 and enters the ground area, the processing unit 500 calculates the running distance of the fuselage 100 on the ground area. When When the running distance is greater than the preset displacement, it is determined that the cleaning robot has left the carpet area 600, and the cleaning robot is controlled to switch from the carpet passing mode to the floor cleaning mode.

In another implementation of this embodiment, when the cleaning robot travels from the ground area through the carpet area 600 along the traveling path, the processing unit 500 identifies the carpet area 600 based on the ultrasonic information, and the traveling direction of the cleaning robot is Before, the processing unit 500 determines that the front end of the fuselage enters the carpet area 600 according to the ultrasonic information. At this time, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet passing mode.

Further, the processing unit 500 determines based on the ultrasonic information that when the front end of the fuselage 100 enters the carpet area 600, it records the moving distance of the fuselage 100 on the carpet area 600. When the fuselage 100 enters the carpet area 600, When the distance moved from the edge 630 of the carpet area 600 to the interior of the carpet area 600 is greater than or equal to the preset displacement, the processing unit 500 controls the cleaning mode of the cleaning robot to switch from the carpet-passing mode to the carpet-passing mode. Carpet cleaning mode operates.

In another embodiment of the present application, another cleaning robot is provided. In this embodiment, the cleaning robot also includes a body 100, a mobile unit 200, a cleaning unit 300, a detection unit 400 and a processing unit 500. Specifically, the body 100, mobile unit 200, cleaning unit 300, and detection unit 400 of the cleaning robot in this embodiment have roughly the same structure as the previous embodiment. The same processing unit 500 also identifies and divides the carpet area 600 as in the previous embodiment. The identification and division methods in the foregoing embodiments are the same, and the only difference lies in the way the processing unit 500 controls the preset boundary area for identifying the carpet area. Therefore, in the following embodiments, the differences in the two embodiments will be addressed. The same or similar parts will not be described again in the following description, but it should be understood that the two embodiments can be combined according to actual needs.

The processing unit 500 is connected to the mobile unit 200 , the cleaning unit 300 and the detection unit 400 respectively, and is configured to: when it is determined according to the detection signal that there is a carpet area 600 on the traveling path of the cleaning robot, the mobile unit 200 drives the body 100 through the carpet area 600 Before the preset boundary area, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet passing mode. In the carpet passing mode, the processing unit 500 sets the target parameter value of the cleaning parameter to the first target parameter value, and the first target parameter value Less than or equal to the preset threshold.

The first target parameter value may include at least one or more of the first fan power, the first roller brush rotation speed, and the first side brush rotation speed.

In one example, the mobile unit 200 driving the body 100 through the boundary area 630 of the carpet area 600 means that the mobile unit drives the body to move to the front of the carpet area, cross the boundary 630 of the carpet area, and enter the preset boundary area 610 . In another example, the mobile unit 200 driving the fuselage 100 through the preset boundary area 610 of the carpet area 630 means that the fuselage 100 leaves the carpet area 600 , crosses the preset boundary area 610 , and leaves the boundary 630 of the carpet area 600 .

Before the mobile unit 200 drives the body 100 to pass through the preset boundary area 610 of the carpet area 600, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet passing mode. In the carpet crossing mode, the target parameter value of the cleaning unit 300 is switched to a first target parameter value that does not exceed the preset threshold to reduce the value of each cleaning parameter. When the value of the cleaning parameter is reduced, the cleaning robot crosses the carpet area. At the boundary of 600, it is not easy to lift up the edges of thin carpets or to wrap decorations with a certain length on the edge of the carpet or velvet on the carpet surface into the cleaning unit 300. This prevents the cleaning robot from being trapped by the carpet and also avoids damage to the carpet. .

In this embodiment, the processing unit 500 may determine the positional relationship between the fuselage 100 and the preset boundary area 610 of the carpet area 600 based on the detection signal of the detection unit 400 .

The preset threshold can be determined according to the actual cleaning parameters and actual needs. For example, the cleaning parameters can include fan power, roller brush speed and side brush speed. Corresponding to each cleaning parameter, a corresponding preset threshold is set, and the fan power corresponds to The value range of the preset threshold can be 0 to 10% of the full power of the fan, the value range of the preset threshold corresponding to the roller brush speed can be 0 to 5% of the full power of the roller brush, and the preset threshold corresponding to the side brush speed The value range can be from 0 to 5% of the full power of the side brush. It should be noted that the setting of the preset threshold is not unique. It only needs to be satisfied that when the first target parameter value is less than or equal to the preset threshold, the cleaning robot will not roll up the edge of the carpet or be entangled with carpet surface fluff or edge decorations. The purpose of this application can be achieved by living.

For example, when the cleaning robot performs cleaning tasks on conventional hard floors (such as ceramic tiles, wooden floors, etc.), its fan power is maintained at 40% of the full power of the fan, and the roller brush speed is maintained at 50% of the full speed of the roller brush. The rotational speed is maintained at 65% of the full rotational speed of the side brush; before the body 100 reaches the preset boundary area 610 of the carpet area 600, the working mode of the cleaning robot is switched to the over-carpet mode, for example, the fan power is reduced to 8% of the full fan power. %, reduce the roller brush speed to 5% of the full speed of the roller brush, and reduce the side brush speed to 5% of the full speed of the side brush. At this time, the fan power is at extremely low power, and the roller brush and side brush speeds are at extremely low speeds. , in this mode, the cleaning robot is not easily trapped by the carpet and can smoothly cross the preset boundary area 610 of the carpet area 600 and enter the carpet area 600 for cleaning. Further, the power of the fan can be reduced to zero to control the roller brush and side brush to stop.

In this embodiment, the full power of the fan refers to the maximum power that the fan can achieve, the full rotation speed of the roller brush refers to the maximum rotation speed that the roller brush can achieve, and the full rotation speed of the side brush refers to the maximum rotation speed that the side brush can achieve.

In one embodiment, the power of the first fan is less than or equal to 20% of the full power of the fan, the rotation speed of the first roller brush is less than or equal to 15% of the full rotation speed of the roller brush, and the rotation speed of the first side brush is less than or equal to the full rotation speed of the side brush. 15%.

In one embodiment, the processing unit 500 is configured to: determine the distance between the body 100 and the boundary 630 of the carpet area according to the detection signal, when the distance between the body 100 and the boundary 630 of the carpet area reaches a preset distance At this time, the processing unit 500 controls the working mode of the cleaning robot to switch to the carpet-passing mode.

During the advancement of the cleaning robot, the processing unit 500 can obtain the detection signal of the detection unit 400 in real time, and determine the distance between the body 100 and the boundary 630 of the carpet area in real time. For example, the detection unit 400 collects the detection signal of the working area in the forward direction. The image is sent to the processing unit 500. The processing unit 500 can identify the boundary 630 of the carpet area based on the image, and then calculate the distance from the boundary 630 of the carpet area to the fuselage. When the processing unit 500 determines that the distance between the body 100 and the boundary 630 of the carpet area reaches a preset distance, the working mode of the cleaning robot is switched to the carpet crossing mode. That is, referring to FIG. 5 , the processing unit 500 switches the working mode to the carpet passing mode before the fuselage 100 reaches the boundary 630 of the carpet area and when the preset distance is reached between the fuselage 100 and the boundary 630 of the carpet area. This ensures that the over-carpet mode is turned on before the fuselage 100 reaches the boundary 630 of the carpet area, so that when the fuselage 100 reaches the boundary 630 of the carpet area, the fuselage 100 can directly cross the boundary 630 of the carpet area in the over-carpet mode.

In the aforementioned embodiment, the processing unit is further configured to: when it is determined based on the detection signal that there is a carpet area on the traveling path of the cleaning robot, determine whether the traveling path of the body will pass through the top corner area 640 of the carpet area (refer to Figure 5 vertex area 640), vertex area 640 is the angle area formed by the connection of each boundary of the carpet area. When the traveling path of the fuselage passes through the top corner area 640 of the carpet area, the mobile unit is controlled to change the moving direction to adjust the forward direction of the fuselage so that the fuselage The body's traveling path avoids the vertex area 640.

In the embodiment of the present disclosure, when it is determined that there is a carpet area in the work area, it is further necessary to confirm whether the fuselage is moving toward the top corner area 640 of the carpet area. If so, first adjust the fuselage to change the moving direction to adjust the forward direction of the fuselage. , so that the traveling path of the fuselage avoids the fixed-angle area, and then controls the working mode of the cleaning robot to the carpet-passing mode at the appropriate time. It can be understood that the top corner area 640 of the carpet area is the angle area formed by the connections between the borders of the carpet area. For example, the current carpet is a quadrilateral, including sides and corners. When the cleaning robot enters the carpet area from the edge of the carpet, the corresponding position of the edge of the carpet will be subject to upward pulling force. Since the edge area of the carpet is large, the surrounding area is not subject to upward pulling force. There is downward gravity in the pulling force area, which can react to the upward pulling force, so that the edges of the carpet are not easily rolled up. When the cleaning robot enters the carpet area from the top corner area 640 of the carpet, the top corner area of the carpet is small, and almost the entire carpet corner will be pulled upward, and the top corner of the carpet is easily rolled up. Based on the above considerations, this embodiment configures the processing unit as described above, so that the cleaning robot moves toward the non-vertex corner position of the carpet area so as to enter the carpet area from the non-vertex corner position, further reducing the possibility of the carpet being rolled up by the cleaning robot.

Wherein, the way in which the processing unit determines that the fuselage is moving toward the vertex corner area 640 of the carpet area may include: the processing unit determines whether there is a boundary 630 of the carpet area with a cross shape in the image in the forward direction based on the image signal sent by the detection unit. If there is , it can be determined that the fuselage is moving toward the top corner area 640 of the carpet area.

In one embodiment, the processing unit 500 is configured to: determine according to the detection signal that there is a carpet area on the traveling path of the cleaning robot including determining at least one of a boundary type of the carpet and a carpet type. When the boundary type of the carpet is the first boundary type, and/or the carpet type is the first carpet type. Before the mobile unit drives the body into the preset boundary area of the carpet area, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.

Since there are many types of carpets, not all carpets are prone to the problem of edges being lifted up or being entangled by robots. For carpets that are less prone to the above problems, the working mode of the cleaning robot does not need to be changed. Whether the above problem is likely to occur depends on the carpet itself. For example, when the border of the carpet has long decorations (such as tassels), it is easier for the edge decorations to wrap around the roller brush 310 or the side brush 320; carpets The pile on the carpet surface is shorter, that is, when the carpet is lighter and thinner, when the robot crosses the boundary 630 of the carpet area, it is easier for the carpet to be sucked up by the fan 330, causing the edges of the carpet to be lifted up. Based on this, in this embodiment, the boundary type and carpet type of the carpet can be identified through the detection unit 400 and sent to the processing unit 500. The processing unit 500 can determine the boundary type and carpet type of the carpet according to the detection signal, and then determine the boundary type of the carpet and the carpet type according to the detection signal. Type and carpet type, determine whether to switch the working mode of the cleaning robot to the carpet mode, and then switch the mode for carpets that are prone to the above problems.

Specifically, when the recognition result is that the boundary type of the carpet is the first boundary type, the working mode of the cleaning robot is switched to the carpet crossing mode. The carpets of the first boundary type may include carpets whose edges are easily rolled into the cleaning robot; and/or , when the recognition result is that the carpet type is the first carpet type, the working mode of the cleaning robot is switched to the carpet over mode. The carpets of the first carpet type may include carpets whose edges are easily lifted by the cleaning robot.

Among them, the processing unit can determine the carpet area according to the image signal sent by the detection unit, and then compare the image features corresponding to the carpet area with the image features of various types of carpets prestored internally to determine the carpet type, and determine the boundaries of the carpet area. The image features corresponding to 630 are compared with the internally pre-stored image features of various types of boundaries, and then the boundary type of the carpet is determined. In this embodiment, the detection unit can select at least one of a trinocular vision sensor, an ultrasonic sensor, an optical flow sensor, etc., for example, it can include only a visual sensor, a visual sensor and an ultrasonic sensor, or it can also include a visual sensor and an optical sensor. Flow sensors, etc. are not listed here.

In one embodiment, referring to Figure 8, the border of the carpet of the first border type has fringes 610, such as tassels and the like. That is, for the carpet with the fringe 610 on the border, the cleaning robot is switched to the carpet passing mode to prevent the fringe 610 at the border 630 of the carpet area from being involved in the cleaning robot. The pile length of the carpet surface of the first carpet type is less than or equal to the preset length, that is, a relatively thin carpet. In this embodiment, it is simply called a thin carpet. For thin carpets, the cleaning robot is switched to the over-carpet mode to prevent the cleaning robot from When crossing the boundary 630 of the carpet area, the fan 330 sucks up the thin carpet causing the edges of the carpet to be lifted. Among them, the preset length can be set according to actual needs. For example, the preset length ranges from 3 to 7mm, such as 3mm or 5mm or 7mm.

In one embodiment, the processing unit 500 is further configured to: determine the type of the working area on the traveling path of the cleaning robot according to the detection signal, and control the working mode of the cleaning robot to enter the corresponding cleaning mode according to the type of the working area. Different types of work areas correspond to different cleaning modes. The processing unit can compare the image features of the work area with the internally stored image features of different types of work areas based on the image signal of the work area sent by the detection unit, and then determine the current cleaning mode. The type of the working area, and then according to the corresponding relationship between the type of the working area and the cleaning mode, the working mode of the cleaning robot is controlled to enter the cleaning mode corresponding to the type of the current working area. When the cleaning unit is located in the non-preset boundary area of the carpet area , the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode. In one example, as shown in FIG. 5 , the preset boundary area of the carpet area 600 may include the preset boundary area 610 in FIG. Let boundary area 620 be defined. In one example, the processing unit can determine the driving distance of the cleaning robot based on the number of turns of the cleaning robot's wheels after it crosses the carpet boundary, or the cleaning robot travels for a preset time. , the processing unit determines that the cleaning unit is located in a non-preset boundary area of the carpet area.

In one embodiment, in the carpet cleaning mode, the processing unit sets the target parameter value of the cleaning parameters to the carpet target parameter value; the cleaning unit includes a fan, the cleaning parameters include fan power, and the first target parameter value includes the first fan power, The carpet target parameter value includes carpet fan power, and the first fan power is smaller than the carpet fan power.

In the embodiment of the present disclosure, the first fan power of the cleaning robot in the carpet passing mode is set to be smaller than the carpet fan power in the cleaning mode. The effect is that the cleaning robot has less suction power in carpet-passing mode than in cleaning mode. In the carpet-passing mode, the suction power of the cleaning robot is reduced to ensure that the edges of the carpet are not rolled up; when cleaning the non-preset boundary area 620, the suction power of the cleaning robot is increased to ensure the cleaning effect of the carpet.

In one embodiment, when the processing unit determines that the type of the working area on the traveling path of the cleaning robot is a floor area based on the detection signal, the processing unit controls the working mode of the cleaning robot to switch to the floor cleaning mode. In the floor cleaning mode, the processing unit The target parameter value for setting the cleaning parameters is the ground target parameter value. The ground target parameter value includes the power of the ground fan. The power of the hard floor fan is smaller than the power of the carpet fan; the power of the first fan is smaller than the power of the ground fan.

In the embodiment of the present disclosure, the working area other than the carpet area may be the ground, and the corresponding fan power is the ground fan power. The fan power corresponding to the preset boundary area of the carpet area is the first fan power. The power corresponding to the carpet area is the carpet fan power. The first fan power is set to be smaller than the ground fan power, and the cleaning robot reduces the fan power when entering the preset boundary area of the carpet area from the ground, or increases the fan power when entering the ground from the preset boundary area of the carpet area, thereby The edges of the carpet are not rolled up in the preset boundary area, and the floor area gets a better cleaning effect.

Considering that the carpet area requires greater suction power than the floor area, the fan power in the floor area is smaller than the carpet fan power. Therefore, the embodiments of the present disclosure can determine the corresponding fan power according to different materials, and obtain a better cleaning effect on the premise of saving power consumption.

When the body 100 is located in the non-preset boundary area 620 of the carpet area 600, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode. It can be understood that when the fuselage 100 is located in the non-preset boundary area 620 of the carpet area 600, the orthographic projection of the fuselage 100 on the work surface falls into the carpet area 600.

When the cleaning robot reaches the boundary 630 of the carpet area and enters the carpet area 600 until it completely crosses the boundary 630 of the carpet area and is located in the non-preset boundary area 620 of the carpet area 600 (see FIG. 8 ), in order to enable the cleaning robot to clean the carpet area 600 for cleaning, the cleaning robot is controlled to switch from the carpet passing mode to the carpet cleaning mode to clean the carpet area 600. That is, before the cleaning robot reaches the preset boundary area 610 of the carpet area (refer to FIG. 5), its working mode is switched to the carpet crossing mode, and the cleaning robot is to cross the preset boundary area 610 of the carpet area (refer to FIG. 7). When located on the carpet area 600 (see FIG. 8 ), the carpet passing mode is switched to the carpet cleaning mode, so that the cleaning robot can smoothly cross the preset boundary area 610 of the carpet area and then perform the task of cleaning the carpet area 600 .

In addition, the processing unit 500 is also configured to control the roller brush 310 and the side brush 320 to lift before the body 100 enters the carpet area 600 . Since the cleaning robot crosses the boundary 630 of the carpet area and moves to the carpet area 600, the roller brush 310 and the side brush 320 are easily ground. The edge of the carpet is caught by the edge of the carpet, or the edge of the carpet is lifted up by the influence of the roller brush 310 and the side brush 320. Therefore, before the fuselage 100 enters the carpet area 600, the roller brush 310 and the side brush 320 can be lifted to avoid the above situation. .

Based on the same inventive concept, embodiments of the present application also provide a control method for a cleaning robot. The cleaning robot includes a body, a moving unit, a cleaning unit and a detection unit. The moving unit drives the body to move. The cleaning unit performs the cleaning task according to the set cleaning parameters, and the detection unit detects the working area on the traveling path of the cleaning robot and generates a detection signal; the method includes:

receive the detection signal;

The cleaning robot operates in the carpet cleaning mode in the non-preset boundary area; and the cleaning unit operates in the carpet cleaning mode with a carpet target parameter value, and the first target parameter value is less than or equal to the Carpet target parameter value.

The method also includes: determining the type of the working area on the traveling path of the cleaning robot as a ground area according to the detection signal, controlling the working mode of the cleaning robot to be a ground cleaning mode, and in the ground cleaning mode, the processing The unit controls the target parameter value of the cleaning parameter to be the ground target parameter value; and the ground target parameter value is greater than or equal to the first target parameter value.

Before controlling the mobile unit to drive the body through the preset boundary area, the processing unit controls the working mode of the cleaning robot to switch to the carpet crossing mode. In one embodiment, when it is determined that there is a carpet area in the working area on the traveling path of the cleaning robot, the method further includes: determining whether the traveling path of the body will pass through the carpet according to the detection signal. The top corner area of the area. The top corner area is the included angle area formed by the connection of the boundaries of the carpet area. When it is determined that the traveling path of the fuselage passes through the top corner area of the carpet area, then The moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage until the traveling path of the fuselage avoids the vertex area and enters the carpet area.

Based on the same inventive concept, embodiments of the present application also provide another method for controlling a cleaning robot. The method is applied to an electronic terminal. This control method can be used to control the cleaning robot in the above embodiment.

Among them, the cleaning robot includes a body 100, a mobile unit 200, a cleaning unit 300 and a detection unit 400. The mobile unit 200 is used to drive the body 100 to move, the cleaning unit 300 is used to perform cleaning tasks according to set cleaning parameters, and the detection unit uses It is used to detect the working area of the cleaning robot and generate detection signals. Referring to Figure 9, the control method of the cleaning robot provided in this embodiment includes:

Step S200: Receive detection signal;

Step S400: When it is determined according to the detection signal that there is a carpet area 600 on the traveling path of the cleaning robot, before the mobile unit 200 drives the body 100 to pass through the preset boundary area 610 of the carpet area 600, the cleaning robot is switched. The working mode is the carpet passing mode. In the carpet passing mode, the target parameter value of the cleaning parameter is the first target parameter value, and the first target parameter value is less than or equal to the preset threshold.

In one embodiment, the mobile unit driving the body through the preset boundary area of the carpet area 600 includes: the mobile unit driving the body into the preset boundary area of the carpet area 600 or the mobile unit driving the body out of the preset boundary area of the carpet area 600 border area.

In one embodiment, the cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed; when the working mode of the cleaning robot is the carpet-passing mode, the first target parameter value includes the first 1. Fan power, first roller brush speed and first side brush speed.

In one embodiment, referring to Figure 10, step S400, that is, before the mobile unit drives the body into the carpet area 600, the step of switching the working mode of the cleaning robot to the carpet passing mode includes:

Step S410: Determine the distance between the fuselage and the boundary of the carpet area 600 according to the detection signal;

Step S420: When the distance between the body and the boundary of the carpet area 600 reaches a preset distance, the working mode of the cleaning robot is switched to the carpet crossing mode.

In one embodiment, the distance between the body and the boundary of the carpet area 600 is determined according to the detection signal. When the distance between the body and the boundary of the carpet area 600 reaches a preset distance, the working mode switching of the cleaning robot is controlled. For over carpet mode.

In one embodiment, please refer to Figure 11. The control method provided by the embodiment of the present disclosure also includes step S201. When it is determined according to the detection signal that there is a carpet area 600 on the traveling path of the cleaning robot, determine whether the traveling path of the fuselage will pass through it. The vertex corner area 640 of the carpet area 600. The vertex corner area 640 is the angle area formed by the connection of the various boundaries of the carpet area 600. When the traveling path of the fuselage passes through the vertex corner area 640 of the carpet area 600, the control The mobile unit changes the moving direction to adjust the forward direction of the fuselage so that the traveling path of the fuselage avoids the vertex area 640 .

In one embodiment, determining that the carpet area 600 exists on the traveling path of the cleaning robot according to the detection signal includes determining at least one of the boundary type of the carpet and the carpet type, when the boundary type of the carpet is the first boundary type, and/or the carpet The type is the first carpet type. Before the mobile unit drives the body into the carpet area 600, the working mode of the cleaning robot is controlled to switch to the carpet passing mode.

In one embodiment, the type of the working area on the traveling path of the cleaning robot is determined according to the detection signal, and the working mode of the cleaning robot is controlled to enter the corresponding cleaning mode according to the type of the working area; referring to Figure 12, after step S400, this The control method provided by the disclosed embodiment also includes step S500 of controlling the cleaning mode of the cleaning robot to switch to the carpet cleaning mode when the cleaning unit is located in the non-preset boundary area 620 of the carpet area 600 .

In one embodiment, in the carpet cleaning mode, the target parameter value of the cleaning parameters is set to the carpet target parameter value; the cleaning unit includes a fan, the cleaning parameters include fan power, the first target parameter value includes the first fan power, and the carpet target The parameter value includes carpet fan power, and the first fan power is smaller than the carpet fan power.

In one embodiment, when it is determined based on the detection signal that the type of the working area on the traveling path of the cleaning robot is the ground, the working mode of the cleaning robot is controlled to switch to the ground cleaning mode, and in the ground cleaning mode, the target parameters of the cleaning parameters are set The value is the ground target parameter value. The ground target parameter value includes the power of the ground fan. The power of the ground fan is smaller than the power of the carpet fan; the power of the first fan is smaller than the power of the ground fan.

The cleaning unit includes a fan, roller brush and side brush. The cleaning parameters include fan power, roller brush speed and side brush speed;

The first carpet type corresponds to the first cleaning mode. When the working mode of the cleaning robot is the first cleaning mode, the target parameter value of the cleaning parameters is set to the second target parameter value. The second target parameter value includes the second fan power, the second roller Brush speed and second side brush speed;

The second carpet type corresponds to the second cleaning mode. When the working mode of the cleaning robot is the second cleaning mode, the target parameter value of the cleaning parameters is set to the third target parameter value. The third target parameter value includes the third fan power, the third roller Brush speed and third side brush speed.

In one embodiment, the cleaning unit includes a fan, a roller brush and a side brush, and the cleaning parameters include fan power, roller brush speed and side brush speed; when it is determined that the type of the working area is the ground, the working mode of the cleaning robot is controlled to enter floor cleaning. model;

When the working mode of the cleaning robot is the ground cleaning mode, the target parameter value of the cleaning parameters is set to the ground target parameter value.

Regarding the specific content of the control method of the cleaning robot provided in this embodiment, please refer to the specific description of the cleaning robot in the previous embodiment. , and will not be repeated here.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

A cleaning robot is characterized by including:

body;

A mobile unit supports the fuselage and drives the fuselage to move;

A cleaning unit is installed on the fuselage and performs cleaning tasks according to the set cleaning parameters;

A detection unit, provided on the fuselage, is used to detect the working area on the traveling path of the cleaning robot and generate a detection signal;

The processing unit receives the detection signal and identifies the carpet area in the working area according to the detection signal. The carpet area includes a preset boundary area and a non-preset boundary area. The preset boundary area is formed in the The outer peripheral edge of the non-preset boundary area, and the preset boundary area is formed by extending from the edge of the carpet area to the inside of the carpet area;

The processing unit is configured to: control the cleaning robot to operate in a carpet-passing mode in the preset boundary area, and the cleaning unit operates with a first target parameter value in the carpet-passing mode;

The processing unit is further configured to: control the cleaning robot to operate in a carpet cleaning mode in the non-preset boundary area; the cleaning unit to operate in the carpet cleaning mode with a carpet target parameter value;

And the first target parameter value is less than or equal to the carpet target parameter value.
The cleaning robot according to claim 1, wherein when the processing unit determines based on the detection signal that there is a carpet area on the traveling path of the cleaning robot, it controls the moving unit to drive the body through Before the preset boundary area, the processing unit controls the working mode of the cleaning robot to switch to the carpet crossing mode.
The cleaning robot according to claim 2, wherein the processing unit determines the distance between the body and the edge of the carpet area based on the detection signal. When the distance between the edges reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.
The cleaning robot according to claim 3, wherein the detection signal at least includes image information of the working area, and the processing unit determines the distance between the body and the edge of the carpet area based on the image information. distance, when the distance between the body and the edge of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.
The cleaning robot according to claim 2, wherein the mobile unit drives the body through the preset boundary area of the carpet area, including at least one of the following two situations: when entering the carpet area. Passing through the preset boundary area, or passing through the preset boundary area when leaving the carpet area.
The cleaning robot according to claim 1, characterized in that the processing unit determines that the type of the working area on the traveling path of the cleaning robot is a ground area according to the detection signal, and the processing unit controls the cleaning robot. The working mode is a floor cleaning mode. In the floor cleaning mode, the processing unit controls the cleaning unit to operate with a floor target parameter value.
The cleaning robot according to claim 6, wherein the ground target parameter value is greater than or equal to the first target parameter value.
The cleaning robot according to claim 1, characterized in that the processing unit controls the cleaning robot to enter the carpet area along the traveling direction and identifies the moving distance of the cleaning robot on the carpet area, When the movement distance is less than or equal to the preset displacement, the cleaning robot is controlled to operate in the carpet-passing mode.
The cleaning robot according to claim 8, wherein when the cleaning robot enters the carpet area in a direction perpendicular to the edge of the carpet area, the moving distance is less than or equal to the preset displacement. The preset boundary area is in a rectangular shape.
The cleaning robot according to claim 8, wherein when the cleaning robot enters the carpet area in a traveling direction at an acute angle with the edge of the carpet area, the moving distance is less than or equal to the preset displacement. The preset boundary area includes at least two areas arranged in a triangle and/or trapezoid shape.
The cleaning robot according to claim 8, wherein the processing unit can also identify the boundary type of the preset boundary area, and the boundary type at least includes an edge of the carpet area having fringe ornaments. The first border type and the carpet area The edge is a second border type of edge locking process, and the area width of the preset border area under the first border type is greater than or equal to the area width of the preset border area under the second border type.
The cleaning robot according to claim 11, wherein when the processing unit recognizes that the boundary type of the preset boundary area is the first boundary type with spikes, it sets the value of the preset boundary area. The width of the region is greater than or equal to the extended length of the fringe.
The cleaning robot according to claim 1, wherein the preset boundary area and the non-preset boundary area are divided and formed according to control instructions sent by a user.
The cleaning robot according to claim 1, wherein the detection unit at least includes a visual recognition component, and the detection signal includes image information of the working environment on the traveling path of the cleaning robot collected by the visual recognition component, so The processing unit identifies the carpet area based on the image information.
The cleaning robot according to claim 14, characterized in that the processing unit is configured to compare the image information with a reference model pre-stored in the processing unit to compare the conditions existing in the work area. The boundary types of the carpet area and the preset boundary area are identified; wherein the reference model is a deep learning model stored in the processing unit and established through deep learning fitting.
The cleaning robot according to claim 14, wherein the processing unit is configured to extract morphological features of the carpet area according to the image information, and the morphological features at least include edge flatness information of the carpet area. , when the edge flatness is less than the flatness threshold, the boundary of the carpet area is the first boundary type with fringes.
The cleaning robot according to claim 14, wherein the processing unit determines the distance between the front end of the fuselage and the edge of the carpet area based on the image information, taking the traveling direction of the cleaning robot as the front. , when the distance between the body and the edge of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.
The cleaning robot according to claim 17, characterized in that the detection unit further includes an ultrasonic sensor disposed on the front of the bottom surface of the fuselage and in front of the cleaning unit; the ultrasonic sensor detects in real time downwards The carpet area; when the processing unit determines that the front end of the fuselage enters the carpet area based on the ultrasonic information transmitted by the ultrasonic sensor, it records the moving distance of the fuselage on the carpet area. When the When the distance that the body moves from the edge of the carpet area to the inside of the carpet area is greater than or equal to the preset displacement, the processing unit controls the cleaning mode of the cleaning robot to switch from the carpet over mode to the carpet cleaning mode. mode operation.
The cleaning robot according to claim 1, characterized in that, taking the traveling direction of the cleaning robot as the front, the detection unit further includes an ultrasonic sensor arranged at the front of the bottom surface of the fuselage and located in front of the cleaning unit; The ultrasonic sensor detects downward in real time whether there is the carpet area on the running path of the cleaning robot; the edge of the carpet area; the edge of the carpet area;

The processing unit is configured to: determine that the body enters the carpet area according to the ultrasonic information transmitted by the ultrasonic sensor, then control the cleaning robot to run in the carpet passing mode, and record the The moving distance of the fuselage on the carpet area. When the distance that the fuselage moves from the edge of the carpet area to the interior of the carpet area is greater than or equal to the preset displacement, it is determined that the cleaning robot has moved out of the carpet area. In the preset boundary area, the processing unit controls the cleaning robot to switch from the carpet passing mode to the carpet cleaning mode.
The cleaning robot according to claim 19, wherein the detection unit further includes a visual recognition component, and the processing unit determines the front end of the fuselage and the carpet area based on the image information collected by the visual recognition component. When the distance between the fuselage and the edge of the carpet area reaches a preset distance, the processing unit controls the working mode of the cleaning robot to switch to the carpet passing mode.
The cleaning robot according to claim 18 or 19, wherein the preset displacement is greater than or equal to the vertical distance between the ultrasonic sensor and the axle of the moving roller in the mobile unit; wherein the moving roller is located The rear side of the cleaning unit.
The cleaning robot according to claim 18 or 19, characterized in that the preset displacement is smaller than the vertical distance between the ultrasonic sensor and the cleaning unit.
The cleaning robot according to claim 1, wherein the cleaning unit at least includes a fan and a brush assembly, and the cleaning parameters include fan power and brush rotation speed.
The cleaning robot according to claim 23, wherein the brush assembly includes a roller brush and a side brush, and the brush rotation speed includes a roller brush rotation speed and a side brush rotation speed.
The cleaning robot according to claim 1, wherein the cleaning unit includes a fan and a brush assembly, the first target parameter value includes a first fan power and a first brush rotation speed; the first fan power is less than or It is equal to 20% of the full power of the fan, and the first brush rotation speed is less than or equal to 15% of the full brush rotation speed.
The cleaning robot according to claim 1, wherein the cleaning unit includes a fan and a brush assembly, the first target parameter value includes a first fan power and a first brush rotation speed; and the first fan power The range is 0~40W, and the range of the first brush rotation speed is 0~200 rpm.
The cleaning robot according to claim 1, wherein the processing unit confirms the relative position of the cleaning robot in the working area according to the detection signal, and the processing unit recognizes that the cleaning unit is located on the ground. area, control the cleaning mode of the cleaning robot to switch to the floor cleaning mode; when the processing unit recognizes that the cleaning unit is located in the preset boundary area, control the cleaning mode of the cleaning robot to switch to the carpet mode; When the processing unit recognizes that the cleaning unit is located in the non-preset boundary area, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode.
The cleaning robot according to claim 1, wherein the processing unit is configured to detect a top corner area of the carpet area according to the detection information, wherein the top corner area is the carpet area The angular area formed by connecting the various boundaries of .
The cleaning robot according to claim 28, wherein when the cleaning robot drives onto the carpet area along the traveling path, the processing unit determines the traveling path of the body according to the detection signal. When passing through the top corner area of the carpet area, the moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage so that the fuselage avoids the top corner area and enters the carpet area.
A cleaning robot is characterized by including:

body;

A mobile unit, installed on the fuselage, drives the fuselage to move;

A cleaning unit is installed on the fuselage and performs cleaning tasks according to the set cleaning parameters;

A detection unit is provided on the fuselage, detects at least the working area on the traveling path of the cleaning robot, and generates a detection signal;

The processing unit determines that there is a carpet area on the traveling path of the cleaning robot based on the detection signal, and then controls the processing unit before the mobile unit drives the body to pass the preset boundary area of the carpet area. The working mode of the cleaning robot is switched to the carpet passing mode. In the carpet passing mode, the processing unit controls the cleaning parameters of the cleaning unit to be a first target parameter value, and the first target parameter value is less than or equal to the preset threshold.
The cleaning robot according to claim 30, wherein the carpet area further includes a non-preset boundary area located inside the preset boundary area, and the processing unit recognizes that the cleaning unit is located in the non-preset boundary area. When the boundary area is preset, the processing unit controls the cleaning mode of the cleaning robot to switch to the carpet cleaning mode. In the carpet cleaning mode, the processing unit sets the cleaning parameters of the cleaning unit as carpet target parameters. value, and the carpet target parameter value is greater than or equal to the preset threshold.
The cleaning robot according to claim 30, wherein the processing unit determines that the type of the working area on the traveling path of the cleaning robot is a ground area according to the detection signal, and the processing unit controls the cleaning robot to The working mode is a floor cleaning mode. In the floor cleaning mode, the processing unit controls the cleaning unit to operate with a floor target parameter value.
The cleaning robot according to claim 30, wherein the cleaning unit includes a fan and a brush assembly, and the preset threshold includes a fan power threshold and a brush speed threshold; the fan power threshold is less than or equal to the full power of the fan. 20%, the brush rotation speed threshold is less than or equal to 15% of the brush full rotation speed.
The cleaning robot according to claim 30, wherein the cleaning unit includes a fan and a brush assembly, the preset threshold includes a fan power threshold and a brush rotation speed threshold; and the fan power threshold ranges from 0 to 40W. , the brush rotation speed threshold ranges from 0 to 200 rpm.
A control method for a cleaning robot, characterized in that the cleaning robot includes a body, a mobile unit, a cleaning unit and a detection unit. unit, the mobile unit drives the fuselage to move, the cleaning unit performs cleaning tasks according to set cleaning parameters, the detection unit detects the working area on the traveling path of the cleaning robot and generates a detection signal; the method includes:

receiving the detection signal;

Determine that there is a carpet area in the working area on the path of the cleaning robot according to the detection signal; and identify the preset boundary area and non-preset boundary area of the carpet area;

Controlling the cleaning robot to operate in the carpet-passing mode in the preset boundary area, and the cleaning unit operating in the carpet-passing mode with a first target parameter value;

The cleaning robot operates in a carpet cleaning mode in the non-preset boundary area; and the cleaning unit operates in the carpet cleaning mode with carpet target parameter values. 30. The method for controlling a cleaning robot according to claim 29, wherein the first target parameter value is less than or equal to the carpet target parameter value.
The control method of a cleaning robot according to claim 35, characterized in that the method further includes: determining according to the detection signal that the type of the working area on the traveling path of the cleaning robot is a ground area, and controlling the work of the cleaning robot. The mode is the floor cleaning mode. In the floor cleaning mode, the processing unit controls the target parameter value of the cleaning parameter to be the ground target parameter value; and the ground target parameter value is greater than or equal to the first target parameter value. .
The control method of a cleaning robot according to claim 35, wherein when it is determined that a carpet area exists in the working area on the traveling path of the cleaning robot, the method further includes:

Before controlling the mobile unit to drive the body through the preset boundary area, the processing unit controls the working mode of the cleaning robot to switch to the carpet crossing mode.
The control method of a cleaning robot according to claim 35, wherein when it is determined that a carpet area exists in the working area on the traveling path of the cleaning robot, the method further includes:

It is determined according to the detection signal whether the traveling path of the fuselage will pass through the vertex corner area of the carpet area. The vertex corner area is the angle area formed by the connection of the various boundaries of the carpet area. When it is determined When the traveling path of the fuselage passes through the top corner area of the carpet area, the moving unit is controlled to change the moving direction to adjust the forward direction of the fuselage until the traveling path of the fuselage avoids the top corner area. Corner area goes into the carpeted area.